CN101683935B - Device and method for rectifying transportation of flexible plate - Google Patents
Device and method for rectifying transportation of flexible plate Download PDFInfo
- Publication number
- CN101683935B CN101683935B CN2008102114800A CN200810211480A CN101683935B CN 101683935 B CN101683935 B CN 101683935B CN 2008102114800 A CN2008102114800 A CN 2008102114800A CN 200810211480 A CN200810211480 A CN 200810211480A CN 101683935 B CN101683935 B CN 101683935B
- Authority
- CN
- China
- Prior art keywords
- soft board
- fine positioning
- correcting module
- coarse position
- module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Abstract
The invention provides a rectification device and a method aiming at the offset generated in the transportation process of a flexible plate. In the invention, a rough position rectification module and a fine position rectification module are utilized to directly regulate the flexible plate according to the position of the flexible plate so as to compensate the offset generated in the transportation process of the flexible plate. The invention can monitor the position of the fine position rectification module at any moment. When the position of the fine position rectification module meets the condition of the rectification method, the reference of the rough position rectification module is regulated, and the position of the flexible plate entering the fine position rectification module is changed.
Description
Technical field
The technology of the relevant a kind of position correcting of the present invention refers in particular to a kind of rectifying transportation of flexible plate that a kind of offset that is taken place when soft board is carried carries out correcting and puts and method.
Background technology
As shown in Figure 1, this figure is the explanation scheme drawing that soft board produces side-play amount.Because soft board 90 has had transversal displacement δ in the process of reeling, producing the situation of crawling when causing soft board 90 to unreel by roller 10 takes place, the edge of soft board 90 is in the process that unreels, just can be offset toward the position of d by the position of c, and soft board 90 unreels the transversal displacement that lagging dege takes place and just in time is δ always.Above-mentioned situation only is one of soft board cause of crawling, parallelism in the Roll to Roll equipment between each roller is inconsistent, the common cause that soft board is produced crawl is so must there be one well to follow limit correcting module and just can effectively solve soft board and produce the problem of crawling.
General generally in the process that soft board transmits, use the swing limit guide device that follows on the market, but some problem also can't directly be improved in the use, be not to use the swing limit guide device that follows that shortcoming is arranged, but because in particular cases, because the swing principle of following the limit makes the precision of whole correcting and speed of response be restricted at some.As shown in Figure 2, this figure is the swing scheme drawing that follows the limit guide device.In existing swing guide device, because the soft board side-play amount must rely on for swing follow the limit guide device with the rotation special angle compensate, so during desire compensation minor shifts amount, actuating device just must have higher angular resolution, just can compensate the minor shifts amount accurately.
In addition, in Fig. 2, preceding soft board for sensor 11 critical line A is the out-of-position trend of turning right, when so the preceding soft board of critical line A arrives sensor, the swing limit guide device that follows must produce an angle theta 1 with critical line A, can be effectively the boundary position of soft board be remained on benchmark O, in case but must pay special attention to critical line A after soft board when arriving sensor, because for the sensor soft board out-of-position trend of turning left, so must drive the swing limit guide device that follows at once, make this device and critical line A produce an angle theta 2, just can be effectively the boundary position of soft board be remained on benchmark O, but it should be noted that the swing limit guide device must rotate θ 1+ θ 2 at the utmost point in the short time the angular metric that follows, so the swing limit guide device that follows is easy to because have little time to reflect suitable angle, and makes the boundary position of soft board depart from benchmark O.
As shown in Figure 3, this figure is the swing error scheme drawing that follows the limit correcting of prior art, measure the boundary position of soft board 18 by sensor 24, sensor 24 generally all can be placed between roller 16 and the roller 22, and the transmission benchmark of soft board 18 is set in the be as the criterion position of distance X of C point, itself can swing by roller 16, in the process that soft board 18 transmits, carry out offset compensation.Side-play amount takes place in the soft board 18 of working as shown in Figure 3 in transport process, roller 16 is in order to have produced an angle D between compensating offset amount and the roller 22, zone 28 between roller 16 and roller 22 produces deviation, though make sensor 24 detected soft boards 18 positions remain on X always, but because sensor 24 and 22 on roller have a segment distance, so the position that soft board 18 leaves behind the roller 24 has changed to Y, thus compensating error δ just produced at this, and δ=X-Y.
Another correcting mode is the parallel-moving type guide device, makes the function of adjusting soft board 90 side-play amounts be restricted but this device has the situation (shown in Fig. 4 A) of the shift motion 12 arrival extreme limit of travels of linear mobile platform.In addition, the parallel-moving type guide device more has soft board 90 skews and exceeds roller 13 clamping range (shown in Fig. 4 B), and both of these case usually occurs in the use of parallel-moving type guide device.Run into the situation of earlier figures 4A and Fig. 4 B, general people's constant error of being familiar with this technology thinks it is the problem of roller length or motor stroke deficiency, as long as increase roller length or motor stroke can improve.But actual result often is not like this, even increase roller length or motor stroke only can prolong the time point that above-mentioned situation takes place, but can't effectively address these problems.
In addition, at U.S. Pat .Pat.No.7,267,255 disclosed a kind of soft board track setting devices, its balance direction (gimbal direction) is provided with a drive wheel that can be offset adjustment, wants the track that moves to adjust soft board.At U.S. Pat .Pat.No.6,705,220 disclosed a kind of soft board track setting devices, it is to utilize a pair of transportable angular pole (angle bar) to guide mobile soft board turnover delivery system.
In addition, U.S. Pat .Pat.No.6,124,201 also disclose a kind of soft board to positive mode, and it is that the lateral location of soft board is monitored, and passes through the position of the guide device correcting soft board of upstream if discovery is offset to some extent.In addition, U.S. Pat .Pat.No.4,958,111 and US.Pat.No.4,453,659 grades also all are a kind of devices of adjusting the soft board position.
