CN105197536A - Control device, transportation equipment and control method - Google Patents
Control device, transportation equipment and control method Download PDFInfo
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- CN105197536A CN105197536A CN201510696620.8A CN201510696620A CN105197536A CN 105197536 A CN105197536 A CN 105197536A CN 201510696620 A CN201510696620 A CN 201510696620A CN 105197536 A CN105197536 A CN 105197536A
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Abstract
The invention discloses a control device, transportation equipment and a control method. The control device is applied to the transportation equipment; the transportation equipment comprises a plurality of conveying mechanisms for workpiece transmission; each conveying mechanism comprises a first roller structure and a second roller structure which are oppositely arranged in a distance-adjustable manner; the control device comprises a pressure sensing module used for acquiring the acting force of each first roller structure and/or each second roller structure to a workpiece in a direction that the first roller structure and/or the second roller structure are/is perpendicular to the surface of the workpiece, and an distance adjusting module used for adjusting a distance between the first roller structure and the corresponding second roller structure according to the acting force. Through the adoption of the device, the equipment and the method, the precision and the efficiency of adjusting the distance between rollers of double-roller transportation equipment are improved.
Description
Technical field
The present invention relates to running roller equipment technology field of transport, particularly a kind of control setup, transportation device and control method that automatically can adjust spacing between running roller.
Background technology
Utilize roll structure to carry out transmitting workpiece and be widely used in each manufacturing line.As shown in Figure 1, in a kind of transportation device of common single roll structure, by the rotation of running roller 101, conveying work pieces 102 in the transmission direction shown in Fig. 1.
But when the resistance that workpiece is subject on the direction contrary with transmission direction comparatively large (as transmitted in the solution), or during surface of the work unusual light, now running roller 101 cannot produce the application force being greater than described resistance in the transmit direction, therefore cannot in the transmission direction shown in Fig. 1 conveying work pieces 102.
In order to overcome above-mentioned problem, in prior art, there is a kind of transportation device of double roller structure as shown in Figure 2.Compared to Figure 1, the quantity owing to acting on the running roller 101 of workpiece 102 increases, therefore, it is possible to produce larger application force in the transmit direction.
But, as shown in Figure 2, in the transportation device of above-mentioned double roller structure, when only having the thickness of the spacing H between running roller 101 and workpiece to adapt, the normal work of guarantee transportation device.
Time as excessive in the spacing between running roller 101, now the running roller 101 of top cannot act on workpiece 102, causes the transportation device of double roller structure to lose meaning.
And spacing when between running roller 101 too small time, there will be the problem of following two aspects:
1, the spacing between running roller 101 is too small, and workpiece 102 cannot enter the space between running roller;
2, the spacing between running roller 101 is too small, considers the elasticity of running roller 101, and now workpiece can enter into the space between running roller, but elastically-deformable running roller 101 meeting produces the application force perpendicular to workpiece 102 surface to workpiece 102.And in workpiece 102 transmitting procedure, these application forces all can be converted to the friction force contrary with transmission direction.If therefore running roller 101 cannot produce larger application force in the transmit direction, some more fragile workpiece (as display panels) may be crushed, even if can not workpiece be crushed, also there will be running roller and skid at surface of the work, cannot the phenomenon of transmission workpiece.
Can find, the problem of above-mentioned two aspects all can on the impact of damaging property of manufacturing line.
Therefore, in prior art, the transportation device of double roller structure all needs to adjust the spacing H between running roller in advance before production commences, and spacing H and thickness of workpiece are adapted.
But contriver finds in the process realizing the embodiment of the present invention, there is manual regulated efficiency and all lower problem of precision in prior art.
Summary of the invention
The object of the embodiment of the present invention is to provide a kind of control setup, transportation device and control method, automatically spacing between adjustment running roller, improves precision and the efficiency of the adjustment of running roller spacing.
To achieve these goals, the embodiment of the invention discloses a kind of control setup, for transportation device, described transportation device comprises multiple conveyer for work piece delivery, each conveyer comprises the first roll structure and the second roll structure that are oppositely arranged in the mode that spacing is adjustable, and described control setup comprises:
Pressure sensor block, for obtaining described first roll structure and/or the second roll structure on the direction perpendicular to described surface of the work to the application force of described workpiece;
Spacing adjusting module, adjusts the spacing between the first roll structure and the second roll structure according to application force.
