TW201819279A - Roll-to-roll transmission system having tension and edge adjustment functions and method for controlling thereof simultaneously providing a film with instantaneous, dynamic and precise edge and tension adjustments - Google Patents

Abstract

A roll-to-roll transmission system having tension and edge adjustment functions comprises at least one swing wheel, an edge sensing unit, two force sensing units, two rotary actuating units, and a control unit. Each of the swing wheels is provided with a wheel shaft. The edge sensing unit is disposed on one edge of the front and back surface of the film for sensing the position of the edge of the film. Two force sensing units are respectively disposed on two sides of the wheel shaft of at least one swing wheel for detecting the magnitude of the force exerted on two sides of the wheel shaft. Two rotary actuating units are respectively connected to two opposite sides of at least one swing wheel. The control unit correspondingly controls two rotary actuating units for driving at least one swing wheel to move along an arc-shaped path; thereby simultaneously providing the film with instantaneous, dynamic and precise edge and tension adjustments.

Description

Roll-to-roll transmission system with tension and edge adjustment functions and control method thereof

This creation relates to a roll-to-roll transfer system and its control method, especially a roll-to-roll transfer system with tension and edge adjustment functions and its control method.

In the development of various precision industries, the demand for soft electronics is also increasing. An important part of soft electronics production is roll-to-roll (R2R) manufacturing technology. However, the thickness of the coil used in R2R production is becoming thinner, the weight of the material and the efficiency considerations all drive the precision transmission technology to be continuously improved.

Please refer to FIG. 10, which is an architecture of a conventional roll-to-roll film transport system. The transmission system includes a force control mechanism 100 and an edge control mechanism 200. The tension control mechanism 100 provides tension control to a film 300. In addition, the edge control mechanism 200 provides correction correction to the film 300. The tension control mechanism 100 and the edge control mechanism 200 can be used to detect the tension state and edge state of the film 300 separately, and control the tension magnitude and / or edge distance to be adjusted respectively.

However, the above-mentioned existing roll-to-roll film transmission system adjusts and controls the tension and edge of the film 300 separately. In addition, the equipment configuration of the tension control mechanism 100 and the edge control mechanism 200 accounts for the length of the transmission path of the entire transmission system. Therefore, the tension control mechanism 100 and the edge control mechanism 200 separately configured not only make the space required for the entire transmission system larger, but also make the control systems of the tension control mechanism 100 and the edge control mechanism 200 more complicated.

One of the purposes of this creation is to provide a roll-to-roll transmission system with tension and edge adjustment functions, which solves the problem that the tension control mechanism is separated from the edge control mechanism, resulting in a longer transmission path length for the entire transmission system, Larger space and more complex control systems.

In order to achieve the purpose of previous disclosure, the roll-to-roll transmission system with tension and edge adjustment function proposed in this creation transmits a film along a transmission direction. The roll-to-roll transmission system with tension and edge adjustment function includes at least one A swing wheel, an edge sensing unit, two force sensing units, two rotary actuation units, and a control unit. Each of the swing wheels has an axle. The edge sensing unit is disposed on an edge of the front and back sides of the film to sense the position of the edge of the film and output an edge sensing value. The two force sensing units are respectively disposed on both sides of the axle of the at least one swinging wheel to detect the magnitude of the force on both sides of the axle and output two force sensing values respectively. The two rotary actuating units are respectively connected to opposite sides of the at least one swinging wheel. The control unit is electrically connected to the edge sensing unit and the two force sensing units, receives the edge sensing value, the two force sensing values, and two torque force control command values, and according to the edge sensing value, the two The force sensing value and the two torque force control command values are used to calculate and update the two torque force control command values to control the two rotary actuation units respectively to drive the at least one swinging wheel to move along an arc path, and further The film was subjected to edge and tension adjustment at the same time.

With the roll-to-roll transmission system with tension and edge adjustment functions, by controlling the rotary actuating units to drive the at least one swing wheel to move along an arc path, the edge and tension can be adjusted at the same time, and This creation is a combination of tension control and edge control mechanism, which can shorten the transmission length of the equipment and reduce the space required by the transmission system compared with the prior art. Furthermore, using these sensing values and the relationship between the edge control relationship and the tension control relationship, a new torque force control command value can be quickly and concisely calculated to provide real-time, dynamic, and accurate simultaneous control of the at least A swing wheel with tension and edges.

Another purpose of this creation is to provide a roll-to-roll transmission system control method with tension and edge adjustment functions, which solves the problem that the tension control mechanism and the edge control mechanism are configured separately, resulting in a longer transmission path length of the entire transmission system and the entire transmission system. More space is required, and the control system is more complicated.

In order to achieve the purpose of the previous disclosure, the roll-to-roll transmission system control method with tension and edge adjustment function proposed in this creation is used to simultaneously adjust the edge and tension of a film, and the roll-to-roll transmission with tension and edge adjustment function The system control method includes: obtaining two torque force control command values; obtaining an edge sensing value; obtaining two force sensing values; and calculating according to the edge sensing value, the two force sensing values, and the two torque force controlling command values, and calculating And update the two torque force control command values; and according to the updated two torque force control command values, correspondingly control the two rotary actuating units respectively, with at least one swinging wheel on the film with a motion along an arc The path moves.

With the control method of the roll-to-roll transmission system with tension and edge adjustment functions, the edge and tension can be adjusted at the same time by controlling the rotary actuating units to drive the at least one swing wheel along an arc path. . Furthermore, using the sensing values and the relationship between the edge control relationship and the tension control relationship, a new torque force control command value can be quickly calculated to provide real-time, dynamic, and precise control of the at least one swing wheel.

In order to better understand the techniques, methods and effects adopted by this creation to achieve the intended purpose, please refer to the following detailed descriptions and drawings of this creation. I believe that the purpose, characteristics and features of this creation can be in-depth and Specific understanding, however, the drawings are provided for reference and explanation only, and are not intended to limit the creation.

The technical content and detailed description of this creation are described below in conjunction with the drawings.

