JPS63179744A - Method for controlling alignment of moving body at confluent point - Google Patents

Abstract

PURPOSE:To always perform ideal printing generating no positional shift even when a printing press having an error factor is used, by subjecting the theoretical predetermined running distance allowing an object to perform uniform motion to variable control on the basis of the difference between the spaced-apart length between the object and a confluent point and the theoretical spaced-apart length between both of them. CONSTITUTION:When the reference line A' on a printing cylinder arrives at the position separated, for example, by 93mm from a confluent point 0, a stepping motor STM is driven to start the movement of paper by a feed pawl (h) and the paper is subjected to initial uniformly accelerated motion. When the leading end edge B' of said paper is detected by a position sensor PS, the reference line A' reaches the position separated by 65mm from the confluent point 0 from a theoretical aspect. In actual subjecting x2 variable control on the basis of difference + or -DELTAX, for example, the speed V of an object A and the speed (v) of an object B are set to V=v, and this speed v and a speed v' are set to v'=v/2 and, when alpha=V/v' and beta=V/v are set, a theoretical predetermined value is set so as to satisfy alpha-beta=1. By this method, the shift only of + or -DELTAX is calculated by CPU and the running distance of x2 is changed to x2+ or -DELTAX. As a result, when the leading end edge B' of the paper arrives at the confluent point 0, the reference line A' of the printing cylinder also arrives at the confluent point 0.

Description

Detailed Description of the Invention (Industrial Field of Application) The present invention is applied to 1, for example, an offset printing machine, in which paper is fed to a rotating printing plate so that printing is always performed at a predetermined position. , in order to match two moving objects correctly at a desired meeting point, for one moving object,
The present invention relates to a method for properly controlling the speed and aligning the position.

(Prior art) Generally, a moving first object is moved to a second object at a predetermined merging point.
In order to match the objects, calculate the start timing of the second object with respect to the running conditions of the first object, and
J, 2 objects will be started under predetermined running conditions.

However, even if a start signal is actually sent to the second object from the control unit at a predetermined time based on the above-mentioned start timing, the second object is driven by a drive unit such as a motor, transmission gear, etc. The motor has an initial response and the gear has rattling, so the start of the second object will be delayed by that amount, and if the second object is paper feed, the paper feed will be delayed by that amount. The start position (initial position) may have shifted unexpectedly,
If the sizes of the paper feeds are uneven, it is not possible to find a match at the confluence point using the calculated theoretical values.

Therefore, it is necessary to perform calculations that take into account errors caused by the various causes described above, and to control the start of the second object based on this calculation.

In practice, since the above calculation requires a considerable amount of time, there will inevitably be cases where it is not possible to take the time to calculate the start timing of the second object, and in such cases, the theoretical value is not calculated in advance. There is no choice but to start the second object relative to the first object at the calculated timing.

In such a case, in order to increase the accuracy at the confluence as much as possible, the initial position of the first object should be constant, the dimensional accuracy of paper feeding etc. should be improved, and the drive unit should be designed to avoid rattling as much as possible. There is no other option than to finish it without any problems.

Furthermore, even if it is possible to calculate the start timing of the second object, there are various error factors and they change each time, so calculations that take the errors into account are complicated and difficult to understand. There is also a problem in how to reflect this calculation result on the acceleration/deceleration of the second object.
No suitable control method for this has been proposed.

(Problems to be Solved by the Invention) In view of the above-mentioned conventional problems, the present invention provides for a first object to be moved uniformly spherically at a predetermined speed toward a merging point.

One solution is to advance the two objects toward the merging point from the other side, so that the two objects match at the merging point.Theoretically, the first object is made to match the second object at the merging point. , a specific predetermined pressure motion of the fJSl object, that is, a predetermined motion consisting of initial and late uniform acceleration pressure motions and initial and late equal spherical motion, is set, and this motion is converted into a second
However, it is detected how much phase difference there is between the running position of the first object at a predetermined time point and the position of the theory-E, and based on the phase difference, the theory-E of the second object is determined based on the phase difference. By correcting the initial constant-velocity interlocking travel distance in H using adjustment control, it becomes possible to perform quick and highly accurate positioning control using extremely simple calculations, solving the above-mentioned conventional problems, and achieving 8 points. A mark with 1 difference factor! Even with II machines, the first goal is to always be able to perform ideal printing without misalignment.