Above-mentioned control setup, wherein, described first roll structure comprises:
First load-carrying element; With
Be arranged on described first load-carrying element, with at least one first driven roller rotated under the drive of described first load-carrying element;
Described second roll structure comprises:
Second load-carrying element parallel with the first load-carrying element; With
Be arranged on described second load-carrying element, with at least one second driven roller rotated under the drive of described second load-carrying element, and at least one first driven roller described is arranged in pairs;
Described spacing adjusting module is used for being changed over the spacing between the first driven roller arranged and the second driven roller by the position changing described first load-carrying element and/or the second load-carrying element, and it is parallel with the second load-carrying element to maintain described first load-carrying element.
Above-mentioned control setup, wherein, second load-carrying element of all conveyers is fixed on board, described spacing adjusting module comprises the first spacing arranged with the first load-carrying element one_to_one corresponding and adjusts submodule, described first spacing adjustment submodule connects with the two ends of the first corresponding load-carrying element simultaneously, and the two ends of the first corresponding load-carrying element can be synchronized with the movement under the control of described first spacing adjustment submodule.
Above-mentioned control setup, wherein, second load-carrying element of all conveyers is fixed on board, described spacing adjusting module comprises at least one second spacing adjustment submodule, described second spacing adjustment submodule is connected with the first load-carrying element of at least two conveyers, can act on the first load-carrying element of all conveyers be connected simultaneously.
Above-mentioned control setup, wherein, described second load-carrying element of all conveyers is fixed on board, described spacing adjusting module comprises multiple 3rd spacing adjustment submodule, each first two ends, load-carrying element left and right respectively arranges a described 3rd spacing adjustment submodule, and the two ends of the first load-carrying element can be synchronized with the movement under the control of two described 3rd spacing adjustment submodules.
Above-mentioned control setup, wherein, described spacing adjusting module comprises linear motor.
To achieve these goals, the embodiment of the invention also discloses a kind of transportation device, comprise multiple conveyer for work piece delivery, each conveyer comprises the first roll structure and the second roll structure that are oppositely arranged in the mode that spacing is adjustable, and described transportation device also comprises above-mentioned control setup.
Above-mentioned transportation device, wherein, described pressure sensor block be arranged at described first roll structure and/or the second roll structure can with the surface of described absorption surface.
Above-mentioned transportation device, wherein, also comprises:
Be connected with the first roll structure and the second roll structure, for the magnetic transmission structure driving described first roll structure and the second roll structure to rotate in opposite directions.
To achieve these goals, the embodiment of the invention also discloses a kind of control method, for transportation device, described transportation device comprises multiple conveyer for work piece delivery, each conveyer comprises the first roll structure and the second roll structure that are oppositely arranged, described first roll structure and the second roll structure have the spacing passed through for workpiece, and described control method comprises:
On the direction of acquisition perpendicular to described surface of the work, described first roll structure and the second roll structure are to the application force of described workpiece;
According to described application force determination adjustment amount;
Carry out driving operation according to described adjustment amount, change the described spacing between described first roll structure and the second roll structure.
The embodiment of the present invention has following beneficial effect:
In the embodiment of the present invention, the application force of described workpiece is determined to the comformability of spacing between current roll structure and thickness of workpiece on the direction perpendicular to described surface of the work by obtaining roll structure, and when the two is improper, according to the spacing between described application force described first roll structure of adjustment and the second roll structure, the spacing after changing between roll structure and thickness of workpiece are adapted.The embodiment of the present invention can adjust spacing between running roller automatically, improves efficiency and the precision of spacing adjustment between running roller.
