JPH02100941A - Medium conveyance system - Google Patents

Abstract

PURPOSE:To make optional medium capable of performing the conveyance stop always at a fixed position regardless of its paper thickness, difference between stages, friction coefficient by making the system in the title to perform the operation that determines the control parameter of a motor for conveyance before the device is actually operated. CONSTITUTION:Before the regular operation of a medium conveyance device is started, the initializing operation of parameter is performed to determine the gain and other control parameters of a medium transporting motor 8, and store them in a coefficient memory pat 24. In the stage of regular conveyance, a medium 1 is conveyed along a guide plate 10 by a first conveyance means 5 and a second conveyance means 15. While this conveyance is performed, the slippage of the medium 1 is measured by an arithmetic part 23, and the control parameter corresponding to this slippage is read by the coefficient memory part 24 and controls the operation of the transporting motor 8. And, the medium 1 to be conveyed is always conveyed until the pre-determined position and stops.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a media conveyance system, and in particular, paper sheets such as two banknotes and tickets used in bank terminals, etc., and recording paper used in printers, etc. This invention relates to a medium conveyance system suitable for conveying with high precision using conveyance means such as rubber rollers.

[Conventional technology]

Generally, when conveying paper strips, the number of operations and the type of paper sheets handled affect the feeding accuracy.
Adjustments are made to feed amount, etc. each time the machine is operated. In addition, as described in Japanese Utility Model Application Publication No. 62-41553, a mode can be selected for various media types using a plurality of predetermined modes based on the thickness of the paper to be conveyed and the number of sheets.
This allows some to vary the torque of the paper feed motor.

[Problem to be solved by the invention]

The above-mentioned conventional technology selects a mode for the type of paper from a plurality of predetermined modes based on the thickness and number of sheets,
Although the conveyance torque is controlled, the difference in the coefficient of friction between the paper and the conveyance roller depending on the paper, which is the biggest factor that affects conveyance accuracy, is not taken into account, and there is a problem in ensuring high conveyance accuracy. .

Particularly, when feeding a bankbook in a bank terminal device or feeding recording paper in a printer, there is a problem that misalignment of printing or staining due to slipping occurs.

The present invention performs an initial parameter setting operation to automatically determine the control parameters of the media feeding motor before the main operation of the media feeding device, and then adjusts the unknown friction coefficient of the paper to normal on/off settings. It is estimated using an algorithm using a sensor system of
It is an object of the present invention to provide a media conveyance system that can achieve the same accurate feed amount regardless of the coefficient of friction.

[Means to solve the problem]

The above purpose is to store the fluctuation component of the pressing force with respect to the paper thickness in advance in a data table as a parameter.
Also, using the equation of motion that describes medium transport, in a preliminary transport stage before entering the single transport stage, the medium is moved between two optical switches arranged at a certain interval in a certain order. By conveying the medium using the conveyance acceleration as a parameter, the slip amount measured by the on/off signal of the optical switch and the friction coefficient of the medium are determined from the data in the data storage unit described later. A calculation section that determines the control parameters of the paper feed motor that creates a conveyance speed pattern to achieve the amount, a coefficient storage section that stores these control parameters, and a data storage section that stores the amount of overfill. As a result, highly accurate medium transport control is achieved.

[Effect]

The calculation unit that determines the control parameters of the paper feed motor operates in a section X that is determined in advance by a plurality of optical switches.
, one of the plurality of optical switches is used as a starting point, and the medium is conveyed by a feed amount xo corresponding to a constant amount of rotation of the conveyance roller, using the conveyance acceleration as a parameter. Therefore, when the actual feed amount relative to the feed amount becomes X, the conveyance acceleration a
Therefore, there is an algorithm in which μ is determined from a database that describes the relationship between x (xo-x) and a using μ already stored in the data storage unit as a parameter.

This makes it possible to use sensor systems relatively cheaply and easily.
μ can be determined.

〔Example〕

FIG. 1 shows the main parts of a passbook conveying device in a passbook printing device as an example of the present invention.

The passbook 1, which is a medium to be conveyed, is conveyed on a guide plate 10, which is a guide member, by a first conveying means 5 and a second conveying means 15, which is spaced apart from the first conveying means 5 by an appropriate distance. be done.