(Means for Solving the Problems) In order to achieve the above object, the present invention makes an object A move equispherically at a velocity V toward the merging point 0, and moves the object B toward the merging point 0. When trying to make the two objects A and B meet at the confluence point 0 by advancing from the other direction,
Theoretically, when the object A arrives at the start command point P, which is a predetermined distance AL from the merging point 0, the object B is started from the waiting point Q, which is a predetermined length LB away from the merging point 0, and the waiting After moving at a constant acceleration from point Q by a predetermined traveling pressure @xl, the object is made to move uniformly by a predetermined traveling distance x2 at a speed ma' at the acceleration end point R, and then the object is moved from the speed ma to a predetermined speed ma. The specified mileage! 3
The above predetermined value is set in advance so that objects A and B meet at the confluence point 0 by making them move with equal acceleration and then making them move equally spherically with the travel distance I4 at the above speed ma. Object A at the time when it reaches the acceleration end point R
Detect the running point S of , calculate the phase difference ±ΔX between the long distance between this point and the confluence point 0, and the distance LA' between the theoretical object A and the confluence point 0, and calculate the difference ±ΔX between the long distance distance between this point and the confluence point 0, Object B
An object of the present invention is to provide a positioning control method at a merging point of moving objects, which is characterized in that the theoretical predetermined travel distance 2 for moving objects at a constant speed is controlled.

(Example) To explain the present invention in detail with reference to drawings, FIG. 1(a)
As shown in the figure, object A is made to travel at a constant speed of V by linear movement, circular detour, etc. toward confluence point 0, and object B is made to proceed toward confluence point 0. In this case, the ffl motion of object B is theoretically at the confluence point 0 as follows.
The settings are made so that both A and B match exactly.

That is, when the object A reaches the start command point P which is a predetermined distance LA from the confluence point 0, the movement of the object B is started from the wait point V & point Q, and the position sensor PS
The specified travel distance to the acceleration end point R where is located! Let 1 move with initial uniform acceleration.

As a result, as shown in FIG. 2, the object A is controlled so that the speed reaches the acceleration end point R, and the traveling length of the object A during this period is XI.

Next, the object B travels a predetermined distance from the acceleration end point R at the velocity v' as shown in FIGS. 1(C) and 2! 2, and the traveling length of the object during this period is x2.

Next, the object B is made to move at a constant acceleration in the latter stage,
As shown in Figure 2, the above speed changes from M° to running pressure #! 3, the speed of the object A is controlled to be a predetermined value M, and the length that the object A travels during this period is x3.

Then, the final stage is made into a latter stage uniform motion, and as shown in Figure 2, the distance traveled at the above speed ma! 4, object B will theoretically reach the confluence point 0 at the same time as object A, and during this time object A will travel x4.

In FIG. 1, LB indicates the distance between the waiting point Q of the object B and the confluence point 0, and LB' indicates the distance between the acceleration end point R and the confluence point 0 on the object day.

Of course, the method of the present invention does not simply control the object B according to the theoretical value in L, but appropriately corrects the predetermined travel distance 2 in the initial uniform motion described above as detailed later. In order to do so, XI related to the above object A in advance,
X2. X3. Regarding X4 and object B! 1. ! 2. ! 3. X
Find the relational expression with 4.

Here, if α=-1β=v-, ■ Mom X1= -L-x 2 XI1= 2 axl...
(1) Ma ■ X2 = = X! 2 = α! 2・・・・・・・・・
・(2) Ma X3 = -'-X 2
−■ X4−−X
) Ma is required.

In addition, theoretically, the separation length between the object ^ and the confluence point 0 at the time when the object B reaches the acceleration end point R is LA', and LA
, LA', LB, LB' and xi, x2. The relationship with x344 is determined as follows.

LA-X1+X2+X3+X4 s 2 Q! 1+ ax2+ 2 β(t3+x
l)-2QXI+β! 4-2 αx2+βto 4+ 2
β (!3◆冨l) ・・・・・・・・・(5) LA'=
X2+X3+X4 = ax2+2 β(x3+xl)-2awl+βtou4・
・・φ(6)LB=xl+x2+x3+x4 (constant)
−−−−−−−−−−−−(7) LH'=x2+x3
+x4 (constant)・・・・・・・・・・・・・・・(
8) Here, in reality, when the object B does not start exactly when the object ^ reaches the start command point P, but when the object A exists before and after the point P as shown in Fig. 3 (a), Object B will start, and as a result, as shown in the same figure (b), object B will move from confluence point 0 to LB.
The position sensor PS detects that the acceleration end point R, which is separated by ', is detected by the position sensor PS. Phase difference with length LA' ±ΔXC1= LA'
±ΔX) is measured.