Accompanying drawing explanation
Fig. 1 represents the structural representation of the transportation device of single roll structure of prior art;
Fig. 2 represents the structural representation of the transportation device of the double roller structure of prior art;
Fig. 3 represents the structural representation of the control setup of the embodiment of the present invention;
Fig. 4 represents the structural representation of the roll structure of the embodiment of the present invention;
Fig. 5 represents in the embodiment of the present invention structural representation of the spacing adjustment submodule adopting first kind of way to realize;
Fig. 6 represents in the embodiment of the present invention structural representation of the spacing adjustment submodule adopting the second way to realize;
Fig. 7 represents in the embodiment of the present invention structural representation of the spacing adjustment submodule adopting the third mode to realize;
Fig. 8 represents the schematic flow sheet of the control method of the embodiment of the present invention.
Detailed description of the invention
In the embodiment of the present invention, the application force of described workpiece is determined to the comformability of spacing between current roll structure and thickness of workpiece on the direction perpendicular to described surface of the work by obtaining roll structure, and when the two is improper, according to the spacing between described application force described first roll structure of adjustment and the second roll structure, the spacing after changing between roll structure and thickness of workpiece are adapted.The embodiment of the present invention can adjust spacing between running roller automatically, improves efficiency and the precision of spacing adjustment between running roller.
Generally speaking, the transportation device of double roller structure comprises multiple conveyer for work piece delivery, each conveyer comprises the first roll structure and the second roll structure that are oppositely arranged in the mode that spacing is adjustable, and the driven roller in the first roll structure and the second roll structure rotates with contrary direction, drive workpiece motion s.
In above-mentioned transportation device, have the parameter that three are closely bound up: thickness of workpiece D, spacing H between the first roll structure and the second roll structure and the first roll structure and/or the second roll structure on the direction perpendicular to described surface of the work to the directed force F of described workpiece.
When D mono-timing, when spacing H is less than D, H is less, then F is larger, and when H mono-timing, when D is greater than H, D is larger, then F is larger.
And can know according to description before, when F is greater than a certain thresholding time, workpiece may be crushed, when not crushing workpiece, also may be converted into larger friction force, causing running roller to rotate, also just cannot transmission workpiece, cause whole manufacturing line to stop.
Therefore, F needs to maintain certain interval, can not cause above-mentioned crushing workpiece or occurred by the phenomenon that running roller blocks because F is excessive, again can not due to too small and cannot transmission workpiece.
A kind of control setup of the embodiment of the present invention, for transportation device, described transportation device comprises multiple conveyer for work piece delivery, and each conveyer comprises the first roll structure and the second roll structure that are oppositely arranged in the mode that spacing is adjustable, as shown in Figure 3, described control setup comprises:
Pressure sensor block, for obtaining described first roll structure and/or the second roll structure on the direction perpendicular to described surface of the work to the application force of described workpiece;
Spacing adjusting module, for adjusting the spacing between described first roll structure and the second roll structure according to described application force.
In the embodiment of the present invention, the application force of described workpiece is determined to the comformability of spacing between current roll structure and thickness of workpiece on the direction perpendicular to described surface of the work by obtaining roll structure, and according to the spacing between described application force described first roll structure of adjustment and the second roll structure, spacing after the change of roll structure and thickness of workpiece are adapted, both can not destroy workpiece, and also can ensure that workpiece transmitted normally.The embodiment of the present invention achieves the automatic adjustment of the spacing between roll structure by pressure, improves efficiency and the precision of spacing adjustment between running roller.
Should be noted that in the specific embodiment of the invention at this, the implication that the spacing between the first roll structure and the second roll structure and thickness of workpiece adapt is:
1, workpiece can not be destroyed by the first roll structure and the second roll structure; And
2, workpiece can towards predetermined transmission direction campaign under the effect of the first roll structure and the second roll structure.
In the embodiment of the present invention, above-mentioned roll structure can be various forms of structure, and a kind of implementation below with regard to roll structure is described as follows.
As shown in Figure 4, the first roll structure of the embodiment of the present invention comprises:
First load-carrying element 4011; With
Be arranged on described first load-carrying element 4011, with at least one first driven roller 4012 rotated under the drive of described first load-carrying element 4011;
And described second roll structure comprises equally:
Second load-carrying element 4021 parallel with the first load-carrying element 4011; With
Be arranged on described second load-carrying element 4021, with at least one second driven roller 4022 rotated under the drive of described second load-carrying element 4021, and at least one first driven roller 4012 described is arranged in pairs;
In above-mentioned structure, drive motor (not shown) is rotated with contrary direction by driving first load-carrying element 4011 and the second load-carrying element 4021, thus drive the first driven roller 4012 and the second driven roller 4022 that arrange in pairs with the rotation of contrary direction, transport workpiece 102.