Please refer to FIG. 1A. The roll-to-roll transport system with tension and edge adjustment functions of the present invention is to provide a film 90 to be transported along a machine direction D _M and to wind the film 90. A common roll-to-roll (R2R) transmission system is an idle roll coupled with a dancer roll to roll the film 90 as a framework. In this creation, one swing wheel or two swing wheels may be used as an implementation aspect, but the number of the swing wheels is not intended to limit the creation. Taking FIG. 1A as an example, that is, the first embodiment of the present creation, the roll-to-roll transfer system includes a swinging wheel 10 and two idler wheels 21 and 22. In addition, taking FIG. 2A as an example, that is, the second embodiment of the present creation, the roll-to-roll transmission system includes two swing wheels 11, 12 and two idle wheels 21, 22.

In the following, the volume-to-volume transport systems for two different architectures are described. First taking the first embodiment, please refer to FIG. 1A, which illustrates a roll-to-roll transmission system including a swinging wheel and two idlers as an example. This roll-to-roll transmission system with tension and edge adjustment functions includes transmission components and sensing components. The transmission components of the roll-to-roll transmission system with tension and edge adjustment functions include a swinging wheel 10, two idle rolls 21 and 22, and two rotary actuating units 51 and 52 (see FIG. 1C for cooperation) . The swing wheel 10 has a wheel shaft 101, and the wheel shaft 101 penetrates the swing wheel 10 in the axial direction. The two idlers 21 and 22 are a first idler 21 and a second idler 22, respectively, for supporting the film 90 and changing the transmission direction of the film 90. When the film 90 is transported, the first idler 21 and the second idler 22 are free to rotate at a fixed position and height. In FIG. 1A, only the two idler wheels 21, 22 and the swinging wheel 10 of the roll-to-roll transmission system are drawn, and the power components for providing the unwinding and winding driving are omitted.

The first idler wheel 21 and the second idler wheel 22 are disposed on two adjacent sides of the swinging wheel 10. In this embodiment, the first idler wheel 21 is disposed adjacent to the swinging wheel 10 and is located at a relative position on the upstream side of a transmission direction D _M. In addition, the second idler wheel 22 is disposed adjacent to the swinging wheel 10 and is located at a relative position on the downstream side of the transmission direction D _M. Therefore, the first idler wheel 21, the second idler wheel 22, and the swing wheel 10 are arranged in a three-wheel, two-pitch arrangement to form a roll-to-roll transmission structure. In addition, for convenience of subsequent description, a vertical upward direction D _T is defined in FIG. 1A, where the vertical upward direction D _T is perpendicular to the transmission direction D _M and is an upward direction.

When see Figure 1B and 1C, a schematic of the system in FIG. 1B by the swinging wheel 10 of the two rotary units 51 and 52 to drive the actuator arcuate path of movement (i.e., along a swing direction D _R), to be the D _M transmission direction, the opposite direction of the transport direction D _M -D reverse direction _M, the vertical upward direction D and the vertical upward direction _T D _T -D coordinate component of the _T. For example, when the swing wheel 10 is not driven, the swing wheel 10 is at a reference position, for example, the origin of the coordinate in FIG. 1B is used as the reference position. The swinging wheel 10 but bind to the coordinates shown in the FIGS. 1B, a schematic of the swing wheel 10 only in the case of coordinate change component during movement of the swinging direction D _R, and not limitation 10 of the swing motion of the actual wheel. When the swing wheel 10 swings in the (+ D _M , + D _T ) quadrant direction, the moving amount of the swing wheel 10 in the vertical upward direction D _T is ΔD _T ; otherwise, when the swing wheel 10 moves along (− D _M, -D time _T) quadrant direction of the swing, the swinging wheel 10 in the reverse direction to the upward direction D perpendicular to the moving amount _T is _T -D is -ΔD _T.

Referring to FIG. 1C, the two rotary actuating units 51 and 52 are a first rotary actuating unit 51 and a second rotary actuating unit 52, respectively, through a first connecting arm 61 and a first Two connecting arms 62 connect opposite sides of the axle 101 of the swinging wheel 10, that is, the first rotary actuating unit 51 is connected to one side of the axle 101 through the first connecting arm 61, and the second rotary type The actuating unit 52 is connected to the other side of the axle 101 through the second connecting arm 62. In this creation, the type and structure of the first connecting arm 61 and the second connecting arm 62 are not limited, as long as they can be connected to the axle 101 of the swinging wheel 10 as the two rotary actuating units 51, 52. Way, so that when the two rotary actuating units 51 and 52 are rotated, they can drive the movement of the two sides corresponding to the wheel shaft 101, and both can be used as the two connecting arms 61 and 62. The connection type shown in the figure and The structure is for illustration purposes only. In this creation, in order to prevent the first rotary actuating unit 51 and the second rotary actuating unit 52 from interfering with each other on opposite sides of the wheel shaft 101 of the swinging wheel 10 after the rotation, the first A connecting arm 61 and the second connecting arm 62 may be connected to opposite sides of the wheel shaft 101 through a universal joint or a universal joint, respectively.

The first rotary actuation unit 51 or the second rotary actuation unit 52 may be a servo motor or a step motor, and cooperate with a loop control to provide the servo motor or step. The reciprocating movement in the rotation direction of the input motor achieves precise positioning operation. However, for the convenience of explaining the adjustment and control of the edges and tension of this creation, the rotary actuation units 51,52 referred to in the following sections of this article are applicable to represent the related actions of all the components of the rotary actuation units 51,52. .

Next, a second embodiment of the authoring roll-to-roll transmission system will be described. Please refer to FIG. 2A and FIG. 2B for cooperation. Compared with the first embodiment, the second embodiment of the present invention lies in that the roll-to-roll transmission system provides two swing wheels 11 and 12 as a first swing wheel 11 and a second swing wheel 12, respectively. The first swinging wheel 11 has a first wheel shaft 111. The first wheel shaft 111 axially penetrates the first swinging wheel 11. The second swinging wheel 12 has a second wheel shaft 121, and the second wheel shaft 121 axially penetrates the second swinging wheel 12.

