JP2020015171A - Tension correction method and sheet-like material transfer device - Google Patents

Abstract

To provide a tension correction method for correcting tension of an endless chain according to a change in a rail pattern.SOLUTION: A rail mechanism 3A of a sheet-like material transfer device 2A is provided with a bendable joint G and a pair of drive sprockets 61A and 62A, and when the joint G is bent, detects a bending angle of the joint G, and a correction amount is calculated based on a bending angle, and the driving sprocket 61A is rotated based on the calculated correction amount to correct the tension of an endless chain 5A.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a method for correcting a tension of an endless chain in a sheet-like material transfer device and a sheet-like material transfer device.

  2. Description of the Related Art A stretching machine that stretches a sheet while transferring the sheet has been proposed. Such a stretching machine has a pair of left and right endless chains, and transports the sheet by rotating the endless chain in a state where both edges of the sheet are gripped by a large number of clip portions. The endless chain can be selectively contracted / extended in a pantograph shape, and the sheet is gradually stretched while being transported to stretch the sheet. Further, such a stretching machine is provided with a guide rail and a screw for extending an endless chain, and the relative position of the guide rail can be adjusted according to a change in the stretching ratio of the sheet-like material (for example, see Patent Reference 1).

  As a configuration for enabling the position adjustment of the guide rail, one in which a plurality of joints of the guide rail are screwed to the shaft and the joint is moved along the longitudinal direction of the shaft by rotating the shaft. It has been proposed (for example, see Patent Document 2).

JP-A-64-22532 JP-A-10-138329

  An object of the present invention is to provide a tension correction method for correcting the tension of an endless chain according to a change in a rail pattern.

  Another object of the present invention is to provide a sheet-like object transfer device that corrects the tension of an endless chain according to a change in a rail pattern.

  The tension correction method of the present invention includes a rail mechanism having a bendable joint, an endless chain capable of holding a sheet-like object, being guided and guided by the rail mechanism, and meshing with the endless chain in a predetermined direction. In a sheet-like object transfer device including: a pair of drive sprockets that rotate around the endless chain by rotating; and a drive unit that individually drives the pair of drive sprockets, the rail mechanism includes the joint unit. A plurality of rail portions connected via a plurality of rail portions, the plurality of rail portions constitute a loop-shaped guide rail as a whole, and when the joint portion is bent, a bending angle of the joint portion is detected. Detection step, a calculation step of calculating a correction amount based on the bending angle, and at least one of the driving steps based on the correction amount. The rocket is rotated, characterized in that it comprises a correction step of correcting the tension of the endless chain.

  The tension correction method of the present invention includes a rail mechanism having a bendable joint, an endless chain capable of holding a sheet-like object, being guided and guided by the rail mechanism, and meshing with the endless chain in a predetermined direction. A sheet-like object transfer comprising: a first driving sprocket and a second driving sprocket for rotating the endless chain by rotating; and driving means for individually rotating and driving the first driving sprocket and the second driving sprocket. In the device, the rail mechanism has a plurality of rail portions connected via the joint portion, and the plurality of rail portions constitutes a loop-shaped guide rail as a whole, and the plurality of rail portions includes A first rail on which the first drive sprocket is installed, and a second rail on which the second drive sprocket is installed. Rarely, when the joint is bent, an angle change amount detecting step of detecting an angle change amount; a calculating step of calculating a correction amount based on the angle change amount and a radius of the second drive sprocket; Correcting the tension of the endless chain by rotating the second drive sprocket based on the correction amount, wherein the angle change amount is an angle change amount of the first drive sprocket with respect to the first rail portion. And an angle change amount of the second drive sprocket with respect to the second rail portion.

  A sheet-like material transfer device according to the present invention includes a rail mechanism having a bendable joint, an endless chain capable of sandwiching a sheet-like material, being guided by the rail mechanism, and being circulated, meshing with the endless chain. A pair of drive sprockets for rotating the endless chain by rotating in a predetermined direction, a drive unit for individually rotating the pair of drive sprockets, and a control unit for controlling the drive unit, The rail mechanism has a plurality of rails connected via the joints, and the plurality of rails constitutes a loop-shaped guide rail as a whole. A first correction amount is calculated based on a bending angle of the joint, and the driving unit determines at least one of the pair of driving sprockets based on the first correction amount. It rotates and performing tension correction of the endless chain.