Summary of the invention
The invention provides a kind of rectifying transportation of flexible plate puts, it is by the position of soft board side is detected, if there is skew the position of soft board, then can be by mechanism with rough adjustment and fine control, the lateral location to soft board in carrying compensates and adjusts in real time.
The invention provides a kind of soft board and carry the correcting method, except by the position of soft board side is detected, outside the position in this soft board conveying being compensated and adjusts by mechanism with rough adjustment and fine control, more can carry out the judgement of the mobile limit to the mechanism of this fine control, if this fine control mechanism satisfies the condition of the mobile limit, then control rough adjustment mechanism, change it and follow limit judgement position reference.
The invention provides a kind of rectifying transportation of flexible plate puts and method, thick correcting module and thin correcting module collocation are used, wherein thin correcting module can meet the high-precision limit demand of following, and thick correcting module can effectively solve the thin correcting module of parallel-moving type and reaches the limit of a little problem, and then can realize that high-precision soft board follows the limit technology.
In one embodiment, the invention provides a kind of rectifying transportation of flexible plate and put, comprising: a coarse position correcting module, it judges the position of ad-hoc location on the soft board according to a reference sensor, and compensates the side-play amount that this soft board produces in the process of carrying; One fine positioning is put the correcting module, and it is arranged at a side of this coarse position correcting module, and this fine positioning is put the correcting module and compensated the side-play amount that this soft board produces according to the position of ad-hoc location on this soft board in the process of carrying; And a control module, it puts the position of correcting module according to this fine positioning, judges whether to send control signal and gives coarse position correcting module, to change position reference.
In another embodiment, the present invention more provides a kind of soft board to carry the correcting method, it includes the following step: provide a coarse position correcting module and a fine positioning to put the correcting module, its can provide respectively a soft board by and adjust the position of this soft board, this coarse position correcting module judges according to a benchmark whether this soft board position is offset; If fine positioning is put the limit of correcting module near this shift motion, then notify coarse position correcting module to change this benchmark.
Description of drawings
Fig. 1 produces the explanation scheme drawing of side-play amount for soft board;
Fig. 2 is the swing scheme drawing that follows the limit guide device;
Fig. 3 is the swing error scheme drawing that follows the limit correcting of prior art;
Fig. 4 A and Fig. 4 B are the mobile restriction scheme drawing of linear mobile platform;
Fig. 5 puts the first embodiment scheme drawing for rectifying transportation of flexible plate of the present invention;
Fig. 6 is that soft board of the present invention is carried correcting method flow scheme drawing;
Fig. 7 puts the adjusting mechanism shift motion scheme drawing of correcting module for the fine positioning of Fig. 5;
Fig. 8 is explanation parameter modification benchmark scheme drawing;
Fig. 9 A and Fig. 9 B put first embodiment for rectifying transportation of flexible plate of the present invention and move top view;
Figure 10 A and Figure 10 B put the first embodiment coarse position sensor for rectifying transportation of flexible plate of the present invention and fine positioning is put the sensor enlarged diagram;
Figure 11 puts the 2nd embodiment scheme drawing for rectifying transportation of flexible plate of the present invention;
Figure 12 A is that rectifying transportation of flexible plate of the present invention is put the 3rd embodiment scheme drawing;
Figure 12 B is a sorption wheel structural representation of the present invention;
Figure 13 A to 13D is a valve body scheme drawing of the present invention;
Figure 14 A to Figure 14 C is that sorption wheel of the present invention is carried the object scheme drawing;
Figure 15 puts the 4th embodiment scheme drawing for rectifying transportation of flexible plate of the present invention.
The 10-roller
The 11-sensor
The linear mobile platform of 12-
The 13-roller
The 18-soft board
16,22-roller
The 24-sensor
The 28-zone
The 3-rectifying transportation of flexible plate is put
30-coarse position correcting module
300-coarse position sensor
301-coarse position control unit
The 302-adjusting mechanism
The 3020-roller
The linear mobile platform of 3021-
The 3022-fulcrum
The 31-fine positioning is put the correcting module
The 310-adjusting mechanism
The 3100-roller
The linear mobile platform of 3101-
The 3102-coder
The 3103-platform
The 3104-groove
The 311-fine positioning is put sensor
The 312-fine positioning is put control unit
The 313-sorption wheel
The 3130-outer sleeve
The outer roller of 3131-
Wheel in the 3132-
3133-first through hole
The 3134-protuberance
3135-second through hole
The 3136-valve body
The 3137-pipeline
The 3138-negative pressure source
The 32-control module
The 33-roller
The 4-soft board is carried the correcting method
The 40-step
400～412-step
The 5-rectifying transportation of flexible plate is put
50-coarse position correcting module
The 500-roller
501-soft board scroll
The linear mobile platform of 502-
The block riser of 503-
504-coarse position sensor
The 51-fine positioning is put the correcting module
The 510-fine positioning is put sensor
The 511-fine positioning is put control module
The 512-adjusting mechanism
The 5120-friction roller
The 5121-surface texture
The linear mobile platform of 5122-
The 90-soft board
901,902-side
The specific embodiment
Describe for further understanding hereinafter special relevant thin bilge construction and the design-calculated theory reason with device of the present invention of feature of the present invention, purpose and function, detailed description is presented below:
See also shown in Figure 5ly, this figure is that rectifying transportation of flexible plate of the present invention is put the first embodiment scheme drawing.In the present embodiment, this rectifying transportation of flexible plate is put and 3 is included a coarse position correcting module 30, a fine positioning is put a correcting module 31 and a control module 32.This device 3 will be controlled coarse position correcting module 30 by control module 32 and put correcting module 31 with fine positioning, and wherein the direction of transfer of soft board 90 is put correcting module 31 by coarse position correcting module 30 toward fine positionings and moved.Soft board 90 can be put 31 of correcting modules by coarse position correcting module 30 and fine positioning and else detect the position of ad-hoc location on the soft board 90 in transport process, with as the foundation of judging compensation soft board 90 positions, soft board 90 is transmitted along predefined position.In the present embodiment, soft board 90 ad-hoc locations are soft board side 901 and 902 or the reference signs on surface, but not as limit.