The first shaft 111 of the first swinging wheel 11 and the end on the same side of the second shaft 121 of the second swinging wheel 12 are connected to each other through a first connecting member 71. Similarly, the other ends of the first axle 111 and the second axle 121 opposite to each other are connected to each other through a second connecting member 72. In this way, the first swinging wheel 11 and the second swinging wheel 12 form a structure of a swinging wheel set. The first connecting member 71 has a first central fulcrum P _C1 . Similarly, the second connecting member 72 has a second central fulcrum.

The first rotary actuating unit 51 is connected to the first central fulcrum P _{C1 of} the first connecting member 71, and the second rotary actuating unit 52 is connected to the second center of the second connecting member 72. Fulcrum. In this creation, the type and structure of the first connecting member 71 and the second connecting member 72 are not limited, as long as they can be connected to the first rotating wheel 11 as the two rotary actuating units 51 and 52. The manner of a wheel shaft 111 and the second wheel shaft 121 of the second swinging wheel 12 enables the two rotary actuation units 51, 52 to drive the movement of the two sides of the swinging wheel set when the two rotating actuating units 51, 52 are rotated, where the first The swinging direction of the swinging wheel 11 is D _R1 , and the swinging direction of the second swinging wheel 12 is D _R2 , both of which can be used as the two connecting members 71 and 72. The connection type and structure shown in the figure are only schematic. Use.

Referring to FIG. 3, the roll-to-roll transmission system with tension and edge adjustment functions further includes an edge sensing unit 30. The edge sensing unit 30 can be installed on a workbench of the roll-to-roll transport system, and is adjacent to the first idler wheel 21 or the second idler wheel which is disposed above the transport direction D _M on the downstream side. The wheel 22 crosses an edge 91 on the front and back sides of the film 90 to sense the position of the edge 91 of the film 90. In practice, the edge sensing unit 30 is disposed on the second idler roller 22 near the downstream side of the transmission direction D _M to more accurately sense the position of the edge 91 of the film 90. For example, the edge sensing unit 30 is mounted on a fixing member adjacent to the second idler wheel 22, wherein the fixing member is fixed on the workbench and extends to the second idler wheel 22. Above, and not in contact with the film 90. As a result, the edge sensing unit 30 senses the position of the edge 91 of the film 90 to output an edge sensing value E _D. As for the detailed operation of the edge sensing unit 30, please refer to the following description.

Please refer to FIG. 4. The roll-to-roll transmission system with tension and edge adjustment functions further includes two force sensing units 41 and 42, which are a first force sensing unit 41 and a second force sensing unit 42, respectively. The first force sensing unit 41 or the second force sensing unit 42 may be a load cell, or a load cell. Taking the aforementioned first embodiment as an example, the first force sensing unit 41 and the second force sensing unit 42 are respectively installed on opposite sides of the axle 101 of the swinging wheel 10 (as shown in FIG. 4). ) For detecting the magnitude of the force on both sides of the axle 101. However, the two force sensing units 41 and 42 are not limited to the two opposite sides of the axle 101 mounted on the swinging wheel 10. In this creation, the two force sensing units 41, 42 can also be installed on opposite sides of the axle of the first idler 21 or on opposite sides of the axle of the second idler 22 to detect the The magnitude of the force on both sides of the axle of the first idler 21 or the axle of the second idler 22 corresponds to outputting a first force sensing value F _S1 and a second force sensing value F _S2 , which will be described later.

In addition, taking the aforementioned second embodiment as an example, the first force sensing unit 41 and the second force sensing unit 42 are respectively installed on opposite sides of the second wheel shaft 121 of the second swinging wheel 12. (See FIG. 2A for cooperation), for detecting the magnitude of the force on both sides of the second axle 121 of the second swinging wheel 12. However, the two force sensing units 41 and 42 are not limited to the two opposite sides of the second wheel shaft 121 mounted on the second swinging wheel 12. In this creation, the two force sensing units 41, 42 may also be installed on opposite sides of the first axle 111 of the first swinging wheel 11, opposite sides of the axle of the first idler wheel 21, or the Opposite sides of the wheel shaft of the second idler wheel 22 are used to detect the bearing on both sides of the first wheel shaft 111 of the first swinging wheel 11, the wheel shaft of the first idle wheel 21 or the wheel shaft of the second idler wheel 22. The magnitude of the force corresponds to outputting the first force sensing value F _S1 and the second force sensing value F _S2 , which will be described later.

Referring to FIG. 5 and in conjunction with FIG. 1A, the roll-to-roll transport system with tension and edge adjustment functions of the present invention further includes a control unit 60. The control unit 60 may be a microcontroller or a microprocessor with computing capability, but is not limited thereto. The control unit 60 is electrically connected to the edge sensing unit 30, the first force sensing unit 41 and the second force sensing unit 42 to receive the edge sensing value E _D output from the edge sensing unit 30. And the first force sensing value F _S1 and a second force sensing value F _S2 output from the first force sensing unit 41 and the second force sensing unit 42. The control unit 60 further calculates and processes the received edge sensing value E _D , the first force sensing value F _S1, and the second force sensing value F _S2 to output a first torque force control command. Value T _CM1 and a second torque force control command value T _CM2 , and then control the first rotary actuating unit 51 and the second rotary actuating unit 52 to drive the swinging wheel 10 to move in the swinging direction D _R In order to perform edge and tension adjustment on the film 90 at the same time. As for the detailed operation of the control unit 60 for the sensing values E _D , F _S1 , F _S2 and outputting the torque force control command values T _CM1 , T _CM2 , please refer to the description below. The torque force control command values T _CM1 and T _CM2 output by the control unit 60 control the rotary actuation units 51 and 52 only by a schematic expression, that is, the driving force for driving the rotary actuation units 51 is omitted in FIG. 5. The driving circuits and driving members of the moving units 51, 52.

Please refer to FIG. 6A and FIG. 6B for the edge control of the film 90. Taking the foregoing description, the edge sensing unit 30 is disposed on the second idler gear 22 near the downstream side of the transmission direction D _M as an example. The thin film 90 shown in the figure is a schematic diagram of no shift during transmission, and the thin film 90 'is a schematic diagram of offset during transmission. When the edge sensing unit 30 detects that the film 90 is not shifted on the second idler 22, it indicates that the edge 91 of the film 90 is conveyed along an edge reference value E _D0 .