  A sheet-like material transfer device according to the present invention includes a rail mechanism having a bendable joint, an endless chain capable of sandwiching a sheet-like material, being guided by the rail mechanism, and being circulated, meshing with the endless chain. A pair of drive sprockets for rotating the endless chain by rotating in a predetermined direction, a drive unit for individually rotating the pair of drive sprockets, and a control unit for controlling the drive unit, The rail mechanism has a plurality of rails connected via the joint, and the plurality of rails constitutes a loop-shaped guide rail as a whole, and the plurality of rails include the first rail. A first rail portion on which a driving sprocket is installed; and a second rail portion on which the second driving sprocket is installed. The step is based on a sum of an angle change amount of the first drive sprocket with respect to the first rail portion, an angle change amount of the second drive sprocket with respect to the second rail portion, and a radius of the second drive sprocket. The driving means corrects the tension of the endless chain by rotating the second driving sprocket based on the correction amount.

  A sheet-like object transfer device according to the present invention includes a rail mechanism having a plurality of bendable joints, an endless chain capable of sandwiching a sheet-like object, being guided by the rail mechanism and circling, and an endless chain. A plurality of drive sprockets for rotating the endless chain by rotating in a predetermined direction, a screw for guiding the endless chain while contracting or extending, and a plurality of drive sprockets and the screw separately. A driving unit for rotationally driving, and a control unit for controlling the driving unit, wherein the rail mechanism has a plurality of rail portions connected via the plurality of joint portions, and the plurality of rail portions. Thus, a loop-shaped guide rail is formed as a whole, and the plurality of rail portions include a first rail portion on which the first drive sprocket is installed. A second rail portion on which the second drive sprocket is installed and a third rail portion on which the reference sprocket is installed are included, and the rail portions adjacent to each other in the longitudinal direction of the rail mechanism form the joint portion. And the plurality of driving sprockets are connected via a first driving sprocket, a second driving sprocket, a reference sprocket located between the first driving sprocket and the second driving sprocket, the reference sprocket and the reference sprocket. An auxiliary sprocket located between a second drive sprocket, the screw being located between the reference sprocket and the auxiliary sprocket, the plurality of joints being provided between the first drive sprocket and the reference sprocket. And a second joint provided between the reference sprocket and the screw. When at least one of the first joint portion and the second joint portion is bent, the control means includes a first correction amount, a second correction amount, and a third correction amount. , A fourth correction amount, and the driving unit rotates the first driving sprocket based on the first correction amount, rotates the screw based on the second correction amount, and sets the third correction amount. And the second drive sprocket is rotated based on the fourth correction amount, and the control means calculates the first correction amount based on the bending angle of the first joint. The second correction amount is calculated based on a bending angle of the second joint, and the third correction amount is calculated based on a bending angle of the second joint and a contraction rate or an expansion rate of the screw. Is calculated, and the bending angle of the second joint portion and the angle A total value of a contraction rate or an expansion rate by a screw, an angle change amount of the reference sprocket with respect to the third rail portion, and an angle change amount of the second drive sprocket with respect to the second rail portion, and a radius of the second drive sprocket It is preferable to calculate the fourth correction amount based on the following.

  According to the tension correction method and the sheet-like object transfer device of the present invention, when a joint is bent, a correction amount is calculated based on a bending angle of the joint, and at least one of the correction amounts is calculated based on the calculated correction amount. Is rotated, it is possible to correct the variation in the tension of the endless chain caused by the bending of the joint.

  Further, according to the tension correction method and the sheet-like object transfer device of the present invention, when the joint is bent, the angle change amount of the first driving sprocket with respect to the first rail portion and the angle change amount of the second drive sprocket with respect to the second rail portion. An angle change amount that is a total value of the angle change amount of the two drive sprocket is detected, a correction amount is calculated based on the detected angle change amount and a radius of the second drive sprocket, and based on the calculated correction amount. Since the second drive sprocket is rotated, it is possible to correct the variation in the tension of the endless chain caused by the bending of the joint.

FIG. 1 is a schematic plan view showing a sheet processing apparatus according to an embodiment of the present invention. FIG. 2 is a schematic side view showing one sheet processing apparatus provided in the sheet processing apparatus shown in FIG. 1. FIGS. 3A and 3B are enlarged bottom views showing a part of an endless chain provided in the sheet-like transfer device shown in FIG. 2, wherein FIG. 3A is a diagram illustrating an extended state, and FIG. FIG. 3 is a schematic plan view illustrating a main transfer device provided in the sheet-like transfer device illustrated in FIG. 2. FIG. 3 is a schematic plan view showing a sub-transfer device included in the sheet-like transfer device shown in FIG. 2. 3A and 3B are enlarged views of a joint provided in the sheet-shaped transfer device illustrated in FIG. 2, wherein FIG. 3A illustrates a basic state, FIG. 3B illustrates a state where the sheet is bent inward, and FIG. FIG. 3 is a plan view showing a rail pattern in the sheet-like transfer device shown in FIG. 2. FIG. 3 is a functional block diagram of the sheet-like transfer device shown in FIG. 2. FIG. 3 is a diagram illustrating an inclination angle of a first sprocket with respect to a second sprocket when a joint provided in the sheet-shaped transfer device illustrated in FIG. 2 is bent. FIG. 5 is a schematic plan view showing a sheet-like material processing apparatus according to a modification of the present invention.