The first conveying means 5 includes a first drive roller 2 and a first drive roller 2 .
The roller has a first driven roller 3 that faces a driving roller 2 . The second conveying means 15 has a second driving roller 12 and a second driven roller 13 facing the second driving roller 12.

Each of the aforementioned rollers 2, 3 and 12, 13 is, for example, a rubber roller whose surface has a high coefficient of friction.

The first driven roller 3 and the second driven roller 13 described above are supported by a support member 4 such as a spring whose one end is fixed to the fixed frame 6.
, 14. As a result, the first driving roller 2, the first driven roller 3, and the second driving roller 12
The second driven roller 13 conveys the bankbook 1 while holding it between the upper and lower sides in the figure. During conveyance, the first driven roller 3 and the second driven roller 13
4, it follows the thickness of the passbook 1 and moves up and down freely.

For example, a pulse motor 8 as a driving means is connected to the second driving roller 12 via a belt 7 as a transmission mechanism. Although not shown, the first drive roller 2 and the second drive roller 12 are driven synchronously at the same speed by a transmission mechanism such as a belt or gears. In addition.

The first drive roller 2 and the second drive roller 12 are driven synchronously at the same speed by connecting a drive motor to each and controlling the speed, etc. of these drive motors. Good too.

The first sensor 17 detects the position of the leading edge of the bankbook 1 when printing is performed on the bankbook 1, and detects the displacement of the leading edge of the bankbook 1 with respect to the reference position when the bankbook 1 is stopped.
That is, the amount of slippage is detected.

This first sensor 17 includes a plurality of sensors, for example, two sets of optical switches 17 al, 17 bx, optical switch 1
7a2.17bz, and these optical switches are arranged at predetermined intervals. Then, by conveying the medium between the plurality of sensors described above in a certain determined order using the conveyance acceleration of the conveyance path as a parameter, the amount of slip measured by the on/off signals of the plurality of sensors and the control described below The friction coefficient of the medium is determined based on the data in the data storage section of the section.

The second sensor 18 is provided near the first driven roller 3 between the first conveyance means 5 and the second conveyance means 15. This second sensor 18 detects when the binding portion 1a of the bankbook 1 is held between the first driving roller 2 and the first driven roller 3, and for example, an optical sensor or the like is used.

The control unit 20 controls the driving of the pulse motor 8 described above. This control section 20 includes a signal processing section 21 that processes signals from the first sensor 17 and the second sensor 18.
, a data storage section 22 that stores data from the signal processing section 21, a calculation section 23 that performs calculations based on various signals, a coefficient storage section 24 that stores the results calculated by the calculation section 23, and this coefficient. a drive unit 25 that controls the drive of the pulse motor 8 described above using data in the storage unit 24;
It is composed of a storage unit 26 that stores in advance correlation data between the thickness of the medium, the difference ΔW between the pressing force and the conveying force, and data on the positional relationship between the first driven roller 3 and the bankbook level difference in a table. . These first sensors 17, second
The sensor 18 and the control unit 20 measure the amount of slippage of each type of media in the preliminary transport stage before entering the main transport stage, and based on this amount of slip, the same amount of transport is applied to each type of medium.

First, the operation in the preliminary conveyance stage will be explained with reference to FIGS. 1 and 2. - As an example, consider a case where all the pages of a ticket and a bankbook are conveyed along the same conveyance path.

First, in the first step, a reference medium is specified among the media to be transported. Here, 1, for example, specifies a single sheet.

Once the reference medium is specified, the reference medium is then transported through the transport path shown in FIG.

By transporting the reference medium? A constant in equation (1) describing the motion of the S medium, ie, the friction coefficient μm of the reference medium in this case, is determined. (Step (A)) Next, a method for determining the friction coefficient μm will be explained.

Generally, a medium of quality fk m 1 is moved by a rubber roller or the like.
When the medium is conveyed at a certain speed pattern v1, the feeding amount or slipping amount x1 of the medium is expressed by x1.

Here, ml and Wl represent the mass of the medium and the pressing force of the driven roller during transport, respectively, and Fl represents the resistance force of the medium in the transport direction.