In this creation, the edge sensing unit 30 detects that the position of the edge 91 of the film 90 and the bottom edge of the second idler 22 is an edge sensing value E _D , and then compares the edge sensing value E _D A relative positional relationship with the edge reference value E _D0 is used to determine whether the film 90 is shifted and the magnitude of the shift. Taking FIG. 6A as an example, when the film 90 ′ is shifted in one direction, the edge sensing unit 30 detects that the positions of the edge 91 of the film 90 ′ and the lowermost edge of the second idler wheel 22 are the edge sense. The measured value E _D , so the magnitude of the film 90 offset is an edge offset value ΔE _D. The magnitude of the edge offset value ΔE _{D is} the difference between the edge sensing value E _D and the edge reference value E _D0 , that is, ΔE _D = E _D −E _D0 . Similarly, in FIG. 6B, when the film 90 is shifted in another direction relative to that shown in FIG. 6A, the edge sensing unit 30 also detects the edge sensing value E _D and compares the edge sensing value E _D with the edge reference value. After comparing E _D0 , another edge offset value ΔE _D can be obtained.

In the two embodiments of FIG. 6A and FIG. 6B, the edge reference value E _D0 is used as a reference value, and then the difference between the edge sensing value E _D and the edge reference value E _D0 can be detected. Information on whether the film 90 is shifted or not and shifted. Specifically, if ΔE _D = E _D −E _D0 is a positive value to indicate the direction in which the film 90 is shifted, as shown in FIG. 6A, in contrast, if ΔE _D = E _D −E _D0 is a negative value, it indicates that the film 90 is offset. The direction in which the film 90 is offset is shown in FIG. 6B. In this way, according to the positive and negative values and the magnitude values of the edge shift value ΔE _D , the direction and magnitude of the shift of the film 90 can be determined.

Please refer to the embodiments shown in FIG. 7A to FIG. 7D, and explain how to implement the edge compensation and tension compensation in the first embodiment of the roll-to-roll transmission system with tension and edge adjustment functions. 90 for edge and tension adjustment and control. Specifically, in the embodiment shown in FIGS. 7A to 7D, the first rotary actuating unit 51 and the second rotary actuating unit 52 pass through the vertical upward direction D _T or the vertical upward direction D. The reverse direction of _T −D _{T is} the amount of movement compensation to achieve edge and tension control of the film 90.

As shown in FIG. 7A, the first case is a state in which the film 90 is not shifted during transmission, but the tension is out of balance. Compared with the film 90 in a state where both edges and tension are balanced, in this state, if the film 90 is subjected to excessive tension in the vertical upward direction D _T , the control unit 60 controls the first rotary actuating unit. 51 and the second rotary actuating unit 52 are simultaneously rotated in a first direction to drive the swing wheel 10 to move to provide tension compensation. Wherein, the first rotary actuating unit 51 and the second rotary actuating unit 52 are rotated in the first direction, so that both sides of the axle 101 of the swinging wheel 10 obtain the vertical upward direction D _T The amount of movement is a first upward compensation distance ΔD _T1 and a second upward compensation distance ΔD _T2 , wherein the two upward compensation distances are the same, that is, ΔD _T1 = ΔD _T2 to provide tension compensation.

Since the first upward compensation distance ΔD _T1 is the same as the second upward compensation distance ΔD _T2 , the amount of movement of the swinging wheel 10 in the vertical upward direction D _T provides tension compensation, and in the end, the film 90 edge and tension are maintained. Achieve balance.

As shown in the second case shown in FIG. 7B, assuming that the film 90 is subjected to excessively small tension in the vertical upward direction D _T , the control unit 60 controls the first rotary actuation unit 51 and the second rotary actuation unit 52 rotates in a second direction opposite to the first direction at the same time, so that both sides of the axle 101 of the swinging wheel 10 obtain the movements in the opposite direction of the vertical upward direction D _T −D _T , which is a first The downward compensation distance −ΔD _T1 and a second downward compensation distance −ΔD _T2 , wherein the two downward compensation distances are the same, ie −ΔD _T1 = −ΔD _T2 , to provide tension compensation.

As shown in the third case shown in FIG. 7C, it is assumed that the film 90 is in a state of tension balance during transportation, but a state of deviation occurs. Compared with the state in which the film 90 is in a state where both edges and tension are balanced, in this state, it is assumed that the film 90 is shifted as shown in FIG. 6B. The control unit 60 can control the first rotary actuation unit 51 not to rotate, so that the position of the side of the first wheel shaft 111 corresponding to the swing wheel 10 driven by the first rotary actuation unit 51 is not changed. At the same time, the control unit 60 controls the second rotary actuating unit 52 to rotate in the first direction, so that the side of the first wheel shaft 111 of the swing wheel 10 corresponding to the second rotary actuating unit 52 is obtained. The amount of movement in the vertical upward direction D _T is the second upward compensation distance ΔD _T2 to provide edge compensation.

In terms of relative rotation, the control unit 60 can also control the second rotary actuating unit 52 not to rotate, so that the second rotary actuating unit 52 drives the first wheel shaft 111 of the swinging wheel 10 corresponding to the second rotary actuating unit 52. The side position does not change. At the same time, the control unit 60 controls the first rotary actuation unit 51 to rotate in the second direction, so that the side of the first wheel shaft 111 of the swing wheel 10 corresponding to the first rotary actuation unit 51 is obtained. The amount of movement of the vertical upward direction D _T in the opposite direction −D _T is the first downward compensation distance −ΔD _T1 to provide edge compensation.