  Hereinafter, a tension correction method according to an embodiment of the present invention will be described with reference to the accompanying drawings.

  The tension correction method according to the present embodiment is applied to, for example, the sheet-like material processing apparatus 1 illustrated in FIGS. 1 and 2. The sheet-like material processing apparatus 1 includes a pair of transfer devices (sheet-like material transfer devices) 2 and 2, a heating unit (not shown), and a control unit 8 shown in FIG. One transfer device 2 is arranged on the left side in the width direction D1 of the sheet material S, and the other transfer device 2 is arranged on the right side. The pair of transfer devices 2 and 2 transfer the sheet S in the predetermined transfer direction D2 while sandwiching both side edges of the sheet S in the width direction D1. Since the transfer devices 2 and 2 have substantially the same configuration except that they are symmetrical about the transfer direction D2, only one transfer device 2 will be described here, and the description of the other transfer device 2 will be omitted. . In the following description, “inside” means the side of the transport path of the sheet-like material S, and “outside” means the side opposite to the transport path across the transfer device 2.

The transfer device 2 includes a main transfer device 2A, a sub-transfer device 2B disposed above the main transfer device 2A, and a driving unit 4. The driving unit 4 includes first to seventh drive motors M1 to M7. Prepare.
The main transfer device 2A includes an endless chain 5A, a first sprocket 61A, a second sprocket 62A, a third sprocket 63A, and a second sprocket 62A and a third sprocket, which are arranged at intervals from the upstream in the transfer direction D2. The auxiliary sprocket 64 is provided between the second sprocket 62A and the auxiliary sprocket 64, and the screw 7 is provided between the second sprocket 62A and the auxiliary sprocket 64.

  As shown in FIG. 3, the endless chain 5A is configured to be capable of selectively contracting and extending in the length direction, and includes a plurality of clip portions 51A and a plurality of clip portions 51A for connecting a pair of adjacent clip portions 51A. And a chain unit 52A. Each clip portion 51A is provided with a clip means (not shown) for holding a side edge of the sheet material S, and a driven roller (not shown) guided by the screw 7. Each chain unit 52A includes a pair of links 52a, 52a and an intermediate link 52b, and each link 52a is rotatably connected to an adjacent clip portion 51A via a connection shaft S1. The intermediate link 52b is located between the pair of links 52a, 52a, and is pivotally connected to the pair of links 52a, 52a via the connection shafts S2, S2.

  A driven roller 52c is provided on the intermediate link 52b, and when the driven roller 52c is pushed in the direction of arrow A, each link 52a moves with respect to the clip portion 51A and the center link 52b about the connection shafts S1 and S2. It turns and changes from the state shown in FIG. 3 (a) to the state shown in FIG. 3 (b). In this manner, the pitch of the clip portion 51A (hereinafter, referred to as “pitch between clips”) can be changed between the maximum pitch X1 and the minimum pitch X2. It is arbitrarily set according to the contraction rate and the stretching rate in the direction (transfer direction D2).

  The first to third sprockets 61A to 63A and the auxiliary sprocket 64 are connected to first to fourth drive motors M1 to M4, respectively, and are driven by predetermined rotational driving forces from the first to fourth drive motors M1 to M4. It is a driving sprocket driven to rotate in the direction. The first to third sprockets 61A to 63A have the same diameter, and the endless chain 5A meshes with the first to third sprockets 61A to 63A to rotate the first to third sprockets 61A to 63A in a predetermined direction. As a result, the endless chain 5A circulates (moves) in the predetermined circling direction D3. The auxiliary sprocket 64 has a smaller diameter than the first to third sprockets 61A to 63A, and the endless chain 5A is meshed with the auxiliary sprocket 64, and the auxiliary sprocket 64 is driven to rotate in a predetermined direction. Is stably sent to the third sprocket 63A.

  The screw 7 is for guiding the endless chain 5A, and has a spiral shape on the peripheral surface of the screw 7 for guiding the above-described driven roller (not shown) provided on the clip portion 51A of the endless chain 5A. Is provided. In the present embodiment, the screw 7 is a reduced screw, and the pitch of the guide portion 7a is set so as to gradually decrease toward the downstream side in the transport direction D2. A drive motor M5 is connected to the screw 7, and the drive motor M5 rotates the screw 7 so that the guide portion 7a moves in the transfer direction D2 (circulating direction D3).