Now, the distance traveled by object B! 2, if this is shifted by ±ΔX as shown in Figure 4, then X2+X3+X4=α(X2±ΔI)+X3+β(!4
':+Δri=axl+X3+βx4±αΔl壬βΔx
= LA'±(β-α)Δ! Here, if α-β=1, then X2+X3+X4= LA'±Δx +"+ l = to LA'±! = LA'±Δx
Therefore, when α-β=1, the difference ±ΔX of how far the running point S deviates from the theoretical point T where the object ^ is located when the object B reaches the acceleration end point R is measured. If so, by controlling object B by x2±ΔX instead of x2, matching of A and B at confluence point 0 will be ensured.

Therefore, when α-β=1, we find V, v, and ma°, α-β=1, − v=,・ma v C----L) = 1, and when ma mama=''-, v < ”−−−L−)=1.2
Since 'ma'-=1 and V=ma, α-β;1 holds true when V=v and ma'=→-.

In addition, I wrote two words here! 2±Δ! To explain the means of calculation of ! Find this delta wealth! 2
The travel distance of object B in its initial uniform motion is controlled by the number added to .

At this time, as mentioned above, V, so that α−β=1,
If you set Ma and Ma, ΔX=Δ! Therefore, the measured ΔX is just Δ! Close it! All you have to do is add it to 2.

Also, as shown in Fig. 7, x2@ from the theoretical point T
If we assume that the object B reaches the acceleration end point R, the distance x2±Δ is calculated by subtracting the known distance l' between 0 and 0 degrees from the distance long distance when the object B reaches the acceleration end point R. It can be used as is.

Here, a specific example in which the above-mentioned present invention is specifically applied to an offset printing machine will be explained with reference to FIGS. 5 and 6. In FIG. 5, an object A is driven and rotated in the direction of arrow a. Ao on the printing plate surface is the reference line, and the paper as the object B is sent in the direction of arrow C, and at the merging point 0, it meets the reference line A° and the leading edge B' of the paper. Object B will be controlled so that these exactly match.

When the object A, which is the printing cylinder, rotates, the reference line A'
When the motor moves by 0.1■, one pulse output from the encoder d is input to the stepping motor STH, and the rotation of the motor STM is thereby transmitted to the electric vehicles e, f and the feed screw g. , by pushing the trailing edge B'' of the paper object, a feed pawl screwed onto this moves the l-pulse dust by 0.1m, and the CPU moves the This computer is used to move the feed pawl at a predetermined constant acceleration using the stepping motor STM, and to calculate the above-mentioned !2±Δ!.

Here, in order to control object B to the above-mentioned uniform acceleration motion, the speed must be increased linearly as shown in Figure 6, so BO
Divide by the area of and AO and AI for it.

Find A2..., write them in the ROM sequentially, and c
Read AO by Pu and set A by encoder pulse.
Decrement 0 and when it reaches 0, pulse the STM! j-, read the next AI, and repeat this sequentially.

In addition, in this specific example, xL, x2. x3. Since xL is set as shown in FIG. 8, the distance LA between the reference line A'' of the printing cylinder and the confluence point 0 is given by the following numerical value according to equation (5) above.

LA= 2 x2+x4+ 2 (!3+!1)=
2 X ts+ 7 + 2 (21+ 7) =l
]3(am) Of course the above, v v v=v=1, α=v=”
J'7'! It is calculated as =2・β", ■, and for LA', LA' = 93-X1=93-
2 ail=93-2X2X7=85(-m), and as above, for the velocity V of object a, object B
In order to set the speed M to be H-v, the encoder d is
It is only necessary to output one pulse from the STH and apply a pulse to the STH so that every two pulses correspond to one pulse.

To explain the operation of the above-mentioned offset printing machine, when the reference line A° on the printing cylinder reaches a position 93m5 away from the confluence point 0 as mentioned above, the stepping motor STM is driven and the feed claw is When the paper starts to be moved by the rotation and is given an initial uniform acceleration motion, and the leading edge B of the paper is detected by the position sensor PS,
Theoretically, the reference line A' is at a position 651 points away from the confluence point 0.

However, in reality, the paper size may be irregular, or the size of the paper may be irregular.
Even if the TM is driven, there may be looseness between components such as the electric gears e and r, the feed screw g, and the feed pawl, or there may be a gap between the feed pawl and the leading edge B° of the paper. In some cases, the arrival of the leading edge B° of the paper at the position sensor PS is delayed accordingly.