This coarse position correcting module 30, its adjusting accuracy is in the scope of hundreds of μ m, it has comprised a coarse position sensor 300, a coarse position control unit 301 and an adjusting mechanism 302, wherein this coarse position sensor 300 electrically connects with this coarse position control unit 301, and this coarse position control unit 301 then electrically connects with this adjusting mechanism 302 and this control module 32.The function of this coarse position sensor 300 is the positions that are used for measuring soft board side 901.The positional value that coarse position sensor 300 is measured can pass back to coarse position control unit 301 to be analyzed, when coarse position control unit 301 judges that skew takes place soft board 90 sides 901, and can be in real time by control adjusting mechanism 302 compensation soft boards 90 side-play amounts.This adjusting mechanism 302 can be adjusted the position of these soft board 90 sides, and the adjustment mode can be linear displacement motion or hunting motion, and in the present embodiment, this adjusting motion is hunting motion.
This adjusting mechanism 302 has more a pair roller 3020 and a linear mobile platform 3021.This pair roller 3020, it has a fulcrum 3022, this linearity mobile platform 3021, it is connected with this pair roller 3020, this linearity mobile platform 3021 makes this pair roller 3020 swing with this fulcrum 3022 according to this coarse position control signal, and then can drive the effect that soft board 90 swings and follows the limit correcting to reach.In addition, roller 33 is used for changing the height of advancing of soft board 90, makes soft board 90 can walk around this pair roller 3020 in transport process.This adjusting mechanism 302 belongs to prior art not to be given unnecessary details at this.Another kind of adjusting mechanism is to utilize the mode of motion of translation to adjust the position of this soft board.
As shown in Figure 5, fine positioning is put the control accuracy of correcting module 31 can be in the scope of tens of μ m, and it comprises an adjusting mechanism 310, a fine positioning puts sensor 311 and a fine positioning is put control unit 312.This fine positioning is put positional value that sensor 311 measured and can be passed back to fine positioning and put control unit 312 and analyze, when fine positioning is put the 902 generation skews of control unit 312 judgement soft boards 90 sides, can control adjusting mechanism 310 compensation soft boards 90 side-play amounts in real time, fine positioning is put the purposes that correcting module 31 can be considered as thin location.Fine positioning is put the limit mode of following that correcting module 31 adopts the transverse translation formula, and its adjusting mechanism 310 can carry out parallel-moving type to soft board by modes such as clamping, absorption or frictions and follow the limit correcting.In the present embodiment, this adjusting mechanism 310 is the clamping device of parallel-moving type, and it can carry out linear displacement motion to adjust the position of this soft board 90.In the present embodiment, this adjusting mechanism 310 has a pair roller 3100 and a linear mobile platform 3101.This pair roller 3100 it can provide clamping this soft board 90.This linearity mobile platform 3101, it couples mutually with this pair roller 3100, and this linearity mobile platform 3101 is put control signal according to this fine positioning and is driven this pair roller 3100 generation linear displacement motions, and then adjusts the position of this soft board.
In addition, adjusting mechanism 310 has more a coder 3102, itself and this control module 32 electrically connects, and this coder 3102 can return the absolute location of the linear mobile platform 3101 of adjusting mechanism 310 and give control module 32, makes control module 32 can grasp the location status of adjusting mechanism 310 at any time.The kind of coder 3102 and principle belong to prior art, do not give unnecessary details at this.When the position that control module 32 is returned according to this coder 3102 about this adjusting mechanism 310, and when confirming that this position has arrived certain on one side limit point soon, control module 32 can transfer control instructions be given coarse position control unit 301, and this coarse position control unit 301 follows the reference position, limit according to the content changing coarse position correcting module 30 of control command.In addition, though putting control unit 312, aforesaid control module 32, coarse position control unit 301 and fine positioning be embodiment separately, but the people of ripe this technology can put control unit 312 with coarse position control unit 301 and fine positioning with control module 32 and be integrated, equally also can reach concrete effect of the present invention, but this control module 32 can be computing machine, control chip IC or program logic controller various treaters such as (PLC), but not as limit.
See also Fig. 5 and shown in Figure 6, wherein Fig. 6 is that soft board of the present invention is carried correcting method flow scheme drawing.In the present embodiment, this correcting method 4 comprises the control rule that coarse position correcting module 30 and fine positioning are put correcting module 31, and wherein block B is the control rule of coarse position correcting module 30, and block A is the control rule that fine positioning is put correcting module 31.Step 40 is put the control rule of correcting module 31 with fine positioning except that starting coarse position correcting module 30 simultaneously, also can start the control rule that coarse position correcting module 30 or fine positioning are put correcting module 31 separately.Whether step 400 judgement fine positioning earlier puts correcting module 31 near the mobile limit of adjusting structure.As shown in Figure 7, this figure is that the fine positioning of Fig. 5 is put the adjusting mechanism shift motion scheme drawing of correcting module 31.Among Fig. 7, D represents the linear mobile platform 3101 linear movings range of whole adjusting mechanism, when compensating the soft board position, move to the limit for fear of adjusting mechanism, that is the two ends of D, therefore the present invention determines the benchmark that a moving section d moves as safety, that is the area division conduct between the border of the border that utilizes this moving section d and this linearity moving range D is near the basis for estimation of the limit of shift motion.As for the size of the area division between the border of the border of this moving section d and this linearity moving range D, then need and decide, there is no certain restriction.Return Fig. 5 and shown in Figure 6, in step 400, it promptly is the scope that whether exceeds moving section d that moves of judging adjusting mechanism 310, if putting the position of the linear mobile platform 3101 of correcting module 31, fine positioning also has a segment distance from limit point, then enter step 401, utilize fine positioning to put side 902 positions that sensor 311 measures soft board 90, judge by step 402 whether soft board 90 side-play amount takes place, if there is side-play amount to take place, then enter step 403 driving fine positioning and put correcting module 31 compensation soft boards 90 side-play amounts, return step 400 through step 412 then, carry out repeatedly.