  When the clip 51A of the revolving endless chain 5A reaches the screw 7, the driven roller (not shown) of the clip 51A is guided by the guide 7a of the screw 7 and decelerated, whereby the endless chain 5A (chain unit) 52A) contracts at a predetermined contraction rate as shown in FIG. 3B, and the pitch between clips decreases. Thereafter, the endless chain 5A is sent to the third sprocket 63A by the auxiliary sprocket 64, and is returned to the fully extended state as shown in FIG. 3A before returning to the second sprocket 62A.

  Referring to FIGS. 1 and 2, sub-transfer device 2B includes an endless chain (sub-endless chain) 5B, a fourth sprocket 61B provided directly above first sprocket 61A, and a second sprocket 62A directly above. And a fifth sprocket 62 </ b> B provided at the second position.

  The endless chain 5B is configured such that a number of clip portions 51B are connected endlessly by a chain unit (not shown), and each clip portion 51B is provided with a clip means (see FIG. (Not shown).

  The fourth and fifth sprockets 61B and 62B are connected to the sixth and seventh drive motors M6 and M7, respectively, and are driven to rotate in predetermined directions by the rotational drive forces from the sixth and seventh drive motors M6 and M7. Driven sprocket. The fourth and fifth sprockets 61B, 62B have the same diameter as the first and second sprockets 61A, 62A. The fourth and fifth sprockets 61B, 62B are engaged with the endless chain 5B, and the fourth and fifth sprockets 61B, 62B are engaged. When the sprockets 61B and 62B are driven to rotate in a predetermined direction, the endless chain 5B circulates (moves) in a predetermined circling direction D3 at the same speed as the endless chain 5A.

  In such a configuration, the clip portion 51B of the endless chain 5B holds the side edge of the sheet-shaped material S at a predetermined clip position P1 shown in FIG. 2 and releases the sheet-shaped material S at a predetermined first clip-out position P2. I do. On the other hand, the clip portion 51A of the endless chain 5A holds the side edge of the sheet S at a predetermined clip position P1, and releases the sheet S at a predetermined second clip-out position P3. That is, in the region from the clip position P1 to the first clip-out position P2, the side edges of the sheet-like material S are sandwiched by both the clip portion 51A and the clip portion 51B. The portions 51B are set so as to be arranged side by side.

  The transfer device 2 further includes a rail mechanism, which is a rail mechanism 3A shown in FIG. 4 provided in connection with the main transfer device 2A and a rail mechanism shown in FIG. 5 provided in connection with the sub-transfer device 2B. 3B. The rail mechanism 3A includes six bendable joints G1 to G6 arranged in order from the upstream side along the transfer direction D2, and a plurality of rails 31 interconnected by the joints G1 to G6. These rail portions 31 constitute a loop-shaped guide rail 30 as a whole, and the endless chain 5A is stably circulated by being guided by the guide rail 30 thus configured. In the present embodiment, the plurality of rail portions 31 include the rail portions 311, 312, 313, 314, 315, 316, and 317, the first sprocket 61A is installed on the rail portion 311, and the rail portion 314 includes the first sprocket 61A. The two sprockets 62A are installed, the screw 7 is installed on the rail 315, and the third sprocket 63A and the auxiliary sprocket 64 are installed on the rail 317.

  More specifically, each joint G connects the pair of rails 31 adjacent to each other in the transfer direction D2, and connects the pair of rails 31 adjacent to each other in the width direction D1, and the joint G bends. Thus, the inner rail portion 31 and the outer rail portion 31 are configured to move in conjunction with each other. Further, the joint portion G is bent by swinging the other side portion in the clockwise direction or the counterclockwise direction relative to the one side portion around the refraction center C of the joint portion G.

  Here, the second sprocket 62A is disposed between the third joint G3 and the fourth joint G4, the screw 7 is provided between the fourth joint G4 and the fifth joint G5, and the auxiliary sprocket 64 is It is arranged between the sixth joint G6 and the third sprocket 63A.

  On the other hand, the rail mechanism 3B has substantially the same configuration as the rail mechanism 3A except that it does not have the joints G4 to G6, and the endless chain 5B stably circulates by being guided by the rail mechanism 3B. Since the specific configuration of the rail mechanism 3B is substantially the same as the upstream portion of the rail mechanism 3A, detailed description will be omitted.

  Each joint G is bendable as shown in FIGS. 6B and 6C. By flexing each joint G arbitrarily in this manner, various rails as shown in FIG. The pattern can be switched to a pattern, whereby the stretching or shrinking of the sheet S in the width direction D1 can be arbitrarily set. In such a change of the rail pattern, the upstream part of the rail mechanism 3A and the rail mechanism 3B are linked, and the upstream part of the rail mechanism 3A and the rail pattern of the rail mechanism 3B are the same. Further, with the change of the rail pattern, the positions of the first to third sprockets 61A to 63A, the auxiliary sprocket 64, the screw 7, the fourth sprocket 61B, and the fifth sprocket 62B are also changed. The change of the rail pattern may be manually performed, or may be automatically performed based on an input value from an operator. Since the configuration related to the change of the rail pattern is known, the description is omitted.