As shown in the fourth case shown in FIG. 7D, it is assumed that the film 90 is in a state of tension balance during transportation, but a state of deviation occurs. Compared to the state in which the film 90 is in equilibrium with the edges and tension, in this state, it is assumed that the film 90 is shifted as shown in FIG. 6A. The control unit 60 can control the second rotary actuating unit 52 not to rotate, so that the position of the side of the first wheel shaft 111 of the swing wheel 10 corresponding to the second rotary actuating unit 52 is not changed. At the same time, the control unit 60 controls the first rotary actuation unit 51 to rotate in the first direction, so that the side of the first wheel shaft 111 of the swing wheel 10 corresponding to the first rotary actuation unit 51 is obtained. The amount of movement in the vertical upward direction D _T is the first upward compensation distance ΔD _T1 to provide edge compensation.

In terms of relative rotation, the control unit 60 can also control the first rotary actuating unit 51 not to rotate, so that the corresponding to the first wheel shaft 111 of the swinging wheel 10 driven by the first rotary actuating unit 51 The side position does not change. At the same time, the control unit 60 controls the second rotary actuating unit 52 to rotate in the second direction, so that the side of the first wheel shaft 111 of the swing wheel 10 corresponding to the second rotary actuating unit 52 is obtained. The amount of movement of the opposite direction −D _T of the vertical upward direction D _T is the second downward compensation distance −ΔD _T2 to provide edge compensation.

Compared to the unbalanced situation disclosed by the film 90, there are still tension and edge unbalanced situations. However, those with ordinary knowledge in the art can know how to deal with the first situation according to FIGS. 7A to 7D and corresponding descriptions. The rotary actuating unit 51 and the second rotary actuating unit 52 are controlled, so the description will not be repeated here.

The above-mentioned four cases of FIGS. 7A to 7D, for the manner and amount of edge compensation or / and tension compensation, only indicate the compensation performed at a certain time when the film 90 is at the edge offset or / and the tension is out of balance. The control unit 60 provides negative feedback for edge compensation or / and tension compensation, which can gradually converge the amplitude of edge offset or / and tension out of balance, and finally control the film 90 to operate without offset and tension. Balanced state.

Please refer to the embodiments shown in FIG. 8A to FIG. 8D, and explain how to implement edge compensation and tension compensation in the second embodiment of the roll-to-roll transmission system with tension and edge adjustment functions. 90 for edge and tension adjustment and control. Specifically, in the embodiment shown in FIGS. 8A to 8D, the first rotary actuating unit 51 and the second rotary actuating unit 52 will pass through the vertical upward direction D _T or the vertical upward direction D The reverse direction of _T −D _{T is} the amount of movement compensation to achieve edge and tension control of the film 90.

As shown in FIG. 8A, the first case is a state in which the film 90 is not shifted during transmission, but the tension is out of balance. Compared with the film 90 in a state where both edges and tension are balanced, in this state, if the film 90 is subjected to excessive tension in the vertical upward direction D _T , the control unit 60 controls the first rotary actuating unit. 51 and the second rotary actuating unit 52 are simultaneously rotated in a first direction to drive the movement of the swing wheel set formed by the first swing wheel 11 and the second swing wheel 12 to provide tension compensation. Wherein, the rotation of the first rotary actuating unit 51 and the second rotary actuating unit 52 in the first direction causes the two sides of the swinging wheel set to obtain the amount of movement of the vertical upward direction D _T , A first upward compensation distance ΔD _T1 and a second upward compensation distance ΔD _T2 , wherein the two upward compensation distances are the same, that is, ΔD _T1 = ΔD _T2 to provide tension compensation.

Since the first upward compensation distance ΔD _T1 is the same as the second upward compensation distance ΔD _T2 , the amount of movement of the swing wheel group in the vertical upward direction D _T provides tension compensation, and in the end, the film 90 edge and tension are maintained. All reached equilibrium.

As shown in the second case shown in FIG. 8B, assuming that the film 90 is subjected to too little tension in the vertical upward direction D _T , the control unit 60 controls the first rotary actuation unit 51 and the second rotary actuation unit 52 rotates in a second direction opposite to the first direction at the same time, so that both sides of the swing wheel set respectively obtain the movement of the opposite direction of the vertical upward direction D _T −D _T , which is a first downward compensation The distance −ΔD _T1 and a second downward compensation distance −ΔD _T2 , wherein the two downward compensation distances are the same, ie −ΔD _T1 = −ΔD _T2 to provide tension compensation.

As shown in the third case shown in FIG. 8C, it is assumed that the film 90 is in a state of tension balance during transportation, but a state of deviation occurs. Compared with the state in which the film 90 is in a state where both edges and tension are balanced, in this state, it is assumed that the film 90 is shifted as shown in FIG. 6B. The control unit 60 can control the first rotary actuating unit 51 not to rotate, so that the position of the side corresponding to the swing wheel set driven by the first rotary actuating unit 51 does not change. At the same time, the control unit 60 controls the second rotary actuation unit 52 to rotate in the first direction, so that the side corresponding to the side of the swing wheel set driven by the second rotary actuation unit 52 obtains the vertical upward direction D The amount of movement of _T is the second upward compensation distance ΔD _T2 to provide edge compensation.

In terms of relative rotation, the control unit 60 can also control the second rotary actuation unit 52 not to rotate, so that the position of the side corresponding to the swing wheel set driven by the second rotary actuation unit 52 does not change. At the same time, the control unit 60 controls the first rotary actuating unit 51 to rotate in the second direction, so that the side corresponding to the side of the swing wheel set driven by the first rotary actuating unit 51 obtains the vertical upward direction D _The amount of movement of −D _T in the opposite direction of _T is the first downward compensation distance −ΔD _T1 to provide edge compensation.

As shown in the fourth case shown in FIG. 7D, it is assumed that the film 90 is in a state of tension balance during transportation, but a state of deviation occurs. Compared to the state in which the film 90 is in equilibrium with the edges and tension, in this state, it is assumed that the film 90 is shifted as shown in FIG. 6A. The control unit 60 can control the second rotary actuating unit 52 not to rotate, so that the position of the side corresponding to the swing wheel set driven by the second rotary actuating unit 52 does not change. At the same time, the control unit 60 controls the first rotary actuation unit 51 to rotate in the first direction, so that the vertical upward direction D is obtained corresponding to the side of the swinging wheel set driven by the first rotary actuation unit 51. The amount of movement of _T is the first upward compensation distance ΔD _T1 to provide edge compensation.