Suppose through after a series of execution in step repeatedly 400～403, can judge fine positioning earlier when step 400 and put correcting module 31 near the extreme limit of travel point, that is surpass the scope of the moving section d among Fig. 7, then enter step 404 send signal with change coarse position correcting module 30 follow the limit benchmark, and step 405 can be sent abnormality warnings.Block B is the control rule of coarse position correcting module, can independently carry out soft board and slightly follow edge work.At first step 407 can detect whether the energizing signal that comes from step 404 be arranged, in case after step 407 receives the signal of step 404, promptly enter step 411 and follow the limit benchmark with change coarse position correcting module 30.The mode of change benchmark can be followed the limit benchmark by mobile coarse position sensor 300 positions or by what the mode that parameter is set changed coarse position correcting module, but not as limit.As shown in Figure 8, this figure is an explanation parameter modification benchmark scheme drawing.Do not utilize the parameter modification benchmark before, judge that soft board side out-of-position reference position 91 at the center of coarse position sensor 300, also is zero point.But, if when utilizing the benchmark that parameter modification judges,, therefore can utilize the mode of software to change to allow zero position be moved to the left or move right because the position of coarse position sensor 300 do not change, in Fig. 8, zero position is the position that is moved to the left label 92.That is to say, if when benchmark changes to position 92, if soft board 90 sides not on 92 position the time, can be determined skew.
Return Fig. 5 and shown in Figure 6, and then enter the boundary position that step 408 measures soft board, step 409 can newly be followed the limit benchmark so that step 411 was changed then, after judging whether soft board side-play amount takes place, drive coarse position correcting module 30 compensation soft boards 90 side-play amounts by step 410 again, after will return step 407 and follow the limit correcting, more than be after block B receives the signal of step 404, that is carried out follows limit correcting flow process.When coarse position correcting module does not under normal circumstances need change to follow the limit benchmark, step 407 directly enters the lateral location that step 408 measures soft board 90, then step 409 can according to last set follow the limit benchmark, after judging whether soft board 90 side-play amount takes place, drive coarse position correcting module 30 compensation soft boards 90 side-play amounts by step 410 again.Step 412 can judge whether that requiring to stop soft board 90 follows the limit, when the user requires to stop soft board 90 and follows the action on limit, then finishes the flow process that this soft board is carried correcting method 4.Carry the step 411 in the correcting method 4 can realize the concrete effect of avoiding moving to the limit of the present invention by soft board,, can solve fine positioning and put the correcting module and reach the limit of a little problem because follow the limit benchmark by what change coarse position correcting module.In addition, soft board is carried the flow process of correcting method, and except step 411, other all can be deleted or sequence of steps be transferred arbitrarily in steps as required.
Because, the simple parallel-moving type correcting module of using is followed the limit correcting to soft board, compared to the swing correcting module of independent use, though can obtain the higher limit precision of following, but use parallel-moving type correcting module after a period of time separately, will arrive certain on one side limit point and can't continue to follow the situation on limit, the time point that this situation takes place is unpredictable, the flatness of edges when unreeling with soft board usually or the roller parallelism of equipment are relevant, especially when the roller parallelism had problem, when soft board always was offset toward fixing direction, parallel-moving type correcting module was in order to compensate the side-play amount of soft board, under the effect of soft board amount of recovery, will soon arrive certain limit point on one side.
Shown in Fig. 9 A and Fig. 9 B, this figure puts first embodiment for rectifying transportation of flexible plate of the present invention and moves top view.Can effectively control the limit point R (limit on the right-right-hand limit) and L (left-limit) whether linear mobile platform surpasses moving section d by coder 3102.With Fig. 9 is example, because linear mobile platform 3101 is connected with roller 3100 with a platform 3103, makes the track of platform 3103 on linear mobile platform 3101 move by the driving of this linearity mobile platform 3101, and then drives this roller 3100 and move.When platform 3103 moves when arriving linear mobile platform 3101 extreme limit of travel point L, represent coarse position correcting module 30 always soft board 90 to be transmitted toward a certain specific direction partially, after causing soft board 90 to enter fine positioning putting correcting module 31, fine positioning is put correcting module 31 must constantly carry out equidirectional correcting to soft board 90, and last platform 3103 moves closer to extreme limit of travel point L.In the process of the actual transmission of at present common equipment soft board, and can't effectively guarantee necessarily between soft board and roller to keep vertical, so when soft board 90 enters coarse position correcting module 30, soft board 90 has a differential seat angle θ with roller 33, and the sensor 300 of coarse position correcting module 30 can measure the position of soft board pane edge, in case realize when the soft board pane edge has side-play amount to produce, drive roller 3020 by linear mobile platform 3021 and wave, make the soft board pane edge can effectively remain on following on the benchmark m position, limit of coarse position correcting module 30 with the compensating offset amount.After soft board 90 passes through coarse position correcting module 30, can be considered the coarse positioning of finishing soft board 90, soft board 90 enters fine positioning immediately and puts correcting module 31, the employed fine positioning of first embodiment is put correcting module 31 and is followed the limit mode for parallel-moving type, wherein the fine positioning sensor 311 of putting correcting module 31 can measure the position at soft board edge, in case realize when the soft board edge has side-play amount to produce, drive roller 3100 by linear mobile platform 3101 and carry out translation, make the soft board edge can effectively remain on fine positioning and put on the position of following limit benchmark n of correcting module 31 with the compensating offset amount.