  When the rail pattern is switched in this manner, the tension of the endless chain 5A or the endless chain 5B changes as follows. That is, in the rail pattern shown in FIG. 2, the length of the inner path followed by the endless chain 5A from the first sprocket 61A to the second sprocket 62A is from the second sprocket 62A to the first sprocket 61A. The length of the outer path followed by the endless chain 5A is equal to the length of the outer path. However, when this is changed to the rail pattern shown in FIG. 7A, the length of the inner path differs from the length of the outer path. Is different from the tension of the endless chain 5A in the outer path.

  This is because automatic tension correction due to idle rotation of the first sprocket 61A and the second sprocket 62A is not performed because both the first sprocket 61A and the second sprocket 62A are drive sprockets. The same tension problem also occurs in other places according to the changed rail pattern, and also occurs in the endless chain 5B.

  Therefore, in the present embodiment, the second sprocket 62A and the fifth sprocket 62B are used as reference sprockets, and the first sprocket 61A, the third sprocket 63A, the auxiliary sprocket 64, the screw 7, and the fourth sprocket 61B are changed according to the change of the rail pattern. The endless chains 5A and 5B are sent out by rotating any or all of them, thereby correcting the variation in the tension of the endless chains 5A and 5B.

  Here, the control means 8 will be described with reference to FIG. The control means 8 controls the driving means 4 to execute the tension correction. The control means 8 includes an angle detecting means 81, an angle change detecting means 82, a memory 83, a calculating means 84, and an output means 85. Have. The angle detecting means 81 detects the bending angle of each joint G and outputs this to the calculating means 84. The detection of the bending angle by the angle detecting means 81 may be performed by measuring and detecting the bending angle of each joint G, or may be performed by calculation based on an automatically changed rail pattern. Is also good.

  The angle change amount detecting means 82 includes an angle change amount (first angle change amount) of the first sprocket 61A with respect to the rail portion 311, an angle change amount (second angle change amount) of the second sprocket 62A with respect to the rail portion 314, and a rail. The angle change amount (third angle change amount) of the third sprocket 63A with respect to the part 317 is detected, and this is output to the calculating means 84. The angle change amount will be described later. The memory 83 stores various parameter values (the radius R1 of the first sprocket 61A, the radius R3 of the third sprocket 63A, the contraction rate S1 of the screw 7, etc.) and various arithmetic expressions described later. The calculating means 84 calculates a correction amount based on the input values from the angle detecting means 81 and the angle change amount detecting means 82 and outputs this to the driving means 4 via the output means 85 as a correction value.

  When the correction value from the control means 8 is input to the driving means 4 in this manner, the driving means 4 determines the first sprocket 61A, the third sprocket 63A, and the auxiliary sprocket 64 based on the input correction value (correction amount). , The screw 7, and / or the fourth sprocket 61B are rotated by a required amount to perform tension correction.

  Next, the tension correction will be specifically described. First, when at least one of the joints G1 to G6 is bent to change the rail pattern, the control unit 8 executes a correction process. In this correction processing, first, the bending angle of each joint G is detected (bending angle detection step), the amount of angle change is detected (angle change amount detection step), and based on the detected bending angle and the detected angle change amount. A correction amount is calculated (calculation step). The calculation of the correction amount is performed as follows for each of the first sprocket 61A, the third sprocket 63A, the auxiliary sprocket 64, the screw 7, and the fourth sprocket 61B.

  As shown in FIG. 6A, the length of one side of the inner side of each joint G (the length from the upstream end p1 of the joint G to the downstream end p2 of the joint G (hereinafter, “joint length”) )) Is L1. Further, the distance from the orbiting path of the endless chain 5A in the width direction D1 to the center point of the joint G (the bending center C of the joint G) is L2. When the joint G is bent inward from the state shown in FIG. 6A as shown in FIG. 6B, the joint length is shortened. Conversely, when the joint G is bent outward as shown in FIG. The joint length becomes longer, and the amount of change in the joint length due to bending of the joint G can be obtained by subtracting the joint length after bending from the joint length L1 before bending.

  That is, (change amount of joint length) = (joint length L1 before bending) − (joint length after bending).