In step (A) described above, the speed pattern (1) is made variable, the medium is conveyed for each speed pattern, and the slippage of the medium at this time - It X 1 is? By setting lp+, the friction coefficient μm is estimated using equation (1).

That is, μm is estimated by the method shown in FIGS. 3 to 10.

3 to 10 show examples of the operation of the medium 1 according to the /A calculation algorithm in this embodiment. The medium 1 is provided with two optical switches 17ax in advance.

In the section X determined by 17b and 17az+L7bz, starting from the positions of the optical switches 17az and 17bt, the conveyance acceleration is used as a parameter, and the conveyance is carried out by a feed txo corresponding to the amount of rotation of the conveyance roller. The relationship between the edge density ΔS and the conveyance acceleration a in this embodiment is shown using the friction coefficient μ as a parameter, and this is stored in the storage unit 26 as a database.

Next, the estimation of the friction coefficient μm will be explained.

First, the medium 1 inserted into the first progressive feeding means 5 of the conveyance path is held between the first driving roller 2 and the second driven roller 3 and fed to the first sensor 17 section. first sensor 1
7 light switch 17ax.

17bt and the optical switches 17az and 1.7b2 are turned on or off, the position of the medium 1 is determined, and the leading end of the medium 1 is turned on or off by the optical switches 17ai+17b1.
to stop. In this state, the optical switch L7az,1
7b1 is off, and optical switch X7az+17b2 is on (state in FIG. 3).

Next, in response to a command from the drive unit 25, a speed pattern is generated that has an acceleration of conveyance acceleration a and a sufficiently gentle deceleration that does not cause curling between the medium 1 and the roller, and causes burrs only in the acceleration region. Then, the medium 1 is sent toward the position z where ff x o is reached.

When the medium 1 is fed at the conveyance acceleration a, the amount of slippage is large and the leading edge of the medium 1 does not reach position 2, and in this state the optical switch 17 a2.1.7 bz is off (no. 4). After this state, the conveyance acceleration a is gradually decreased and set to ac and aa. In addition, here, the conveyance roller is slowly reversed so as not to slip each time the medium 1 is conveyed, and the leading edge of the medium 1 is moved to the optical switch 17az.
, 17bt, and the next conveyance is performed from the same position using the conveyance acceleration. When the conveyance acceleration is ac, the amount of slippage is reduced compared to when it is 85, and it approaches position Z, but the optical switches 17az and 17bz are off (the state shown in FIG. 5). Moreover, when the conveyance acceleration is ad, the amount of slip becomes further smaller, and the tip of lj & body 1 approaches the position Z, and the tip of lj & body 1 reaches the optical switch 17az + 17b2.
The optical switch 17112゜17b2 is switched on and turned on (the state shown in Fig. 6).
The acceleration during the th conveyance is a. If so.

When the output of the optical switch 17a2 is changed after the nth transport operation, the n+1st transport acceleration setting value an
"l is also the setting value a of the conveyance acceleration when the output of the optical switch l 7 a z + 17 b Z cannot be switched. +1 is an+akl antl" (・,・k is the value that was last switched before We decided on two algorithms (indicating the number of times).

Then, the transport acceleration an is determined when lan"1 anl becomes smaller than a certain small value E.

Looking at the operation examples shown in FIGS. 3 to 10, this algorithm shows that when the state is transferred from the state of transport at the transport acceleration a shown in FIG. 5 to the state of transport at the transport acceleration ad shown in FIG.
Since the output of the optical switch L 7 a2.17b2 is not switched, the next time of conveyance, the conveyance acceleration ae which is larger than the conveyance acceleration a6 is set and conveyed. As a result, the slippage increases, and the tip of the medium 1 becomes the optical switch 17az,
17b2 is not reached and the optical switch L 7 a x * I
The output of V b x is switched off (the state shown in FIG. 7).

Due to the switching of the output of the optical switch 17 any 17 bz, the primary transport acceleration a becomes B6+am.