Put the following of limit benchmark n and coarse position correcting module 30 of following of correcting module 31 an error delta X is arranged between the benchmark m of limit by finding fine positioning among Fig. 9 A, this is because have error in artificial or the mechanism's assembling when setting up sensor 300 with sensor 311 unavoidably, therefore can't effectively judge and follow limit benchmark n and follow limit benchmark m and do not have error to exist, also just because of the existence of error delta X and cause fine positioning to put the correcting module arrives certain limit after 31 running a period of times the limit.Platform 3103 edges arrival left-limit L with linear mobile platform 3101 among Fig. 9 A is an example, and linear mobile platform 3101 will not have enough strokes to continue to follow the limit correcting left.Because coarse position correcting module 30 can be controlled at the position of following limit benchmark m with the soft board edge, but putting correcting module 31, fine positioning needs the soft board edge is controlled at the position of following limit benchmark n, so needing to drive roller 3100, linear mobile platform 3101 carries out translation with compensating offset amount Δ X, the position at soft board edge is compensated to n by m, because putting correcting module 31, fine positioning must continue compensating offset amount Δ X, soft board 90 can be subjected to the restoring force effect and produce amount of recovery simultaneously, so when compensating offset amount Δ X and amount of recovery act on down repeatedly, the edge of the final platform 3103 that just makes linear mobile platform 3101 moves to left-limit L.
Therefore algorithm of the present invention can be under linear mobile platform 3101 arrival or the situation near left-limit L, to send signal to coarse position correcting module 30, and require change coarse position correcting module 30 follow limit benchmark m, the linear mobile platform 3101 that makes fine positioning put correcting module 31 is unlikely to because do not have enough strokes to proceed offset compensation.When the edge of the platform 3103 of linear mobile platform 3101 arrives or during near the position of left-limit L, algorithm all can send signal to coarse position correcting module 30, and change coarse position correcting module 30 follow limit benchmark m.The limit benchmark m that follows that painstakingly revises coarse position correcting module 30 wishes to enter the position that fine positioning is put correcting module 31 by changing soft board 90, and linear mobile platform can be in the past moved away from the direction of way limit point L, makes linear mobile platform get back to stroke central authorities.The platform 3103 of linear in addition mobile platform 3101 arrives or during near the position of limit on the right-right-hand limit R, algorithm can send signal to coarse position correcting module 30 equally, carries out the benchmark change.
To illustrate that below how the present invention follows the reference position, limit by what change swing correcting module, reach the limit of a little problem to solve parallel-moving type correcting module.Shown in Fig. 9 B, utilize the program of Fig. 6, when finding to have will overstep the extreme limit L the time, will send signal to coarse position correcting module 30, and require change coarse position correcting module 30 follow limit benchmark m.At this moment, coarse position correcting module 30 follows the limit benchmark and will change to m ' by m.By following shown in the benchmark partial enlarged drawing 10A of limit of coarse position correcting module 30, following limit benchmark m ' and changing the preceding distance that limit benchmark m differs Δ P of following after finding to change, the distance of this Δ P can reach by the position of movable sensor or by the inner setting that changes algorithm, it is not given unnecessary details at this as previously mentioned.Put following shown in the benchmark partial enlarged drawing 10B of limit of correcting module 31 by fine positioning, follow limit benchmark m and the fine positioning of the module of coarse position correcting originally 30 are put following of correcting module 31 an error delta X are arranged between the benchmark n of limit, because follow the variable quantity that distance, delta P is given birth in the limit benchmark sell of one's property, to change to m ' by m with what make coarse position correcting module 30, and Δ P ≧ Δ X, therefore coarse position correcting module 30 follow limit benchmark m ' and fine positioning is put the new error delta D of generation between the benchmark n of limit that follows of correcting module 31, also just because of coarse position correcting module 30 and fine positioning are put following after the limit benchmark had new error delta D of correcting module 31, by chance can be by the edge that error delta D solves the platform 3103 of the linear mobile platform 3101 limit L out-of-position problem of can turning left.Because fine positioning is put correcting module 31 and is found that coarse position correcting module 30 can be controlled at the position of following limit benchmark m ' with the soft board edge, but putting correcting module 31, fine positioning needs the soft board edge is controlled at the position of following limit benchmark n, so needing to drive roller 3100, linear mobile platform 3101 carries out translation with compensating offset amount Δ D, the position at soft board edge is compensated to n by m ', because putting correcting module 31, fine positioning must continue compensating offset amount Δ D, soft board 90 can be subjected to the restoring force effect and produce amount of recovery simultaneously, so working as compensating offset amount Δ D and amount of recovery acts on down repeatedly, the edge of the final platform 3103 that just makes linear mobile platform 3101 is away from left-limit L, and effectively solves parallel-moving type correcting module and reach the limit of a little problem.
As shown in figure 11, this figure is that rectifying transportation of flexible plate of the present invention is put the second embodiment scheme drawing.In the present embodiment, the embodiment with Fig. 5 is identical basically, difference be that the roller 3100 of upside that this fine positioning is put the adjustment structure 310 of correcting module 31 has a groove 3104.Such design, mainly be at soft board surface because technology former thereby be formed with circuit or pattern, if therefore will certainly weigh the art pattern CAD or the circuit on soft board surface wounded, therefore utilize roller 3100 to replace and to avoid the soft board surface to sustain damage with groove 3104 with the mode top roller of Fig. 5., do not give unnecessary details as described in ditto as for the embodiment of the embodiment of Figure 11 and control method at this.