Then, when the joint G is bent inward by the angle θ, the joint length L1a after bending (the inner bent joint length) is substantially the same as the arc length L11 of the circle having the radius r1, and is obtained by Expression 1.
Inner flexion joint length L1a = arc length L11
= R1 x θ x π / 180 Equation 1
Then, assuming that the distance from the center of the circle having the radius r1 to the bending center C of the joint G is R,
R = (L1 / 2) / (tan (θ / 2)) Equation 2
And the radius r1 of the circle is
r1 = R−L2 Equation 3.
Therefore, by applying Equations 2 and 3 to Equation 1,
Inner flexion joint length L1a = {(L1 / 2) / (tan (θ / 2)) − L2} × θ × π / 180 Equation 4
Becomes

  On the other hand, when the joint G is bent outward by the angle θ, the joint length L1b after bending (outer bent joint length) is substantially the same as the arc length L12 of the circle having the radius r2, and is obtained by Expression 5.

Outer flexion joint length L1b = arc length L12 = r2 × θ × π / 180 Equation 5
And the radius r2 of the circle is
r2 = R + L2 Equation 6
Therefore, when Equations 2 and 6 are applied to Equation 5,
Outer flexion joint length L1b = {(L1 / 2) / (tan (θ / 2)) + L2} × θ × π / 180 Equation 7
Becomes

  Then, by applying the bending angles θ at the joints G4, G5, and G6 to θ4, θ5, and θ6 in Equation 4 or Equation 7, the arc length (L1a or L1b) of the bent joints G4 to G6 is obtained. The change amount of the joint length at the joints G4 to G6 can be obtained based on the arc length.

  Based on the above, the correction amount A1 by the first sprocket 61A is obtained by the following Expression 8. In the following formula, the value of each θ is a positive value in the case of inner bending, and a negative value in the case of outer bending.

A1 = (G1 arc length−L1) + (G2 arc length−L1) + (G3 arc length−L1) − (R1 × θ7 × π / 180)
= V1 + V2 + V3- (R1 × θ7 × π / 180) Expression 8
Here, the G1 arc length is the arc length of the first joint G1 after bending, the G2 arc length is the arc length of the second joint G2 after bending, and the G3 arc length is the third joint length after bending. G3 is the arc length, R1 is the radius of the first sprocket 61A, V1 is the change in the joint length at the first joint G1, and V2 is the change in the joint length at the second joint G2. V3 is the amount of change in the joint length at the third joint G3.

  Θ7 is the sum of the first angle change amount of the first sprocket 61A with respect to the rail portion 311 and the second angle change amount of the second sprocket 62A with respect to the rail portion 314 due to the bending of the joint G. More specifically, in the present embodiment, for example, when the fourth joint G4 bends from the state shown in FIG. 9A to the state shown in FIG. 9B, the second sprocket 62A moves with respect to the rail 311. The first sprocket 61A relatively rotates (angle changes) by an angle θ61 with respect to the rail 314, and the angle change amount θ7 is the sum of the angle θ61 and the angle θ62. (Θ7 = θ61 + θ62). Note that if the first sprocket 61A does not rotate relative to the rail 311 even if any of the joints G is bent and the rail 31 moves, the angle θ61 is 0 °. The same applies to the rotation amount (angle change amount) of the second sprocket 62A with respect to the rail portion 314.

  When the bending at the first to third joints G1 to G3 is outward bending as a whole, the first sprocket 61A is rotated in the positive direction by a predetermined amount, and the endless chain 5A is sent inward. Conversely, if the bending at the first to third joints G1 to G3 is inward bending as a whole, the first sprocket 61A is rotated in the reverse direction by a predetermined amount, and the endless chain 5A is sent out.

  Next, the correction amount A7 by the screw 7 is obtained by the following equation 9.

A7 = (L1-G4 arc length)
= V4 ... Equation 9
Here, the G4 arc length is the arc length of the fourth joint G4 after bending, and V4 is the amount of change in the joint length at the fourth joint G4.

  That is, the correction amount A7 by the screw 7 only needs to send out the endless chain 3A by a length corresponding to the change amount V4 of the joint length in the fourth joint portion G4. Note that the feeding amount (the length of the endless chain 3A) here is based on the state of the screw 7 on the upstream side. For example, when the shrinkage by the screw 7 is 50% and the correction amount A7 by the screw 7 is 50 mm, the endless chain 3A may be pulled 50 mm by rotating the screw 7 in the forward direction and sent 25 mm downstream in the circumferential direction D3. . On the other hand, when the shrinkage by the screw 7 is 50% and the correction amount A7 by the screw 7 is −50 mm, the endless chain 3A is pulled 25 mm from the downstream side in the rotation direction D3 by the rotation of the screw 7 in the reverse direction, and is rotated in the rotation direction D3. What is necessary is just to send out 50 mm to the upstream side.

  Further, the correction amount A4 by the auxiliary sprocket 64 is obtained by the following equation (10).