In terms of relative rotation, the control unit 60 can also control the first rotary actuation unit 51 not to rotate, so that the position of the side corresponding to the swing wheel set driven by the first rotary actuation unit 51 does not change. At the same time, the control unit 60 controls the second rotary actuating unit 52 to rotate in the second direction, so that the vertical upward direction D is obtained corresponding to the side of the swinging wheel set driven by the second rotary actuating unit 52. _The amount of movement of −D _T in the opposite direction of _T is the second downward compensation distance −ΔD _T2 to provide edge compensation.

Compared to the unbalanced situation disclosed by the film 90, there are still tension and edge unbalanced situations. However, those with ordinary knowledge in the art can know how to respond to the first according to FIGS. 8A to 8D and corresponding descriptions. The rotary actuating unit 51 and the second rotary actuating unit 52 are controlled, so the description will not be repeated here.

The methods and amounts of edge compensation or / and tension compensation in the above four cases of FIGS. 8A to 8D only indicate the compensation performed at a certain time when the film 90 is at the edge offset or / and the tension is out of balance. The control unit 60 provides negative feedback for edge compensation or / and tension compensation, which can gradually converge the amplitude of edge offset or / and tension out of balance, and finally control the film 90 to operate without offset and tension. Balanced state.

As described in FIG. 5, the control unit 60 receives the edge sensing value E _D and the first force sensing value F _S1 and the second force sensing value F _{S2 to} perform calculation and processing to correspondingly control the first a rotary actuator unit 51 and the second rotary actuator unit 52, the wobble drive wheel 10 or the wheel set along the swing direction D _R oscillating movement to the edge of the film 90 simultaneously with the tension control. More specifically, the control unit 60 performs edge feedback or / and tension compensation for negative feedback based on the received edge sensing value E _D and the first force sensing value F _S1 and the second force. The sensed value F _S2 , the torque force control command value controlled by the first rotary actuation unit 51 and the second rotary actuation unit 52, is the first torque force control command value T _CM1 and the second The torque force control command value T _CM2 is adjusted to dynamically and instantly control the first rotary actuating unit 51 and the second rotary actuating unit 52, and then control the film 90 to operate in an unshifted and tension-balanced state. .

Therefore, in this creation, the control algorithm for the edge adjustment and tension adjustment of the control unit 60 is described as follows:

1. The relationship of edge control: T _CM2 × L ₆₂ × f (θ ₂ ) −T _CM1 × L ₆₁ × f (θ ₁ ) = k × (E _D− E _D0 ). In the above relationship, T _CM2 and T _CM1 are the first torque force control command value and the second torque force control command value, respectively; E _D and E _D0 are the edge sensing value and the edge reference value, L ₆₁ And L ₆₂ are the arm lengths of the two rotary actuating units 51, 52 to the axis center of the axle 101 of the swinging wheel 10, and f (θ ₁ ) and f (θ ₂ ) are caused by the position of the trigonometric function. Function of change in component force related to the direction of tension. Furthermore, the above relationship can be rewritten as: T _CM2 × L ₆₂ × f (θ ₂ ) −T _CM1 × L ₆₁ × f (θ ₁ ) = k × ΔE _D , that is, the difference between the two torque force control command values (T _CM2 × L ₆₂ × f (θ ₂ ) −T _CM1 × L ₆₁ × f (θ ₁ )) and the edge offset value ΔE _D have a constant multiple k relationship. It can be known from the above relationship that when the film 90 is not shifted, that is, ΔE _D = 0, the first torque force control command value T _{CM1 is the} same as the second torque force control command value T _CM2 . Conversely, if the film 90 shifts during transmission, that is, ΔE _D ≠ 0, the control unit 60 changes the first torque force control command value T _CM1 and according to the sign and magnitude of the edge shift value ΔE _D. / Or the second torque force control command value T _CM2 to dynamically and instantly control the first rotary actuation unit 51 and the second rotary actuation unit 52.

2. Tension control relationship: T _CM2 × L ₆₂ × f (θ ₂ ) + T _CM1 × L ₆₁ × f (θ ₁ ) = F _S1 + F _S2 + 2ΔT. In the above relationship, T _CM1 and T _CM2 are the first torque force control command value and the second torque force control command value, respectively, and F _S1 and F _S2 are the first force sense value and the second force sense, respectively. Measured values, L ₆₁ and L ₆₂ are the arm lengths of the two rotary actuating units 51, 52 to the axis of the idler wheel, respectively, and f (θ ₁ ) and f (θ ₂ ) are caused by the tension with the position of the trigonometric function. The function of the direction-dependent component force change, and 2ΔT is the change in tension, where 2ΔT is the change in tension in the vertical upward direction D _T across the film 90 that is wound around both sides of the swing wheel 10 or the swing wheel group . It can be known from the above relationship that when the tension of the film 90 is balanced, that is, ΔT = 0, the sum of the component forces of the extension arm of the first torque force control command value T _CM1 and the second torque force control command value T _CM2 The value (T _CM2 × L ₆₂ × f (θ ₂ ) + T _CM1 × L ₆₁ × f (θ ₁ )) is equal to the sum of the first force sensing value F _S1 and the second force sensing value F _S2 ( F _S1 + F _S2 ). Conversely, if the tension of the film 90 is out of balance during transmission, that is, ΔT ≠ 0, the control unit 60 changes the first torque force control command value T _CM1 and / or the value of the tension change value ΔT. The second torque force control command value T _{CM2 is used} to dynamically and immediately control the first rotary actuation unit 51 and the second rotary actuation unit 52. The magnitude of the force on both sides of the axle 101 of the swinging wheel 10 (or the fulcrum on both sides of the swinging wheel set) and the weight W of the swinging wheel 10 (or the swinging wheel set) W (W = m × g, where m is the mass of the swing wheel 10 (or the swing wheel group), g is the acceleration of gravity) and the force F generated by the swing wheel 10 (or the swing wheel group) moving in the vertical upward direction D _T (F = m × a, where m is the mass of the swinging wheel 10 (or the swinging wheel set), and a is the acceleration of the swinging wheel 10 (or the swinging wheel set).