In above-mentioned structure, spacing adjusting module can by changing the position of described first load-carrying element 4011 and/or the second load-carrying element 4021, change over the spacing between the first driven roller 4012 arranged and the second driven roller 4022, maintain the parallel of the first load-carrying element 4011 and the second load-carrying element 4021 simultaneously.
In the specific embodiment of the invention, spacing adjusting module can change in several ways to the spacing between the first driven roller 4012 arranged and the second driven roller 4022, is respectively described below below.
< mode one >
In mode one, the second load-carrying element of all conveyers is fixed on board, then respectively arranges a spacing adjustment submodule for each first two ends, load-carrying element left and right, is responsible for the distance adjustment at the first two ends, load-carrying element left and right respectively.
That is: described second load-carrying element of all conveyers is fixed on board, described spacing adjusting module comprises multiple 3rd spacing adjustment submodule, each first two ends, load-carrying element left and right respectively arranges a described 3rd spacing adjustment submodule, and the two ends of the first load-carrying element can be synchronized with the movement under the control of two described 3rd spacing adjustment submodules.
Under this mode, as long as the spacing adjustment algorithm of the 3rd spacing adjustment submodule is consistent, then can ensure that the two ends of the first load-carrying element can be synchronized with the movement under the control of described 3rd spacing adjustment submodule, the conformability of the distance between the first all load-carrying elements the second load-carrying element corresponding thereto can be ensured simultaneously.
As shown in Figure 5, be the structural representation of the spacing adjustment submodule that the embodiment of the present invention adopts first kind of way to realize, it comprises:
First support 501, one end has and adapts with the first load-carrying element end construction, for fixing the first accommodation section of the first load-carrying element 4011 end;
First straight line driving mechanism 502, for driving arm 501 straight-line motion on the direction perpendicular to described first load-carrying element 4011;
First controller 503, the application force for detecting according to pressure sensor block controls the move distance of described first straight line driving mechanism 502.
First straight line driving mechanism can be the combination of rotating machine and ball-screw, also can be linear motor.
First linear drives structure 502 can drive support 501 up-and-down movement, and support 501 up-and-down movement can drive the first load-carrying element 4011 up-and-down movement by the first load-carrying element 4011 end, thus change the spacing between the first load-carrying element and the second load-carrying element.
< mode two >
In mode one, need to arrange the individual spacing adjustment submodule of 2N (N is the logarithm of the roll structure arranged in pairs).
In mode two, second load-carrying element of all conveyers is fixed on board, described spacing adjusting module comprises the first spacing arranged with the first load-carrying element one_to_one corresponding and adjusts submodule, described first spacing adjustment submodule connects with the two ends of the first corresponding load-carrying element simultaneously, and the two ends of the first corresponding load-carrying element can be synchronized with the movement under the control of described first spacing adjustment submodule.
In mode two, only need to arrange the individual spacing adjustment submodule of N (N is the logarithm of the roll structure arranged in pairs), greatly reduce the quantity of spacing adjustment submodule.And each spacing adjustment submodule comprises a motor, therefore the quantity of motor reduces by half and greatly can reduce spacing self-align cost.
As shown in Figure 6, be the structural representation of the spacing adjustment submodule that the embodiment of the present invention adopts the second way to realize, it comprises:
Second support 601, has the second accommodation section for holding first load-carrying element 4,011 two ends;
Second straight line driving mechanism 602, for driving the second support 601 straight-line motion on the direction perpendicular to described first load-carrying element 4011;
Second controller 603, the application force for detecting according to pressure sensor block controls the move distance of described second straight line driving mechanism 602.
Second straight line driving mechanism can be the combination of rotating machine and ball-screw, also can be linear motor.