A4 = (L1-G4 arc length) × S1 + (L1-G5 arc length) + (L1-G6 arc length)
= V4 × S1 + V5 + V6
= A7 × S1 + V5 + V6 Equation 10
Here, the G5 arc length is the arc length of the fifth joint G5 after bending, the G6 arc length is the arc length of the sixth joint G6 after bending, and V5 is the joint length at the fifth joint G5. V6 is the amount of change in the joint length at the sixth joint G6.

  Then, the correction amount A3 by the third sprocket 63A can be obtained by the following equation 11.

A3 = V4 × S1 + V5 + V6- (R3 × θ8 × π / 180)
= A4− (R3 × θ8 × π / 180) Equation 11
Here, R3 is the radius of the third sprocket 63A, and θ8 is the third angle change amount of the third sprocket 63A with respect to the rail portion 317 due to the bending of the joint G and the second angle of the second sprocket 62A with respect to the rail portion 314. It is the sum with the amount of change. The definition of the angle change amount θ8 is the same as the above-described angle change amount θ7, and thus the detailed description is omitted.

  According to the above equation 11, when the bending at the fourth to sixth joints G4 to G6 is outward bending as a whole, the third sprocket 63A is rotated in the opposite direction by a predetermined amount, and the endless chain 5A is moved inward. Send to Conversely, when the bending at the fourth to sixth joints G4 to G6 is inward bending as a whole, the third sprocket 63A is rotated in the forward direction by a predetermined amount, and the endless chain 5A is sent out.

  As described above, since the pattern of the rail mechanism 3B is the same as that of the upstream portion in conjunction with the pattern of the upstream portion of the rail mechanism 3A, the correction amount B1 of the fourth sprocket 61B is equal to that of the first sprocket 61A. The correction amount A1 may be the same as the correction amount A1 and is represented by the following Expression 12.

B1 = A1
= R1 × θ7 × π / 180 Equation 12
The correction amount calculated in this way is input to the drive means 4 as a correction value, and the drive means 4 determines the first sprocket 61A, the third sprocket 63A, and the auxiliary sprocket 64 based on the input correction value (correction amount). , The screw 7, and / or the fourth sprocket 61B are rotated to perform tension correction (correction step).

  As described above, the tension correcting method according to the embodiment of the present invention has been described with reference to the accompanying drawings. However, the present invention is not limited to the embodiment, and various modifications and corrections can be made without departing from the scope of the present invention. It is possible.

  For example, in the above-described embodiment, a two-stage transfer device including a main transfer device 2A and a sub-transfer device 2B has been described as shown in FIG. 2, but a one-stage type transfer device including only one of the transfer devices is described. The same applies to transfer devices. In the one-stage type transfer device having the same configuration as the sub-transfer device 2B, the sprocket to be rotated when performing the tension correction does not necessarily need to be the fourth sprocket 61B, and may be the fifth sprocket 62B. Alternatively, the correction may be performed by rotating both.

  Further, a pair of transfer devices 202 provided in the sheet-like material processing device 101 shown in FIG. 10 has substantially the same configuration as the downstream portion of the main transfer device 2A of the above embodiment, and in such a transfer device 202 as well. The tension correction can be performed by the same method as described above.

  Further, in the above embodiment, the reduced screw is used as the screw 7, but instead, the pitch of the guide portion 7a gradually increases toward the downstream side in the transfer direction D2, and the extension screw for feeding while extending the endless chain. May be used, and S1 in each equation in this case may be the screw expansion rate.

  Furthermore, in the above embodiment, the number of the joints G is six, but the number of the joints G is not limited to this.

  In the above embodiment, the radii of the first to fifth sprockets 61A to 62B are all the same, but the present invention is not limited to this, and the radii of the first and fourth sprockets 61A and 61B are the same. If the radii of the second and fifth sprockets 62A and 62B are the same, the radii of the first to third sprockets 61A to 63A may be different.

DESCRIPTION OF SYMBOLS 1 Sheet-shaped object processing apparatus 2 Sheet-shaped object transfer device 4 Drive means 5A, 5B Endless chain S Sheet-shaped object G (G1-G6) joint part 61A First sprocket 62A Second sprocket 63A Third sprocket 61B Fourth sprocket 62B 5 sprocket 64 auxiliary sprocket 7 screw 30 guide rail 31 (311 to 317) rail

Claims (7)