This creation uses the edge sensing unit 30 to sense the position of the edge 91 of the film 90 to output the edge sensing value E _D , and combines the first force sensing unit 41 and the second force sensing unit 42. The magnitude of the force on both sides of the axle 101 (or the fulcrum on both sides of the swinging wheel set) is detected to output the first force sensing value F _S1 and the second force sensing value F _S2 . The control unit 60 receives the above-mentioned sensing values E _D , F _S1 , F _S2 , and can calculate the first torque force control command value quickly through a simultaneous operation of the edge control relationship and the tension control relationship. T _CM1 and the second torque force control command value T _CM2 further control the first rotary actuation unit 51 and the second rotary actuation unit 52. More specifically, the first torque force control command value T _CM1 and the second torque force control command value T _CM2 can be calculated according to the simultaneous calculation of the edge control relationship and the tension control relationship:

T _CM1 = 1/2 [F _S1 + F _S2 + 2ΔT−k × (E _D −E _D0 )] / (L ₁ × f (θ ₁ )).

T _CM2 = 1/2 [F _S1 + F _S2 + 2ΔT + k × (E _D −E _D0 )] / (L ₂ × f (θ ₂ )).

With reference to FIG. 5, in addition to receiving the edge sensing values E _D , the first force sensing value F _S1, and the second force sensing value, the control unit 60 receives the edge sensing values E _D output by the sensing units 30, 41, and 42. F _S2 performs calculations to obtain the first torque force control command value T _CM1 and the second torque force control command value T _CM2 to the first rotary actuation unit 51 and the second rotary actuation unit 52 In addition to performing control, the torque force control command values T _CM1 and T _{CM2 are} further feedbacked to generate updated torque force control command values, thereby real-time and dynamically controlling the first rotary actuation unit 51 and The second rotary actuating unit 52.

Please refer to FIG. 9, the control method of the roll-to-roll conveying system with tension and edge adjustment function is to perform edge and tension adjustment on a film at the same time. The roll-to-roll transmission system with tension and edge adjustment functions can be implemented as one swinging wheel and two idlers, and can also be implemented as two swinging wheels and two idlers. For restrictions. Taking the implementation of one swinging wheel and two idler wheels as an example, the roll-to-roll transmission system with tension and edge adjustment functions includes one swinging wheel, two idler wheels, and two rotary actuating units. The swing wheel has a wheel shaft, and the wheel shaft line axially penetrates the swing wheel. The two idler wheels are used for supporting the film and changing the direction of the film. The two rotary actuating units are respectively installed on opposite sides of the axle of the swinging wheel. Each of the rotary actuating units may be a servo motor or a stepping motor to provide a reciprocating motion in an arc path direction.

The roll-to-roll transmission system with tension and edge control further includes an edge sensing unit and two force sensing units. The edge sensing unit is adjacent to the idler wheel disposed on the downstream side of the transmission direction to accurately sense the position of the edge of the film to output an edge sensing value. The two force sensing units are respectively installed on opposite sides of the wheel axle to detect the magnitude of the force on both sides of the wheel axle. Each of the force sensing units may be a load meter, which respectively detects the magnitude of the force on both sides of the wheel axle to output two force sensing values correspondingly.

The control method of the roll-to-roll transport system with tension and edge control includes the following steps. In step S10, two torque force control command values are obtained. When the roll-to-roll transmission system with tension and edge control is started, a control unit initializes and sets the two torque force control command values. Then, in step S20, the edge sensing unit is used to obtain the edge sensing value. Then, in step S30, the two-force sensing unit is used to obtain two-force sensing values.

In step S40, the control unit calculates and updates the two torque force control command values according to the edge sensing value, the two force sensing values, and the two torque force control command values. Then, in step S50, according to the updated two torque force control command values, the two rotary actuation units are controlled correspondingly to move at least one swing wheel on the film along an arc path with a belt motion.

In summary, this creative department has the following characteristics and advantages:

1. By controlling the rotary actuating units 51 and 52 to drive the swinging wheel 10 or the swinging wheel set formed by the first swinging wheel 11 and the second swinging wheel 12 to achieve edge adjustment and tension adjustment Compared with the prior art, which requires separate detection and control, this creation can effectively shorten the transmission path length of the equipment required configuration and save equipment space, and the control system is more streamlined.

2. Using these sensing values E _D , F _S1 , F _S2 and the edge relationship and the tension relationship, a new torque force control command value can be quickly calculated to provide real-time and dynamic control of the swing The wheel 10 performs edge and tension control on the film 90 in synchronization.

10‧‧‧ Swing Wheel

101‧‧‧ Wheel

11‧‧‧The first swing wheel

12‧‧‧Second swing wheel

111‧‧‧first wheel

121‧‧‧ second wheel

21‧‧‧The first idler

22‧‧‧Second idler

30‧‧‧Edge sensing unit

41‧‧‧First Force Sensing Unit

42‧‧‧Second Force Sensing Unit

51‧‧‧The first rotary actuation unit

52‧‧‧Second rotary actuation unit

60‧‧‧Control unit

61‧‧‧First connecting arm

62‧‧‧Second connecting arm

71‧‧‧first connector

72‧‧‧Second connection

90‧‧‧ film

91‧‧‧ edge

100‧‧‧Tension control mechanism

200‧‧‧Edge Control Agency

300‧‧‧ film

E _D ‧‧‧Edge Sensing Value

E _D0 ‧‧‧Edge reference value

ΔE _D ‧‧‧Edge offset value

F _S1 ‧‧‧First Force Sensing Value

F _S2 ‧‧‧Second force sensing value

T _CM1 ‧‧‧ the first torque force control command value

T _CM2 ‧‧‧Second torque force control command value

ΔD _T ‧‧‧Vertical upward movement

−ΔD _T ‧‧‧ Movement amount in the vertical upward direction and the opposite direction