By repeating this algorithm, the optical switch 17a
When the outputs of z and 17bz change one after another, the conveyance state of the medium 1 is the state shown in FIG. ), state 1 shown in Figure 10! I (when fed at transport acceleration ah), and finally 1ah - a□I <
The conveyance acceleration ah can be found by satisfying [. At this time, as shown in FIG. 11, the friction coefficient μ determined from the slippage amount Δsp (Δ5p=xo can be taken as an estimated value of the friction coefficient μl.

All of the above operations are performed in the arithmetic unit 23.

Further, data of other parameters m12wz and F1 are stored in advance in the storage unit 26 as a database. Then, by sequentially referring to this database, the calculation unit 23 performs calculations in the same manner as described above to obtain the friction coefficient μm.

Then, the distribution of slip tX1 at this time is stored in the data storage section 22 (step (B)), and the control parameters of the pulse motor 8 that achieve the speed pattern at this time are stored in the coefficient storage section 24.

(Step (C)) Next, the passbook is transported, and the friction coefficient μ2 is determined when an arbitrary number of pages are turned over in the same way as with the slip that is the reference medium.

(Step (D)) In this case, the passbook is transported with the intermediate page open for comparison with the ticket.

The amount of slippage x2 of the passbook in this state is expressed by (2) in the same way as the above-mentioned formula 1. (However, W 2 ” W I + ΔW2)
Here, rrl and W2 indicate the pressing force of the driven roller during pawning and conveyance of the intermediate page of the passbook, respectively, and F
2 indicates the resistance force of the passbook in the transport direction.

In equation (2), the unknowns are F2 and 4w2. In a passbook, the thickness changes compared to when conveying a ticket, and the pressing force of the conveyance roller also changes. The above-mentioned 4w2 is this change.

This data is stored in advance in the storage unit 26, and 4w2 is calculated based on this data.

The friction coefficient μ2 is estimated from the slip*X2 determined by making the speed pattern (2) variable, as in step (A) above.

Then, the distribution of slip it X 2 at this time is stored in the data storage section 22 (step (E)), and the control parameters of the pulse motor 8 that achieve the speed pattern at this time are stored in the coefficient storage section 24. (Step (F)
) Thereafter, in the same manner, the friction coefficients μδ, μ4, . . . are estimated for each passbook that is sequentially turned over.

In this way, the estimation of the friction coefficients μ and μ2 in any page turning state of the bankbook is completed.

Next, the conveyance speed VI for each page feed amount x1 is determined. (Step D()) In order to obtain this conveyance speed ■, since the friction coefficient μ2 has already been obtained, it is expressed as (3).

Here, ΔwI differs depending on each page and each row, and the data is stored in advance in the storage unit 26, and the parameters are determined based on this data. (Step (G
)) Here, by arbitrarily changing the transport speed ■,
Make sure that the right side of equation (3) is equal to the right side of equation (1). When these become equal, the control parameters of the pulse motor 8 that achieve the transport speed 1 are stored in the coefficient storage unit 2.
Store in 4. As a result, the conveyance speed pattern in the conveyance state of all pages is determined.

The control operations described above using the flowchart of FIG. 2 are all performed in the calculation section 23.

FIG. 12 shows a flowchart of the algorithm executed by this '/yL calculating section 23.

First, in the operation of the reference medium, the initial data Lrl 1 *
V1. Step (1) to measure the amount of slip based on t
).

Next, using equation (1), M friction coefficient μ of the transport surface of the reference medium
Estimate m (step (2)). Next, set the passbook, and the slip amount pattern x 2 with the center page IM open
By changing the conveyance speed pattern V2, the friction coefficient μ2 can be calculated using equation (2).
is estimated (step (4)).

This estimation is performed under the setting of the pressing force variation component Δw2 corresponding to the thickness of the opening page of the passbook.

Then, using this determined friction coefficient μ2, the slip discharge pattern Xt during transport of the reference medium is compared with the aforementioned slip amount pattern x2 (step (5)). and,
The conveyance speed pattern v2 is successively changed until the difference becomes smaller than a certain predetermined minute value E1. Then, the slip amount pattern x2 when IXI X21<ε1 is stored in a predetermined location. At this time, the variation component Δw2 of the pressing force W+ due to the thickness of the medium for center page feeding is obtained from, for example, a data table as shown in FIG.