A rail mechanism having a bendable joint, an endless chain capable of pinching a sheet-like object and being guided and guided by the rail mechanism, and meshing with the endless chain to rotate the endless chain by rotating in a predetermined direction. In a sheet-like material transfer device including: a pair of driving sprockets to be revolved; and driving means for individually rotating and driving the pair of driving sprockets.
The rail mechanism has a plurality of rails connected via the joints, and the plurality of rails constitutes a loop-shaped guide rail as a whole,
When the joint is bent, a bending angle detection step of detecting a bending angle of the joint,
A calculating step of calculating a correction amount based on the bending angle,
A step of rotating at least one of the drive sprockets based on the correction amount to correct the tension of the endless chain. A rail mechanism having a bendable joint, an endless chain capable of pinching a sheet-like object and being guided and guided by the rail mechanism, and meshing with the endless chain to rotate the endless chain by rotating in a predetermined direction. A sheet driving device comprising: a first driving sprocket and a second driving sprocket to be revolved; and driving means for individually rotating the first driving sprocket and the second driving sprocket.
The rail mechanism has a plurality of rails connected via the joints, and the plurality of rails constitutes a loop-shaped guide rail as a whole. A first rail portion on which one drive sprocket is installed, and a second rail portion on which the second drive sprocket is installed,
When the joint is bent, an angle change amount detecting step of detecting an angle change amount,
A calculating step of calculating a correction amount based on the angle change amount and a radius of the second drive sprocket;
Correcting the tension of the endless chain by rotating the second drive sprocket based on the correction amount,
The tension correction is a sum of an angle change of the first drive sprocket with respect to the first rail and an angle change of the second drive sprocket with respect to the second rail. Method. A rail mechanism having a bendable joint;
An endless chain that can pinch a sheet-like object and is guided and circulated by the rail mechanism;
A pair of drive sprockets that mesh with the endless chain and rotate in the predetermined direction by rotating in a predetermined direction;
Driving means for individually rotating the pair of driving sprockets,
Control means for controlling the driving means,
The rail mechanism has a plurality of rails connected via the joints, and the plurality of rails constitutes a loop-shaped guide rail as a whole,
When the joint is bent, the control unit calculates a first correction amount based on a bending angle of the joint, and the driving unit determines at least one of the pair of drive sprockets based on the first correction amount. And rotating the endless chain to correct the tension of the endless chain. Further comprising a screw for sending out while contracting or expanding the endless chain,
The pair of drive sprockets has a first drive sprocket and a second drive sprocket,
The screw is located between the first drive sprocket and the second drive sprocket;
The joint is located between the first drive sprocket and the screw,
When the joint is bent, the control means calculates a second correction amount based on the bending angle, and calculates the first correction amount based on the bending angle and the contraction rate or extension rate of the screw. The calculation according to claim 3, wherein the driving unit rotates the screw based on the second correction amount and rotates the second driving sprocket based on the first correction amount. Sheet transfer device. A screw for feeding the endless chain while contracting or extending, and an auxiliary drive sprocket, further comprising:
The pair of drive sprockets has a first drive sprocket and a second drive sprocket,
The screw is located between the first drive sprocket and the second drive sprocket,
The auxiliary drive sprocket is located between the screw and the second drive sprocket;
The joint has a first joint located between the first drive sprocket and the screw, and a second joint located between the screw and the auxiliary drive sprocket.
When at least one of the first joint and the second joint is bent, the control unit calculates a second correction amount based on a bending angle of the first joint, and A third correction amount and a first correction amount are calculated based on a bending angle of a joint, a contraction rate or an expansion rate of the screw, and a bending angle of the second joint. 4. The screw according to claim 3, wherein the screw is rotated based on the third correction amount, the auxiliary sprocket is rotated based on the third correction amount, and the second drive sprocket is rotated based on the first correction amount. Sheet transfer device. The plurality of rails include a first rail on which the first driving sprocket is installed, and a second rail on which the second driving sprocket is installed,
The control means includes: a bending angle of the first joint, a contraction rate or an expansion rate of the screw, a bending angle of the second joint, and an angle change amount of the first drive sprocket with respect to the first rail. The first correction amount is calculated based on a total value of an angle change amount of the second driving sprocket with respect to the second rail portion and a radius of the second driving sprocket. The sheet-like material transfer device according to claim 1. A rail mechanism having a bendable joint;
An endless chain that can pinch a sheet-like object and is guided and circulated by the rail mechanism;
A pair of drive sprockets that mesh with the endless chain and rotate in the predetermined direction by rotating in a predetermined direction;
Driving means for individually rotating the pair of driving sprockets,
Control means for controlling the driving means,
The rail mechanism has a plurality of rails connected via the joints, and the plurality of rails constitutes a loop-shaped guide rail as a whole. A first rail on which one drive sprocket is installed, and a second rail on which the second drive sprocket is installed,
When the joint is bent, the control means calculates a sum of an angle change of the first drive sprocket with respect to the first rail and an angle change of the second drive sprocket with respect to the second rail, The correction amount is calculated based on the radius of the two-drive sprocket and
The sheet driving apparatus according to claim 1, wherein the driving unit rotates the second driving sprocket based on the correction amount to correct the tension of the endless chain.

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