ΔD _T1 ‧‧‧First upward compensation distance

ΔD _T2 ‧‧‧Second upward compensation distance

−ΔD _T1 ‧‧‧ the first downward compensation distance

−ΔD _T2 ‧‧‧ Second downward compensation distance

D _M ‧‧‧Transfer direction

D _T ‧‧‧ vertical direction

D _R ‧‧‧Swing direction

D _R1 ‧‧‧Swing direction

D _R2 ‧‧‧ Swing direction

P _C1 ‧‧‧ First Center Fulcrum

FIG. 1A is a schematic plan view of a part of a transmission mechanism of the first embodiment of the roll-to-roll transfer system with tension and edge adjustment functions. FIG. 1B is a schematic diagram of the swing wheel moving in an arc path in FIG. 1A. FIG. 1C is a schematic diagram of a plurality of rotary actuating units driving the swing wheel. FIG. 2A is a schematic plan view of a part of the transmission mechanism of the second embodiment of the roll-to-roll transmission system with tension and edge adjustment functions. FIG. 2B is a partial schematic view of FIG. 2A. Figure 3: Schematic diagram of the edge sensing unit of a roll-to-roll transmission system with tension and edge adjustment functions. Figure 4: Schematic diagram of the force sensing unit of a roll-to-roll transmission system with tension and edge adjustment functions. Figure 5: A block diagram of the control unit of a roll-to-roll transfer system with tension and edge adjustment functions. FIG. 6A is a schematic diagram showing that a film is shifted in one direction for this creation. FIG. 6B is a schematic diagram showing that the film is shifted in another direction. FIG. 7A is a schematic diagram of the first situation of the edge and tension adjustment of the film according to the first embodiment of the present invention. FIG. 7B is a schematic diagram of the second situation of the edge and tension adjustment of the film according to the first embodiment of the present invention. FIG. 7C is a schematic diagram of the third situation of the edge and tension adjustment of the film according to the first embodiment of the present invention. FIG. 7D is a schematic diagram of the fourth case of adjusting the edge and tension of the film according to the first embodiment of the present invention. FIG. 8A is a schematic diagram of the first situation of the edge and tension adjustment of the film according to the second embodiment of the present invention. FIG. 8B is a schematic diagram of the second case of adjusting the edge and tension of the film according to the second embodiment of the present invention. FIG. 8C is a schematic diagram of the third situation of the edge and tension adjustment of the film according to the second embodiment of the present invention. FIG. 8D is a schematic diagram of the fourth case of adjusting the edge and tension of the film according to the second embodiment of the present invention. Figure 9: Flow chart of the control method of the roll-to-roll transmission system with tension and edge adjustment functions. FIG. 10 is a schematic diagram of a conventional roll-to-roll film transfer system.

Claims (10)

A roll-to-roll transmission system with tension and edge adjustment functions, which transports a film along a transmission direction. The roll-to-roll transmission system with tension and edge adjustment functions includes: at least one swing wheel, each swing wheel having an axle An edge sensing unit disposed on an edge of the film on the front and back sides to sense the position of the edge of the film and output an edge sensing value; two force sensing units respectively disposed on the at least A swinging wheel on both sides of the axle to detect the magnitude of the force on both sides of the axle and output two force sensing values respectively; two rotary actuating units are connected to the opposite sides of the at least one swinging wheel respectively And a control unit, electrically connecting the edge sensing unit and the two force sensing units, receiving the edge sensing value, the two force sensing values, and two torque force control command values, and according to the edge sensing values 2. The two force sensing values and the two torque force control command values, calculate and update the two torque force control command values to control the two rotary actuation units, respectively, to drive the at least one Wheel moves along an arcuate path, and further edge while adjusting the tension of the film. The roll-to-roll conveying system with tension and edge adjustment function as described in claim 1, further comprising: two idler wheels rotatably disposed on adjacent sides of the at least one swinging wheel to support the film along the Transmission direction transmission. The roll-to-roll transfer system with tension and edge adjustment functions as described in claim 2, wherein the edge sensing unit is adjacent to any of the idler wheels disposed above the transfer direction and on the downstream side, and spans the positive side of the film The opposite side of the edge. The roll-to-roll transmission system with tension and edge adjustment functions according to any one of claims 1 to 3, wherein the at least one swinging wheel system is a swinging wheel, and two sides of the axle of the swinging wheel are respectively connected to the Two rotary actuation units. The roll-to-roll transmission system with tension and edge adjustment functions according to any one of claims 1 to 3, wherein the at least one swinging wheel system is two swinging wheels, and the two swinging wheels form a swinging wheel group, and the swinging Two sides of the wheel set are respectively connected with the two rotary actuating units. The roll-to-roll transmission system with tension and edge adjustment functions according to any one of claims 1 to 3, wherein the first rotary actuation unit and the second rotary actuation unit are a servo motor or A stepper motor. A control method of a roll-to-roll transmission system with tension and edge adjustment functions to simultaneously adjust the edge and tension of a film. The control method of a roll-to-roll transmission system with tension and edge adjustment functions includes: obtaining two torque force control command values Obtaining an edge sensing value; obtaining two force sensing values; calculating and updating the two torque force control command values based on the edge sensing value, the two force sensing values, and the two torque force control command values; and according to The updated two torque force control command values respectively control the two rotary actuating units to move at least one swinging wheel on the film along an arc path with a belt motion. The control method of the roll-to-roll transmission system with tension and edge adjustment function as described in claim 7, wherein the condition that the edge and the tension of the film are balanced at the same time: the difference between the two torque force control command values is zero, and the The sum of the two torque force control command values is equal to the sum of the two force sensing values. The control method of the roll-to-roll transmission system with tension and edge adjustment function according to claim 7, wherein the steps of calculating and updating the two torque force control command values and correspondingly controlling the two rotary actuating units are used to bring actions for At least one swinging wheel on the film is moved along the arc path by a control unit. The method for controlling a roll-to-roll transmission system with tension and edge adjustment functions according to claim 7, wherein the edge sensing value is a position of an edge of the film by an edge sensing unit, and the two force sensing The values are the magnitudes of the forces on both sides of the axle of the at least one swinging wheel respectively sensed by the two force sensing units.