Second linear drives structure 602 can drive support 601 up-and-down movement, and support 601 up-and-down movement can drive the first load-carrying element 4011 up-and-down movement by the first load-carrying element 4011 two ends, thus change the spacing between the first load-carrying element and the second load-carrying element.
< mode three >
Mode two decreases the quantity of spacing adjustment submodule, but has the space of adjustment further.
In embodiment three, above-mentioned control setup, wherein, second load-carrying element of all conveyers is fixed on board, described spacing adjusting module comprises at least one second spacing adjustment submodule, described second spacing adjustment submodule is connected with the first load-carrying element of at least two conveyers, can act on the first load-carrying element of all conveyers be connected simultaneously.
As shown in Figure 7, be the structural representation of the spacing adjustment submodule that the embodiment of the present invention adopts the third mode to realize, it comprises:
3rd support 701, has the 3rd accommodation section of two ends for holding each the first load-carrying element 4011 in multiple first load-carrying element 4011;
3rd straight line driving mechanism 702, for driving the 3rd support 701 straight-line motion on the direction perpendicular to described first load-carrying element 4011.
3rd controller 703, the application force for detecting according to pressure sensor block controls the move distance of described 3rd straight line driving mechanism 702.
3rd straight line driving mechanism can be the combination of rotating machine and ball-screw, also can be linear motor.
3rd linear drives structure 702 can drive support 701 up-and-down movement, and support 701 up-and-down movement can drive multiple first load-carrying element 4011 up-and-down movement by multiple first load-carrying element 4011 two ends drive simultaneously, thus change the spacing between multipair first load-carrying element and the second load-carrying element simultaneously.
In the specific embodiment of the invention, in order to improve control accuracy and control rate, described spacing adjusting module all comprises linear motor.
In the specific embodiment of the invention, no matter be which kind of implementation, all need to arrange the force value that a controller detects according to pressure sensor block and control straight line driving mechanism, and then the position of the first load-carrying element 4011 of adjusting pole and stent support is come by the motion of straight line driving mechanism, finally realize the automatic adjustment of the spacing between roll structure.
In the specific embodiment of the invention, the algorithm of this controller is varied, as: a threshold pressure interval is set, when actual pressure detected value is greater than the maxim in threshold pressure interval, the position of the first load-carrying element 4011 should be raised, and when actual pressure detected value is less than the minimum value in threshold pressure interval, the position of the first load-carrying element 4011 should be reduced.
Said process moves in circles, and final guarantee actual pressure detected value is positioned at threshold pressure interval.And threshold pressure interval can be obtained by actual experiment test, do not elaborate at this.
To achieve these goals, the embodiment of the invention also discloses a kind of transportation device, comprise multiple conveyer for work piece delivery, each conveyer comprises the first roll structure and the second roll structure that are oppositely arranged in the mode that spacing is adjustable, and described transportation device also comprises:
Pressure sensor block, for obtaining described first roll structure and/or the second roll structure on the direction perpendicular to described surface of the work to the application force of described workpiece;
Spacing adjusting module, for adjusting the spacing between described first roll structure and the second roll structure according to described application force.
Above-mentioned transportation device, wherein, described first roll structure comprises:
First load-carrying element; With
Be arranged on described first load-carrying element, with at least one first driven roller rotated under the drive of described first load-carrying element;
Described second roll structure comprises:
Second load-carrying element parallel with the first load-carrying element; With
Be arranged on described second load-carrying element, with at least one second driven roller rotated under the drive of described second load-carrying element, and at least one first driven roller described is arranged in pairs;
Described spacing adjusting module is used for being changed over the spacing between the first driven roller arranged and the second driven roller by the position changing described first load-carrying element and/or the second load-carrying element, and it is parallel with the second load-carrying element to maintain described first load-carrying element.
Above-mentioned transportation device, wherein, second load-carrying element of all conveyers is fixed on board, described spacing adjusting module comprises the first spacing arranged with the first load-carrying element one_to_one corresponding and adjusts submodule, described first spacing adjustment submodule connects with the two ends of the first corresponding load-carrying element simultaneously, and the two ends of the first corresponding load-carrying element can be synchronized with the movement under the control of described first spacing adjustment submodule.