Similarly, by changing the conveyance speed pattern V+, the slippage X during conveyance of each i-page of the passbook can be determined by changing the conveyance speed pattern V+. The pattern is compared with pattern X+ (step (7)). Then, the conveyance pattern V+ is determined so that the difference is smaller than a predetermined minute value ε2. Once the control parameters for the conveyance pulse motor that achieve the Vl of all pages have been determined (step (8)), the determination of the conveyance control parameters for the paper feed motor in the arithmetic unit 23 has been completed.

As described above, the control parameters for the conveyance pulse motor 8 that achieve vI for all pages are determined, and the storage in the coefficient storage section 24 is completed, and then the main conveyance stage begins. In this main conveyance stage, as shown in Fig. 1,
The passage 111 is connected to the first conveying means 5 and the second conveying means 15.
The paper is conveyed while being guided by the guide plate 10.

During this conveyance, the thickness of one piece #11 is detected by the second sensor 18, and the control unit 2 detects the thickness based on the friction coefficient, pressing force, etc. at that time.
In the calculation unit 23 of 0, the amount of slip is determined, and the control parameter corresponding to this amount of slip is determined from the values stored in the coefficient storage unit 24. This control parameter is, for example, a motor gain, and the operation of the pulse motor 8 is controlled based on this control parameter. and,
The conveyor @1 always stops with its leading end located at a predetermined position. In this way, the conveyor motor gain and other control parameters can be determined before the device is actually operated, allowing it to be used for any medium.

The same feed rate can be achieved regardless of the medium, even if the coefficient of friction of that medium is unknown. It can always be stopped at a fixed position.

As a result, in a printing device for a single bankbook, for example, when the bankbook is opened, transport can always be stopped at a fixed position regardless of the location of the page, so there is no misalignment of print, and there is no staining due to slipping.

〔Effect of the invention〕

As described above, according to the present invention, it is possible to achieve the same accurate feed amount regardless of the 9-level difference in paper thickness and #friction coefficient of the medium to be conveyed.

[Brief explanation of the drawing]

FIG. 1 is a configuration diagram of an embodiment of the present invention, FIG. 2 is a flowchart explaining the operation procedure of the preliminary conveyance stage in the present invention, FIGS. 3, 4, 5, 6, and 7. 8, 9, and 10 are diagrams for explaining an example of the operation of the medium according to the arithmetic unit algorithm in the embodiment shown in FIG. 1, and FIG. 11 is the slip amount ΔS in the embodiment shown in FIG. FIG. 12 is a flowchart illustrating the determination algorithm of the arithmetic unit in the present invention, and FIG. 13 is a diagram schematically showing an example of the contents of the data storage unit. It is. DESCRIPTION OF SYMBOLS 1... Passbook, 5... First conveyance means, 8... Motor, 15... Second conveyance means, 17... First sensor, 18... Second sensor, 2o...control unit, 21
...Arithmetic processing section, 22...Data storage section, 23...
・Arithmetic section, service 1 mouth 1-one song S-first love S+ role/S-92's fight+5o/7-first 2>length/3', -second Sen length 20- Control Vna 21, -I meeting number T'shu 22 - Theta meeting Otsu boundary break 239. Calculation part 24-f adjustment is 1st part f part-・disturbance part 26・, Kii is also fU No. 1/3 Figure

Claims (1)

[Claims] 1. A preliminary conveyance step in which media having different conveyance constants are conveyed by the conveyance means, and control parameters of the drive means of the conveyance means are determined in advance to obtain a predetermined slip amount based on the conveyance constant of the medium; In a conveyance system in which medium is conveyed in a main conveyance stage and a main conveyance stage in which the medium is conveyed in accordance with control parameters of a driving means determined in a preliminary operation stage, the leading edge position of a conveyed medium is detected, A detection means including a plurality of sensors arranged at predetermined intervals in a transport direction, and transporting the medium between the plurality of sensors of the detection means according to a predetermined order using transport acceleration as a parameter. a data storage unit that stores the amount of slippage of the medium measured by the on/off signals of the plurality of sensors caused by the medium to be conveyed; A media conveyance system comprising: a calculation unit that determines a coefficient of friction and determines a conveyance speed pattern for achieving a predetermined amount of slip when conveying the medium.