Shown in figure ten 2A, this figure is that rectifying transportation of flexible plate of the present invention is put the 3rd embodiment scheme drawing.In the present embodiment, basically similar to Fig. 5, difference be that it is to utilize a sorption wheel 313 to replace the roller set of clamping soft board 90 up and down in the mode of vacuum suction that this fine positioning is put the correcting module, utilize the position of adjusting sorption wheel about 313, the position of control soft board 90.Can adjust the position of soft board 90 left-right deviations because of soft board 90 is adsorbed wheel 313 absorption, and soft board 90 is subjected to suction and the holding position is constant forever.Shown in Figure 12 B, this figure is a sorption wheel structural representation of the present invention.In the present embodiment, this sorption wheel 313 has wheel 3132 in an outer sleeve 3130, one outer roller 3131 and.It has a plurality of first through holes 3133 this outer sleeve 3130.The material of this outer sleeve 3130 is chosen as steel, glass material, stupalith, lamination coating or plastic material.Be somebody's turn to do outer roller 3131, it is placed in this outer sleeve 3130, has a plurality of on this outer roller 3131 and these a plurality of first through hole, 3133 corresponding second through holes 3135, and a ccontaining valve body 3136 is provided respectively in each second through hole 3135.In the present embodiment, this second through hole 3135 is a taper hole.When roller 3131 turned to ad-hoc location outside this for fear of valve body 3136, valve body 3136 dropped out via this first through hole 3133, and therefore the aperture of first through hole 3133 is less than these second through hole, 3135 outermost apertures.Shown in Figure 13 A to 13D, this figure is a valve body scheme drawing of the present invention.In order to match with this second through hole 3135, this valve body 3136 can select as shown in FIG. 13A spheroid or the cone shown in Figure 13 B.In addition, this valve body 3136 also can be strip, for example the awl cylinder of the cylinder of Figure 13 C or Figure 13 D.If certainly valve body 3136 is a bar shape, then second through hole 3135 also be can with the microscler perforate that cooperates.The material of this valve body 3136 is chosen as steel, glass material, stupalith, lamination coating or plastic material.Side in this sorption wheel 313 can be connected with a negative pressure source 3138 by pipeline 3137, provides negative pressure to make sorption wheel 313 produce suction adsorption soft board 90 by this negative pressure source 3138.
See also shown in Figure 14 A to Figure 14 C, this figure is that sorption wheel of the present invention is carried the object scheme drawing.In Figure 14 A, the surface that soft board 90 touches outer sleeve 3130 will be adsorbed, this is that therefore, negative pressure can adsorb soft board 90 by first through hole 3133 because the valve body that contacts with the protuberance 3134 of interior wheel 3,132 3136 can be backed down by interior wheel 3132 and can not close second through hole 3135 fully.As shown in Figure 14B, when outer sleeve 3130 rotates, valve body 3136 is and then rotation also, in the rotation process of outer sleeve 3130, valve body 3136 can push up the protuberance 3134 on the interior wheel 3132 in regular turn along with rotation process, second through hole 3135 that script valve body 3136 is clogged outer roller 3131 forms the vacuum pneumatic gap, produce vacuum suction, directly with soft board 90 absorption, and transmit, when sorption wheel 313 by about adjust the position can drawing soft board 90 sway, and soft board 90 is subjected to suction, the holding position is constant forever.Shown in Figure 14 C, rotate valve body later 3136 and break away from after the protuberance 3134, can be attracted to clog this second through hole 3135 by negative pressure again by this second through hole 3135, make the vacuum pneumatic gap-closing.At this moment, soft board 90 does not have vacuum pneumatic absorption, so soft board 90 is done release.Rotation by adsorbing type rolling wheel 313, valve body 3136 soft board 90 above protuberance 3134 is tightly being adsorbed by vacuum gas, second through hole 3135 of soft board 90 roller 3131 outside 3136 of the valve bodies of binding domain (protuberance 3134 against zone) do not clog, and soft board 90 is fed forward gradually.
As shown in figure 15, this figure is that rectifying transportation of flexible plate of the present invention is put the 4th embodiment scheme drawing.In the present embodiment, this rectifying transportation of flexible plate is put 5 and is put correcting module 51 by a coarse position correcting module 50 and fine positioning and formed.Fine positioning is put the limit mode of following that correcting module 51 adopts the transverse translation formula, by friction mode soft board 90 is carried out parallel-moving type and follows the limit correcting.This fine positioning is put correcting module 51 and is had that a fine positioning is put sensor 510, a fine positioning is put a control module 511 and an adjusting mechanism 512.This fine positioning is put sensor 510 and this fine positioning and is put the function of control module 511 and structure as hereinbefore, does not give unnecessary details at this.This adjusting mechanism 512 has a friction roller 5120, it has coarse surface texture 5121, can rub by surface texture 5121 and soft board 90, and saturating fine positioning is put the position that sensor 510 measures soft board 90 sides, in case after finding that soft board 90 sides have side-play amount to produce, the linear mobile platform 5122 that is connected with friction roller 5120 moves friction roller 5120, friction roller 5120 will rub and drive soft board 90 and move this moment, just the side-play amount of correcting soft board by this, the structure of linear mobile platform 5122 is not given unnecessary details at this as previously mentioned.
In addition, in the present embodiment, 50 of this coarse position correcting modules are followed the limit guide device for the transverse translation formula, have a rotatable roller 500 on the coarse position correcting module 50.Because the function of roller 500 can be rotated, so can be applicable to carry a soft board scroll 501 to unreel soft board.In addition, the soft board that can also rolling technology finishes of this roller 500 is to form the soft board scroll 501 among Figure 15.The roller 500 of this coarse position guide device 50 links by block riser 503 each other with linear mobile platform 502, and detailed mode of connection belongs to prior art, does not give unnecessary details at this.By the side-play amount of thick sensor 504 measurement soft boards 90 sides, because linear mobile platform 502 is the mode starts with transverse translation, so can drive soft board 90 left and right sides translations to reach the effect of following the limit correcting.The mutual action of putting guide device 51 as for coarse position guide device 50 and fine positioning can be according to the flow process of Fig. 6, do not give unnecessary details at this.
Comprehensively above-mentioned, rectifying transportation of flexible plate provided by the invention is put and method, thick correcting module and thin correcting module collocation are used, wherein thin correcting module can meet the high-precision limit demand of following, and thick correcting module can effectively solve the thin correcting module of parallel-moving type and reaches the limit of a little problem, and then can realize that high-precision soft board follows the limit technology.Therefore can improve the competitive power of this industry and drive arround the development of industry, really met the required important document that possesses of patent of invention method defined application invention.