Above-mentioned transportation device, wherein, second load-carrying element of all conveyers is fixed on board, described spacing adjusting module comprises at least one second spacing adjustment submodule, described second spacing adjustment submodule is connected with the first load-carrying element of at least two conveyers, can act on the first load-carrying element of all conveyers be connected simultaneously.
Above-mentioned transportation device, wherein, described spacing adjusting module comprises linear motor.
Above-mentioned transportation device, wherein, described pressure sensor block be arranged at roll structure can with the surface of described absorption surface.
Gear transmission has some not eliminable problems, as mechanical fatigue, frictional loss, vibrating noise etc.In order to avoid above problem, in our mask body embodiment, employing Magnetic drive mode realizes the first roll structure and the second roll structure rotates in opposite directions, that is: this transportation device also comprises: be connected with the first roll structure and the second roll structure, for the magnetic transmission structure driving described first roll structure and the second roll structure to rotate in opposite directions.
Magnetic transmission structure utilizes magnetic drive, does not have the gears meshing of Mechanical Contact, therefore has no touch than the gear transmission structure of mechanical engagement, without the advantage such as friction energy loss and stable drive, also has without the need to lubrication, without the advantage such as greasy dirt, dustproof and waterproof simultaneously.
To achieve these goals, the embodiment of the invention also discloses a kind of control method, for transportation device, described transportation device comprises multiple conveyer for work piece delivery, each conveyer comprises the first roll structure and the second roll structure that are oppositely arranged, described first roll structure and the second roll structure have the spacing passed through for workpiece, and as shown in Figure 8, described control method comprises:
Step 801, to obtain on the direction perpendicular to described surface of the work described first roll structure and the second roll structure to the application force of described workpiece;
Step 802, according to the spacing between application force described first roll structure of adjustment and the second roll structure.
In the embodiment of the present invention, the application force of described workpiece is determined to the comformability of spacing between current roll structure and thickness of workpiece on the direction perpendicular to described surface of the work by obtaining roll structure, and according to the spacing between described application force described first roll structure of adjustment and the second roll structure, spacing after the change of roll structure and thickness of workpiece are adapted, both can not destroy workpiece, and also can ensure that workpiece transmitted normally.The embodiment of the present invention achieves the automatic adjustment of the spacing between roll structure by pressure, improves efficiency and the precision of spacing adjustment between running roller.
In the embodiment of the present invention, part of module can use software simulating, to be performed by various types of treater.For example, the executable code module of a mark can comprise one or more physics or the logical block of computer instruction, and for example, it can be built as object, process or function.However, the executable code of institute's identification module is does not have to be physically positioned at together, but can comprise the different instruction be stored in not coordination, when these command logics combine, and its composition module and realize the regulation object of this module.
In fact, executable code module can be individual instructions or many bar instructions, and even can be distributed on multiple different code segment, is distributed in the middle of distinct program, and crosses over the distribution of multiple memory devices.Similarly, service data can be identified in module, and can realize according to any suitable form and be organized in the data structure of any suitable type.Described service data can be collected as individual data collection, or can be distributed on diverse location and (be included in different storage device), and can only be present on system or network as electronic signal at least in part.
When module can utilize software simulating, consider the level of existing hardware technique, so can with the module of software simulating, when not considering cost, those skilled in the art can build corresponding hardware circuit and realize corresponding function, and described hardware circuit comprises existing quartz conductor or other discrete element of conventional ultra-large integrated (VLSI) circuit or gate array and such as logic chip, transistor and so on.Module can also use programmable hardware device, the realizations such as such as field programmable gate array, programmable logic array (PAL), programmable logic device.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. a control setup, for transportation device, described transportation device comprises multiple conveyer for work piece delivery, and each conveyer comprises the first roll structure and the second roll structure that are oppositely arranged in the mode that spacing is adjustable, it is characterized in that, described control setup comprises:
Pressure sensor block, for obtaining described first roll structure and/or the second roll structure on the direction perpendicular to described surface of the work to the application force of described workpiece;
Spacing adjusting module, for adjusting the spacing between described first roll structure and the second roll structure according to described application force.