As a result, object A is 85mm1! This is because it is not located at the point between I1 and causes a deviation of ±ΔX as described above.

This is calculated by the CPU and the distance traveled is x2.
By changing it to ±ΔX, when the leading edge B° of the paper reaches the merging point 0, the reference line A′ of the printing cylinder also arrives at the merging point 0.

(Effects of the Invention) Since the method according to the present invention is carried out as described above, it can be utilized in various applications where it is required to align two objects A and B at a merging point. , - If this is adopted for the printing machine shown as a specific example, even if the paper sizes are different when feeding, or the trailing edge of the paper is not exactly in contact with the feed claw, Furthermore, even if there is play in the drive unit, it is possible to provide a printing press that can perform highly accurate positioning and does not cause printing misalignment.

Furthermore, the mechanical pre-registration device used in conventional printing presses can be dispensed with, and calculations can be made extremely simple, resulting in good response and improved printing speed. , reliability regarding accuracy is also high.

[Brief explanation of the drawing]

FIGS. 1(a) to 1(e) are explanatory plan views showing theoretical earthwork object advancement and displacement states for explaining the positioning control method at the merging point of moving objects according to the present invention. Figure 2 is a diagram of the relationship between the traveling points and the traveling position showing the progress state of the earthwork object, Figures 3 (a) and 3 (b) are explanatory plan views showing the actual progress and displacement state of the earthwork object, and Figure 4 is the Fig. 5 is an explanatory diagram of the relationship between the traveling point and speed of an object in the figure, Fig. 5 is a mechanism explanatory diagram showing the main parts of an offset printing press that can implement the control method of the present invention, Fig. 6 (a) (b) is a constant acceleration motion diagram and a ROM content diagram for explaining uniform acceleration motion control of an object by a computer, and FIG. A plane explanatory diagram of the state of progress of two objects shown to explain the means for correcting the traveling distance in uniform motion, and FIG. 8 is a relationship diagram between the traveling point and speed showing the state of progress of two objects in the offset printing machine of FIG. 5. It is. A, B...Object LA...Length LA' between start command point P of object A and merging point 0.....Length of separation between theoretical point T of object A and merging point 0. LH...Separation length LB' between waiting point Q of object B and confluence point 0...Separation length 0 between acceleration point R on object day and confluence point 0...Confluence point P...Start command point Q...Waiting point R...Acceleration end point V...Speed of object A°...Speed of object B Speed of initial uniform motion ■...
...Velocity xL of late uniform pressure motion of object B...Distance traveled by initial uniformly accelerated motion of object B x2...Distance traveled by initial constant velocity interlocking motion of object B x3... ...Object B
Distance traveled in the latter half of uniformly accelerated motion! 4...Object B
Travel distance statement linked to the latter half of equal acceleration...... Distance length ΔX between object A's travel point S and confluence point 0... Difference between statement and LA' Agent Patent attorney Yoshi Saito Male Fig. 1 (α) Fig. 2 Fig. 4H Fig. 5 * Fig. b Fig. 7

Claims (2)

[Claims] (1) Object A moves uniformly at a speed V toward the merging point 0, and object B moves toward the merging point 0 from the other side, moving both objects A and B to the merging point. 0, when the object A theoretically arrives at the start command point P that is a predetermined length AL away from the merging point 0, the object B is moved to a waiting point P that is a predetermined length LB away from the merging point 0. After starting from Q and moving with constant acceleration for a predetermined travel distance x1 from the waiting point Q, the acceleration end point R
Object B is moved at a constant speed of a predetermined travel distance x2 at a speed v' in , and then is moved with uniform acceleration for a predetermined travel distance x3 from the speed v' until it reaches a predetermined speed v, and then the object B is moved at the speed v for a travel distance x4. The various predetermined values described above are set in advance so that objects A and B meet at the confluence point 0 by moving at a constant speed, and the movement of object A when object B reaches the acceleration end point R is set in advance. Detect the point S, and calculate the distance l between this point and the confluence point 0, and the theoretical object A and the confluence point 0.
A moving object characterized in that a phase difference ±ΔX with a separation length LA' between the moving objects and Registration control method at confluence points. (2) When controlling x2 based on the phase difference ±Δx, let the velocity V of object A and the velocity v of object B be V=v, and let these velocities v and v' be v'=->v/2. , α=->
V/v', the position at the confluence of moving objects as set forth in claim 1, wherein a theoretical predetermined value is set so that α-β=1 when β=->V/v. Combined control method.