Though the present invention discloses as above with preferred embodiment; right its is not in order to limit the present invention; under the situation that does not deviate from spirit of the present invention and essence thereof; those of ordinary skill in the art work as can make various corresponding changes and distortion according to the present invention, but these corresponding changes and distortion all should belong to the protection domain of the appended claim of the present invention.
Claims (15)
1. a rectifying transportation of flexible plate is put, and it is characterized in that, comprising:
One coarse position correcting module, it judges that according to a benchmark position of ad-hoc location on the soft board compensates the side-play amount that this soft board produces in the process of carrying;
One fine positioning is put the correcting module, and it is arranged at the downstream of this coarse position correcting module, and this fine positioning is put the correcting module and compensated the side-play amount that this soft board produces according to the position of ad-hoc location on this soft board in the process of carrying; And
One control module, it puts the position of correcting module according to this fine positioning, judges whether to send a control command and gives this coarse position correcting module, to change this benchmark.
2. rectifying transportation of flexible plate as claimed in claim 1 is put, and it is characterized in that, this ad-hoc location is the side of this soft board or the reference signs on surface.
3. rectifying transportation of flexible plate as claimed in claim 1 is put, and it is characterized in that, this coarse position correcting module has more:
The coarse position sensor, the position of ad-hoc location is to produce a coarse position sensing signal on this soft board of its sensing;
One coarse position control module, it electrically is connected with this coarse position sensor, and this coarse position control module produces a coarse position control signal according to this coarse position sensing signal; And
One adjusting mechanism, itself and this coarse position control module electrically connects, and this adjusting mechanism produces an adjusting motion to adjust the position of this soft board according to this coarse position control signal.
4. rectifying transportation of flexible plate as claimed in claim 3 is put, and it is characterized in that, this adjusting mechanism further has:
One pair roller, it has a fulcrum; And
One linear mobile platform, it is connected with this pair roller, and this linearity mobile platform makes this pair roller rotate with this fulcrum according to this coarse position control signal to produce the linear displacement motion.
5. rectifying transportation of flexible plate as claimed in claim 3 is put, and it is characterized in that, this adjusting mechanism has more:
At least one roller, its this soft board that can provide support; And
One linear mobile platform, it couples mutually with this at least one roller, and this linearity mobile platform makes this at least one roller produce motion according to this coarse position control signal to produce the linear displacement motion.
6. put as claim 1 or 3 described rectifying transportation of flexible plate, it is characterized in that, this fine positioning is put the correcting module and is had more:
Fine positioning is put sensor, and sensing signal is put to produce a fine positioning in the position of ad-hoc location on this soft board of its sensing;
One fine positioning is put control module, and it is put sensor with this fine positioning and electrically is connected, and this fine positioning is put control module and put sensing signal according to this fine positioning and produce a fine positioning and put control signal; And
One adjusting mechanism, itself and this fine positioning are put control module and are electrically connected, and this adjusting mechanism is put control signal according to this fine positioning and produced an adjusting motion to adjust the position of this soft board.
7. rectifying transportation of flexible plate as claimed in claim 6 is put, and it is characterized in that, the adjusting mechanism that this fine positioning is put the correcting module has more:
One pair roller, it can provide clamping this soft board; And
One linear mobile platform, it couples mutually with this pair roller, and this linearity mobile platform is put control signal according to this fine positioning and is driven this pair roller generation linear displacement motion.
8. rectifying transportation of flexible plate as claimed in claim 7 is put, and it is characterized in that, has more a groove on the roller above this soft board.
9. rectifying transportation of flexible plate as claimed in claim 6 is put, and it is characterized in that, the adjusting mechanism that this fine positioning is put the correcting module has more:
One sorption wheel, it is arranged at the bottom surface of this soft board, and this sorption wheel is characterized in that by this soft board of negative-pressure adsorption this sorption wheel has more:
One outer sleeve, it has a plurality of first through holes;
One outer roller, it is placed in this outer sleeve, has a plurality of on this outer roller and corresponding second through hole of these a plurality of first through holes, and each second through hole provides a ccontaining valve body respectively; And
Wheel in one, it is placed in this outer roller, has a protuberance and a plurality of fluting on the wheel in this, and this protuberance is resisted against on the inwall of this outer roller;
One linear mobile platform, it couples mutually with this sorption wheel, and this linearity mobile platform is put control signal according to this fine positioning and is driven this sorption wheel generation linear displacement motion.
10. rectifying transportation of flexible plate as claimed in claim 6 is put, and it is characterized in that, the adjusting mechanism that this fine positioning is put the correcting module further has:
One friction wheel, it is arranged at the bottom surface of this soft board, and this friction wheel surface has lines to lean with this soft board; And
One linear mobile platform, it couples mutually with this friction wheel, and this linearity mobile platform is put control signal according to this fine positioning and is driven this friction wheel generation linear displacement motion.
11. rectifying transportation of flexible plate as claimed in claim 6 is put, and it is characterized in that, this control module and this coarse position control module and this fine positioning are put control module and can be integrated into a module.
12. a soft board is carried the correcting method, it includes the following step:
Provide a coarse position correcting module and a fine positioning to put the correcting module, its can provide respectively a soft board by and adjust the position of this soft board, this coarse position correcting module judges according to a benchmark whether this soft board position is offset; And
If fine positioning is put the limit of correcting module near this shift motion, then notify coarse position correcting module to change this benchmark.
13. soft board as claimed in claim 12 is carried the correcting method, it is characterized in that, this fine positioning is put the correcting module and is adjusted the mode of the position of this soft board and further include the following step:
Detect the position of this soft board side; And
If there is skew the position of this side, then control the side-play amount that this fine positioning is put this soft board of correcting module for compensating, wherein this fine positioning is put the correcting module compensates this soft board by a motion of translation side-play amount.