2. control setup according to claim 1, is characterized in that, described first roll structure comprises:
First load-carrying element; With
Be arranged on described first load-carrying element, with at least one first driven roller rotated under the drive of described first load-carrying element;
Described second roll structure comprises:
Second load-carrying element parallel with the first load-carrying element; With
Be arranged on described second load-carrying element, with at least one second driven roller rotated under the drive of described second load-carrying element, and at least one first driven roller described is arranged in pairs;
Described spacing adjusting module is used for being changed over the spacing between the first driven roller arranged and the second driven roller by the position changing described first load-carrying element and/or the second load-carrying element, and it is parallel with the second load-carrying element to maintain described first load-carrying element.
3. control setup according to claim 2, it is characterized in that, second load-carrying element of all conveyers is fixed on board, described spacing adjusting module comprises the first spacing arranged with the first load-carrying element one_to_one corresponding and adjusts submodule, described first spacing adjustment submodule connects with the two ends of the first corresponding load-carrying element simultaneously, and the two ends of the first corresponding load-carrying element can be synchronized with the movement under the control of described first spacing adjustment submodule.
4. control setup according to claim 2, it is characterized in that, second load-carrying element of all conveyers is fixed on board, described spacing adjusting module comprises at least one second spacing adjustment submodule, described second spacing adjustment submodule is connected with the first load-carrying element of at least two conveyers, can act on the first load-carrying element of all conveyers be connected simultaneously.
5. according to the control setup in claim 1-4 described in any one, it is characterized in that, described second load-carrying element of all conveyers is fixed on board, described spacing adjusting module comprises multiple 3rd spacing adjustment submodule, each first two ends, load-carrying element left and right respectively arranges a described 3rd spacing adjustment submodule, and the two ends of the first load-carrying element can be synchronized with the movement under the control of two described 3rd spacing adjustment submodules.
6. according to the control setup in claim 1-4 described in any one, it is characterized in that, described spacing adjusting module comprises linear motor.
7. a transportation device, comprise multiple conveyer for work piece delivery, each conveyer comprises the first roll structure and the second roll structure that are oppositely arranged in the mode that spacing is adjustable, and it is characterized in that, described transportation device also comprises the control setup in claim 1-6 described in any one.
8. transportation device according to claim 7, is characterized in that, described pressure sensor block be arranged at described first roll structure and/or the second roll structure can with the surface of described absorption surface.
9. transportation device according to claim 7, is characterized in that, described transportation device also comprises:
Be connected with the first roll structure and the second roll structure, for the magnetic transmission structure driving described first roll structure and the second roll structure to rotate in opposite directions.
10. a control method, for transportation device, described transportation device comprises multiple conveyer for work piece delivery, each conveyer comprises the first roll structure and the second roll structure that are oppositely arranged, described first roll structure and the second roll structure have the spacing passed through for workpiece, it is characterized in that, described control method comprises:
On the direction of acquisition perpendicular to described surface of the work, described first roll structure and the second roll structure are to the application force of described workpiece;
According to the spacing between described application force described first roll structure of adjustment and the second roll structure.
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| CN201510696620.8A CN105197536A (en) | 2015-10-23 | 2015-10-23 | Control device, transportation equipment and control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108639052A (en) * | 2017-03-17 | 2018-10-12 | 本田技研工业株式会社 | The control device of transporting equipment |
| CN110931405A (en) * | 2019-11-18 | 2020-03-27 | Tcl华星光电技术有限公司 | Transmission member, transmission method, and cleaning device |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108639052A (en) * | 2017-03-17 | 2018-10-12 | 本田技研工业株式会社 | The control device of transporting equipment |
| CN108639052B (en) * | 2017-03-17 | 2021-03-12 | 本田技研工业株式会社 | Control device for transport equipment |
| CN110931405A (en) * | 2019-11-18 | 2020-03-27 | Tcl华星光电技术有限公司 | Transmission member, transmission method, and cleaning device |
| CN110931405B (en) * | 2019-11-18 | 2022-04-26 | Tcl华星光电技术有限公司 | Transmission member, transmission method, and cleaning device |
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