14. soft board as claimed in claim 12 is carried the correcting method, it is characterized in that the mode that this coarse position correcting module is adjusted the position of this soft board more includes the following step:
Detect the position of this soft board side; And
Control this coarse position correcting module if there is skew the position of this side and adjust the position of this soft board, in this coarse position correcting module compensate the skew of this soft board by a motion of translation or rotational motion.
15. soft board as claimed in claim 12 is carried the correcting method, it is characterized in that, puts correcting module extreme limit of travel if also include near fine positioning, then sends an abnormality warnings.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008102114800A CN101683935B (en) | 2008-09-26 | 2008-09-26 | Device and method for rectifying transportation of flexible plate |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008102114800A CN101683935B (en) | 2008-09-26 | 2008-09-26 | Device and method for rectifying transportation of flexible plate |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101683935A CN101683935A (en) | 2010-03-31 |
| CN101683935B true CN101683935B (en) | 2011-03-16 |
Family
ID=42047367
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2008102114800A Active CN101683935B (en) | 2008-09-26 | 2008-09-26 | Device and method for rectifying transportation of flexible plate |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101683935B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4975182B1 (en) * | 2010-12-07 | 2012-07-11 | キヤノン株式会社 | Recording material edge position detection apparatus and image forming apparatus |
| EP2626322A1 (en) | 2012-02-10 | 2013-08-14 | Nederlandse Organisatie voor toegepast -natuurwetenschappelijk onderzoek TNO | A foil processing device |
| CN104944182A (en) * | 2014-03-25 | 2015-09-30 | 维嘉数控科技（苏州）有限公司 | Equipment for automatically winding and unwinding and detecting soft board |
| CN104044886B (en) * | 2014-05-27 | 2016-05-04 | 苏州巨康缝制机器人有限公司 | A kind of feeding line with servicing unit |
| CN109932637A (en) * | 2019-03-26 | 2019-06-25 | 凯吉凯精密电子技术开发（苏州）有限公司 | Flexible circuit board cage testing agency and its detection method |
| CN113844938B (en) * | 2021-10-29 | 2023-02-14 | 深圳市格林晟科技股份有限公司 | Deviation correcting device of diaphragm |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4453659A (en) * | 1982-06-28 | 1984-06-12 | Eastman Kodak Company | Web guiding apparatus |
| US4958111A (en) * | 1989-09-08 | 1990-09-18 | Gago Noel J | Tension and web guiding system |
| US6468461B1 (en) * | 1997-02-28 | 2002-10-22 | Chiba Machine Industry Corporation | Process for forming sheet products |
| US6588746B2 (en) * | 2000-11-28 | 2003-07-08 | Nexpress Solutions Llc | Device for generating an offset of transported flexible sheet material |
| US7267255B1 (en) * | 2001-01-29 | 2007-09-11 | Eastman Kodak Company | Web tracking adjustment device and method through use of a biased gimbal |
| EP1867593A1 (en) * | 2006-06-14 | 2007-12-19 | Texmag GmbH Vertriebsgesellschaft | Method and device for treating a running web |
-
2008
- 2008-09-26 CN CN2008102114800A patent/CN101683935B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4453659A (en) * | 1982-06-28 | 1984-06-12 | Eastman Kodak Company | Web guiding apparatus |
| US4958111A (en) * | 1989-09-08 | 1990-09-18 | Gago Noel J | Tension and web guiding system |
| US6468461B1 (en) * | 1997-02-28 | 2002-10-22 | Chiba Machine Industry Corporation | Process for forming sheet products |
| US6588746B2 (en) * | 2000-11-28 | 2003-07-08 | Nexpress Solutions Llc | Device for generating an offset of transported flexible sheet material |
| US7267255B1 (en) * | 2001-01-29 | 2007-09-11 | Eastman Kodak Company | Web tracking adjustment device and method through use of a biased gimbal |
| EP1867593A1 (en) * | 2006-06-14 | 2007-12-19 | Texmag GmbH Vertriebsgesellschaft | Method and device for treating a running web |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101683935A (en) | 2010-03-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101683935B (en) | Device and method for rectifying transportation of flexible plate | |
| CN101932519B (en) | Portal re-positioning device for large-area glass plates | |
| CN105612827A (en) | Suction nozzle and component mounting apparatus | |
| CN201914748U (en) | Rectification device for film delivery | |
| JP5437134B2 (en) | Coating device | |
| CN201203729Y (en) | Detection and installation apparatus for liquid crystal panel | |
| CN102519372A (en) | Laser thickness measuring apparatus of lithium battery electrode and working method thereof | |
| JP2008302451A (en) | Liquid crystal transfer robot and its control method | |
| CN104816963B (en) | Cardboard rectification machine | |
| JP4349528B2 (en) | Substrate transport device, substrate control method, color filter manufacturing method, electronic circuit manufacturing method | |
| CN204714140U (en) | Cardboard rectification machine | |
| US7708176B2 (en) | Web transportation guiding apparatus and method | |
| CN104808370A (en) | Oppositely-closed equipment and alignment method | |
| CN103241933A (en) | Board-shaped article cutting line processing apparatus and processing method | |
| JP5387915B2 (en) | Cutter traveling control method and sheet glass cutting method | |
| CN110304484B (en) | Conveying system and tension adjusting unit | |
| KR101447965B1 (en) | Roll to Roll System Active Tension Controller | |
| CN207823306U (en) | A kind of efficient roll coater | |
| CN109746787A (en) | A kind of tracking stile device | |
| CN105519252A (en) | Manufacturing work machine | |
| WO2015182332A1 (en) | Tension control device | |
| CN102785288A (en) | Deviation rectifying device of gypsum board production line | |
| CN105397240A (en) | Manufacturing system for fire prevention cabinet | |
| CN115847408A (en) | Intelligent identification and pose adjustment method for operation and maintenance robot | |
| JP5954354B2 (en) | Apparatus and method for measuring transport roll level in table roll equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |