TWI623481B - Roll-to-roll transmission system with tension and edge adjustment functions and its control method - Google Patents

Abstract

A roll-to-roll transmission system with tension and edge adjustment functions includes at least one swing wheel, an edge sensing unit, two force sensing units, two rotary actuation units, and a control unit. Each of the oscillating 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. The two force sensing units are respectively disposed on two sides of the axle of the at least one oscillating wheel to detect the force on both sides of the axle. The two rotary actuating units are respectively connected to opposite sides of the at least one swing wheel. The control unit controls the two rotary actuating units to drive the at least one swinging wheel to move along an arcuate path; thereby providing the film with simultaneous, dynamic, and accurate edge and tension adjustment.

Description

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

This creation relates to a roll-to-roll transmission system and its control method, especially a roll-to-roll transmission 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, and an important part in the manufacture of soft electronics is the roll-to-roll (R2R) manufacturing technology. However, the thickness of the coil used in R2R manufacturing is getting thinner, the weight of the material is light, and the consideration of efficiency has driven the continuous improvement of precision transmission technology.

Please refer to Fig. 10 for the structure of the existing roll-to-roll film transmission system. The transmission system includes a force control mechanism 100 and an edge control mechanism 200. The tension control mechanism 100 provides tension control for a film 300. In addition, the edge control mechanism 200 provides correction and guidance for the film 300. The tension control mechanism 100 and the edge control mechanism 200 can separately detect the tension state and the edge state of the film 300, and respectively control the tension and / or the edge distance to be adjusted.

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 a relatively long transmission path Therefore, the tension control mechanism 100 and the edge control mechanism 200 that are separately arranged not only make the space required for the entire transmission system larger, but also make the control systems for 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 to solve the problem that the tension control mechanism and the edge control mechanism are separately configured, resulting in a longer transmission path length for the entire transmission system Larger space and more complex control systems.

To achieve the above-mentioned purpose, the roll-to-roll transmission system with tension and edge adjustment function proposed in this work 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 actuating 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 outputs an edge sensing value. The two force sensing units are respectively disposed on both sides of the axle of the at least one swing 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 swing 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 the 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, calculating and updating the two torque force control command values to control the two rotary actuating units respectively, driving the at least one swing wheel to move along an arc-shaped path, and Adjust the edge and tension of the film 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-shaped path, the edge and tension can be adjusted simultaneously, and This creative department combines the mechanism of tension control and edge control, which can shorten the transmission length of equipment and reduce the space required by the transmission system compared with the previous technology. Furthermore, by using the sensed values, the edge control relationship and the tension control relationship, a new torque force control command value can be calculated quickly and concisely, to provide real-time, dynamic, and precise control of the at least Tension and edge of a swinging wheel.

Another purpose of this creation is to provide a roll-to-roll transmission system control method with tension and edge adjustment functions to solve the problem that the tension control mechanism and the edge control mechanism are separately configured, resulting in a longer transmission path length for the entire transmission system and the entire transmission system The required space is larger, and the control system is also relatively complex.

In order to achieve the above-mentioned purpose, the control method of the roll-to-roll transmission system with tension and edge adjustment function proposed in this work is to simultaneously adjust the edge and tension of a film. 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 sense value; obtaining two force sense values; calculating based on the edge sense value, the two force sense values, and the two torque force control command values And update 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 drive at least one swing wheel on the film along an arc The path moves.

With the control method of 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-shaped path, the edge and tension can be adjusted simultaneously . Furthermore, using the sensing values, the edge control relationship and the tension control relationship, a new torque force control command value can be quickly calculated to provide immediate, dynamic, and precise control of the at least one swing wheel.

In order to know more about the technology, means and effects of this creation to achieve the intended purpose, please refer to the following detailed description and drawings of this creation. I believe that the purpose, features and characteristics of this creation can be obtained in depth and For specific understanding, the attached drawings are provided for reference and explanation only, and are not intended to limit this creation.

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

Referring to FIG. FIG. 1A, with the creation of the present tension adjustment with the edge of the roll to roll system transmission lines to provide a film 90 along a transmission direction (machine direction) D _M are transmitted, and the film 90 is wound. A common roll-to-roll (R2R) transmission system is an idle roll with a dancer roll to wind the film 90 as a framework. In this creation, one swing wheel or two swing wheels can be used as an implementation form, but the number of the swing wheels is not used to limit the creation. Taking FIG. 1A as an example, which is the first embodiment of the present creation, the roll-to-roll transmission system includes a swing wheel 10 and two idler wheels 21,22. In addition, taking FIG. 2A as an example, which 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 transfer system for two different architectures will be described. First, referring to the first embodiment, please refer to FIG. 1A, which is a roll-to-roll transmission system including a swing wheel and two idler wheels as an example. This creation of the 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 swing wheel 10, two idle rolls 21, 22 and two rotary actuating units 51, 52 (see FIG. 1C for cooperation) . The swing wheel 10 has a wheel shaft 101 which penetrates the swing wheel 10 in the axial direction. The two idler wheels 21 and 22 are respectively a first idler wheel 21 and a second idler wheel 22, which are used to support the film 90 and change the transmission direction of the film 90. When the film 90 is transported, the first idler 21 and the second idler 22 rotate freely at a fixed position and height. In FIG. 1A, only the parts of the two idler wheels 21, 22 and the swing wheel 10 of the roll-to-roll transmission system are depicted, and the power components used to provide unwinding and roll driving are omitted.

The first idler gear 21 and the second idler gear 22 are disposed on both sides of the swing wheel 10. In the present embodiment, the first idler gear train 21 disposed adjacent to the swing wheel 10, and is located upstream of the relative position of a transmission direction D _M side. In addition, the second idler gear train 22 disposed adjacent to the swing wheel 10 and located downstream from the relative position of the transmission direction D _M side. Therefore, the first idler 21, the second idler 22 and the swinging wheel 10 form a roll-to-roll transmission structure in a three-wheel two-pitch arrangement. In addition, for the convenience of the subsequent explanation, a system is defined vertically upward direction in FIG. 1A, D _T, where the upward direction of the vertical line upward direction D _T D _M with the transport direction and perpendicular to.

Please refer to FIG. 1B and FIG. 1C. FIG. 1B illustrates that the swing wheel 10 is driven by the two rotary actuating units 51, 52 to move in an arc-shaped path (that is, along a swing direction D _R ). 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 of 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 amount of movement of the swing wheel 10 in the vertical upward direction D _T is ΔD _T ; conversely, when the swing wheel 10 moves along (− D _M , −D _T ) when swinging in the quadrant direction, the amount of movement of the swinging wheel 10 in the reverse direction −D _T of the vertically upward direction D _T 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 swing wheel 10, that is, the first rotary actuator 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 shape 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 swing wheel 10 as the two rotary actuating units 51, 52 In this way, the two rotary actuating units 51, 52 can drive the movement of the corresponding two sides of the axle 101 when rotating, and can be used as the two connecting arms 61, 62. The connection type shown in the figure is The structure is for illustrative purposes only. In this creation, in order to prevent the first rotary actuation unit 51 and the second rotary actuation unit 52 from rotating after the rotation of the swinging wheel 10 drives the opposite sides of the axle 101 of the mutual interference, therefore, the first A connecting arm 61 and the second connecting arm 62 can be connected to opposite sides of the axle 101 through a universal joint or 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 loop control to provide the servo motor or step The reciprocating motion in the direction of rotation of the motor achieves precise positioning operation. However, for the convenience of explaining the adjustment and control of the edge and tension of this creation, the rotary actuating units 51, 52 referred to later in this article are applicable to represent the related actions of all the components of the rotary actuating units 51, 52. .

Next, a second embodiment of the authored volume-to-volume transmission system will be described. Please refer to FIGS. 2A and 2B for cooperation. Compared with the aforementioned first embodiment, the second embodiment of the present invention is that the roll-to-roll transfer system provides two swing wheels 11, 12 as a first swing wheel 11 and a second swing wheel 12, respectively. The first oscillating wheel 11 has a first axle 111 which penetrates the first oscillating wheel 11 in the axial direction. The second swing wheel 12 has a second wheel shaft 121. The second wheel shaft 121 penetrates the second swing wheel 12 in the axial direction.

An end on the same side of the first axle 111 of the first swing wheel 11 and the second axle 121 of the second swing 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 are connected to each other through a second connecting member 72. In this way, the first swing wheel 11 and the second swing wheel 12 form a swing wheel group structure. Wherein, the first connecting member 71 has a first central fulcrum P _C1 , and similarly, the second connecting member 72 has a second central fulcrum.

The first rotary actuator unit 51 is connected to the first center fulcrum P _{C1 of} the first connector 71, and the second rotary actuator unit 52 is connected to the second center of the second connector 72 Fulcrum. In this creation, the shape 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 swing wheel 11 as the two rotary actuating units 51, 52 The manner of one axle 111 and the second axle 121 of the second swing wheel 12 enables the two rotary actuating units 51, 52 to drive the movement of the corresponding sides of the swing wheel group when the two rotary actuating units 51, 52 rotate, wherein the first swinging direction of the swing wheel 11 is D _R1, the wobbling direction at the second wheel 12 is D _R2, Jieke 71, 72 for purposes as the two connectors, the connection patterns shown in the drawings is schematically only and structure For the purpose.

Referring to FIG. 3, the roll-to-roll transmission system with tension and edge adjustment functions further includes an edge sensing unit 30. Wherein the edge sensing unit 30 may be mounted to a working machine of the volume table the volume of the transmission system, and adjacent disposed on the transmission direction D _M, the second idler first idler 21 or the downstream side of the The wheel 22, and an edge 91 across the front and back sides of the film 90, to sense the position of the edge 91 of the film 90. In practical operation, the edge sensing unit 30 is provided on the downstream side of the D _M of the transport direction of the second idler gear 22, to sense more precisely measure the position of the edge 91 of the film 90. For example, the edge sensing unit 30 is installed on a fixing member adjacent to the second idler 22, wherein the fixing member is fixed on the working machine and extends to the second idler 22 Above, and not in contact with the film 90. Thereby, 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, 42 respectively a first force sensing unit 41 and a second force sensing unit 42, wherein The first force sensing unit 41 or the second force sensing unit 42 may be a load cell, or called a load cell. Taking the foregoing 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 swing wheel 10 (as shown in FIG. 4 ) To detect the force on both sides of the axle 101. However, the two force sensing units 41, 42 are not limited to the opposite sides of the axle 101 mounted on the swing wheel 10. In the present creation, the two force sensing units 41, 42 may also be installed on opposite sides of the axle of the first idler 21 or opposite sides of the axle of the second idler 22 to detect the The force on both sides of the wheel shaft of the first idler gear 21 or the wheel shaft of the second idler gear 22 correspondingly outputs a first force sensing value F _S1 and a second force sensing value F _S2 , which will be described later.

In addition, taking the foregoing 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 axle 121 of the second swing wheel 12 (See FIG. 2A for coordination), used to detect the force on both sides of the second axle 121 of the second swing wheel 12. However, the two force-sensing units 41 and 42 are not limited to the two opposite sides of the second axle 121 of the second swing 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 swing wheel 11, opposite sides of the axle of the first idler 21, or the The two opposite sides of the axle of the second idler 22 are used to detect the reception of the first axle 111 of the first swing wheel 11, the axle of the first idler 21 or the axle of the second idler 22 The magnitude of the force correspondingly outputs the first force sensing value F _S1 and the second force sensing value F _S2 , which will be described later.

Please refer to FIG. 5 in conjunction with FIG. 1A. The roll-to-roll transmission system with tension and edge adjustment functions further includes a control unit 60. The control unit 60 may be a microcontroller or a microprocessor with computing capabilities, but it 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 by the edge sensing unit 30 And the first force sensing value F _S1 and a second force sensing value F _S2 output by 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 T _CM1 and a second value of the power control command torque value T _CM2, and further controlling the first rotary actuator unit 51 and the second rotary actuator unit 52, the drive wheel 10 along the swing of the swing movement direction D _R To adjust the edge and tension of the film 90 at the same time. As for the operation of the control unit 60 for the sensing values E _D , F _S1 and F _S2 and the detailed operations of outputting the torque force control command values T _CM1 and T _CM2 , please refer to the following description. The torque force control command values T _CM1 and T _CM2 output by the control unit 60 only control the rotary actuation units 51 and 52 in a schematic expression, that is, they are omitted in FIG. 5 to drive the rotary actuators. The drive circuits and drive components of the moving units 51 and 52.

Please refer to FIGS. 6A and 6B to explain the edge control of the film 90. Said front bearing to the edge sensing unit 30 disposed near the downstream side of the second idler D _M of the transport direction 22 as an example. The film 90 shown in the figure is a schematic diagram showing no deviation during transmission, and the film 90 'is a schematic diagram showing that a deviation occurs during transmission. When the edge sensing unit 30 detects that the film 90 is not offset on the second idler 22, it means that the edge 91 of the film 90 is transported along an edge reference value E _D0 .

In the present creation, the edge sensing unit 30 detects the position of the edge 91 of the film 90 and the lowermost edge of the second idler 22 as an edge sensing value E _D , and then compares the edge sensing value E _D The relative positional relationship with the edge reference value E _D0 determines whether the film 90 has shifted and the width 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 position of the edge 91 of the film 90' and the lowermost edge of the second idler 22 is the edge sensor The measured value E _D , so the amplitude of the film 90 offset is an edge offset value ΔE _D. Wherein the magnitude of the offset value is ΔE _D sensing value for the edge E _D E _D0 difference between the edge reference value, i.e., ΔE _D = E _D -E _D0. Similarly, in FIG. 6B, when the film 90 is shifted in the other direction relative to FIG. 6A, the edge sensing unit 30 also detects the edge sensing value E _D and the edge reference value After comparing E _D0 , another edge offset value ΔE _D can be obtained.

In the two embodiments of FIGS. 6A and 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 Whether the film 90 has shifted or not and information on the shift. Specifically, if ΔE _D = E _D −E _D0 is a positive value, the direction in which the film 90 is shifted is shown in FIG. 6A. On the contrary, if ΔE _D = E _D −E _D0 is a negative value, it means that The direction in which the thin film 90 is shifted is shown in FIG. 6B. Thus, the amplitude can be determined and the offset direction of the offset of the film 90 according to positive and negative values of the magnitude values of an edge offset value ΔE _D.

Please refer to the embodiments shown in FIG. 7A to FIG. 7D to explain how the first embodiment of the roll-to-roll transmission system with tension and edge adjustment function of the present invention can realize the simultaneous application of the film through edge compensation and tension compensation. 90 for edge and tension adjustment and control. Specifically, in the embodiments shown in FIGS. 7A to 7D, the first rotary actuation unit 51 and the second rotary actuation unit 52 will pass through the vertical upward direction D _T or the vertical upward direction D _T is moving in the opposite direction -D compensation amount _T, reaching the edge of the film 90 with the tension control.

As shown in the first case shown in FIG. 7A, the film 90 is not deflected during transmission, but the tension is out of balance. Compared with the film 90 being in a state where both the edge and the tension are balanced, in this state, assuming that the film 90 receives excessive tension in the vertical upward direction _DT , the control unit 60 controls the first rotary actuating unit 51 and the second rotary actuating unit 52 simultaneously rotate in a first direction to drive the swing wheel 10 to provide tension compensation. Wherein, the rotation of the first rotary actuation unit 51 and the second rotary actuation unit 52 in the first direction makes the two sides of the axle 101 of the swing wheel 10 obtain the vertical upward direction D _T respectively The amount of movement is a first upward compensation distance ΔD _T1 and a second upward compensation distance ΔD _T2 , where 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 10 in the vertical upward direction _DT provides tension compensation, and finally maintains both the edge and tension of the film 90 Achieve balance.

As shown in the second case shown in FIG. 7B, assuming that the film 90 is under too much tension in the vertical upward direction _DT , the control unit 60 controls the first rotary actuation unit 51 and the second rotary actuation unit 52 simultaneously rotates in a second direction opposite to the first direction, so that both sides of the axle 101 of the swing wheel 10 respectively obtain the amount of movement in the reverse direction −D _T of the vertically upward direction D _T , which is a first The downward compensation distance −ΔD _{T1 is the} same as a second downward compensation distance −ΔD _T2 , where 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 transmission, but a state of deviation occurs. Compared with the film 90 being in a state where both edges and tension are balanced, in this state, it is assumed that the film 90 deviates as shown in FIG. 6B. The control unit 60 can control the first rotary actuation unit 51 not to rotate, so that the side position of the first axle 111 corresponding to the swing wheel 10 driven by the first rotary actuation 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 of the first axle 111 corresponding to the swing wheel 10 driven by the second rotary actuation unit 52 is obtained The amount of movement in the vertical upward direction _DT 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 first wheel shaft 111 of the swing wheel 10 corresponding to the second rotary actuation unit 52 drives the swing wheel 10 The side position does not change. At the same time, the control unit 60 controls the first rotary actuator unit 51 to rotate in the second direction, so that the side of the first axle 111 corresponding to the swing wheel 10 driven by the first rotary actuator unit 51 is obtained The amount of movement of −D _T in the reverse direction of the vertical upward 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 transmission, but a state of deviation occurs. Compared with the film 90 being in a state where both edges and tension are balanced, in this state, it is assumed that the film 90 deviates as shown in FIG. 6A. The control unit 60 can control the second rotary actuation unit 52 not to rotate, so that the side position of the first axle 111 corresponding to the swing wheel 10 driven by the second rotary actuation unit 52 does not change. At the same time, the control unit 60 controls the first rotary actuator unit 51 to rotate in the first direction, so that the side of the first axle 111 corresponding to the swing wheel 10 driven by the first rotary actuator unit 51 is obtained The amount of movement in the vertical upward direction _DT 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 first wheel shaft 111 of the swing wheel 10 corresponding to the first rotary actuation unit 51 drives the The side position does not change. At the same time, the control unit 60 controls the second rotary actuation unit 52 to rotate in the second direction, so that the side of the first axle 111 corresponding to the swing wheel 10 driven by the second rotary actuation unit 52 is obtained The amount of movement of −D _T in the reverse direction of the vertical upward direction D _T is the second downward compensation distance −ΔD _T2 to provide edge compensation.

Relative to the above-mentioned unbalanced situation disclosed by the film 90, there are also situations where tension and edge imbalance exist at the same time. However, those with ordinary knowledge in the art can understand how to deal with the first The rotary actuation unit 51 and the second rotary actuation unit 52 are controlled, so the description will not be repeated here.

The above-mentioned four cases of FIGS. 7A to 7D only indicate the compensation performed at a certain time when the film 90 is in the edge deviation or / and the tension is out of balance for the edge compensation or / and tension compensation method and compensation amount. The control unit 60 provides negative feedback (negative feedback) edge compensation or / and tension compensation, which can gradually converge the amplitude of edge deviation or / and tension imbalance, and finally control the film 90 to operate in an unbiased and tension Balanced state.

Please refer to the embodiments shown in FIG. 8A to FIG. 8D to explain how the second embodiment of the roll-to-roll transmission system with tension and edge adjustment function of the present invention can realize the film simultaneously by edge compensation and tension compensation. 90 for edge and tension adjustment and control. Specifically, in the embodiments shown in FIGS. 8A to 8D, the first rotary actuation unit 51 and the second rotary actuation unit 52 are transmitted in the vertical upward direction D _T or the vertical upward direction D _T is moving in the opposite direction -D compensation amount _T, reaching the edge of the film 90 with the tension control.

As shown in the first case shown in FIG. 8A, the film 90 is not deflected during transmission, but the tension is out of balance. Compared with the film 90 being in a state where both the edge and the tension are balanced, in this state, assuming that the film 90 receives excessive tension in the vertical upward direction _DT , the control unit 60 controls the first rotary actuating unit 51 and the second rotary actuating unit 52 simultaneously rotate in a first direction to drive the movement of the swing wheel group formed by the first swing wheel 11 and the second swing wheel 12 to provide tension compensation. Wherein, the rotation of the first rotary actuation unit 51 and the second rotary actuation unit 52 in the first direction enables the two sides of the swing wheel group to obtain the amount of movement in the vertical upward direction _DT , It is a first upward compensation distance ΔD _T1 and a second upward compensation distance ΔD _T2 , where 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 set in the vertical upward direction _DT provides tension compensation, and finally maintains the film 90 edge and tension All are balanced.

As shown in the second case shown in FIG. 8B, assuming that the film 90 is under too much tension in the vertical upward direction _DT , the control unit 60 controls the first rotary actuation unit 51 and the second rotary actuation unit 52 simultaneously rotates in a second direction opposite to the first direction, so that the two sides of the swing wheel set respectively get the amount of movement in the reverse direction −D _T of the vertical upward direction D _T , which is a first downward compensation The distance −ΔD _{T1 is the} same as a second downward compensation distance −ΔD _T2 , where the two downward compensation distances are the same, ie −ΔD _T1 = −ΔD _T2 to provide tension compensation.

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

Relative to the above-mentioned unbalanced situation of the film 90, there are both tension and edge imbalances. However, those with ordinary knowledge in the art can refer to FIGS. 8A to 8D and their corresponding descriptions to know how to deal with the first The rotary actuation unit 51 and the second rotary actuation unit 52 are controlled, so the description will not be repeated here.

The above-mentioned four cases of FIGS. 8A to 8D only indicate the compensation performed at a certain time when the film 90 is in edge deviation or / and tension is out of balance for the method and amount of edge compensation or / and tension compensation. The control unit 60 provides negative feedback (negative feedback) edge compensation or / and tension compensation, which can gradually converge the amplitude of edge deviation or / and tension imbalance, and finally control the film 90 to operate in an unbiased and tension Balanced state.

As described in FIG. 5 above, 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 negative feedback edge compensation or / and tension compensation 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 is} the torque force control command value controlled by the first rotary actuator unit 51 and the second rotary actuator unit 52, which 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 actuation unit 51 and the second rotary actuation unit 52, and thereby control the film 90 to operate in an unbiased and tension-balanced state .

Therefore, in this creation, the control calculation relationship of the control unit 60 for edge adjustment and tension adjustment is 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; 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 axes of the two rotary actuator units 51 and 52 to the axle 101 of the swing wheel 10, and f (θ ₁ ) and f (θ ₂ ) are caused by the position of the trigonometric function The function of the component force change 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 There is a constant multiple k between (T _CM2 × L ₆₂ × f (θ ₂ ) −T _CM1 × L ₆₁ × f (θ ₁ )) and the edge offset value ΔE _D. 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 and the second torque force control command value T _{CM2 are the} same. 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. The relationship of tension control: 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, F _S1 and F _S2 are the first force sensing value and the second force sense, respectively Measured values, L ₆₁ and L ₆₂ are the arm lengths of the two rotary actuators 51 and 52 to the idler shaft center, and f (θ ₁ ) and f (θ ₂ ) are caused by the position of the trigonometric function and the tension The function of the direction-dependent component force change, and 2ΔT is the change in tension, where 2ΔT is the change in tension across the film 90 on both sides of the swing wheel 10 or the swing wheel group in the vertical upward direction _DT . 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 extension force arm component 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 according to the sign and magnitude of the tension change value ΔT The second torque force control command value T _{CM2 is used} to dynamically and instantly control the first rotary actuation unit 51 and the second rotary actuation unit 52. The force on both sides of the axle 101 of the swing wheel 10 (or the fulcrum on both sides of the swing wheel group) and the weight W of the swing wheel 10 (or swing wheel group) (W = m × g 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 _DT (F = m × a, where m is the mass of the swing wheel 10 (or the swing wheel group), and a is the acceleration of the swing wheel 10 (or the swing wheel group) moving).

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 , combining the first force sensing unit 41 and the second force sensing unit 42 To detect the magnitude of the force on both sides of the axle 101 (or the fulcrums on both sides of the swing wheel set) to output the first force sensing value F _S1 and the second force sensing value F _S2 . The control unit 60 receives the above sensed values E _D , F _S1 , F _S2 , and through the simultaneous operation of the edge control relationship and the tension control relationship, the first torque force control command value can be quickly calculated T _CM1 and the second torque force control command value T _CM2 , and in turn control the first rotary actuation unit 51 and the second rotary actuation unit 52. More specifically, according to the simultaneous operation of the edge control relationship and the tension control relationship, the first torque force control command value T _CM1 and the second torque force control command value T _CM2 can be calculated respectively:

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, the control unit 60 receives the edge sensing values E _D , the first force sensing value F _S1 and the second force sensing value output by the sensing units 30, 41 and 42. F _S2 performs an operation to obtain the first torque force control command value T _CM1 and the second torque force control command value T _CM2 for the first rotary actuator unit 51 and the second rotary actuator unit 52 In addition to the control, the torque force control command values T _CM1 and T _{CM2 are} further fed back to generate updated torque force control command values, thereby achieving immediate and dynamic control of the first rotary actuator unit 51 and The second rotary actuation unit 52.

As shown in FIG. 9, the control method of the roll-to-roll transmission system with tension and edge adjustment functions is to simultaneously adjust the edge and tension of a film. The roll-to-roll transmission system with tension and edge adjustment functions can be implemented as one swing wheel and two idler wheels, or as two swing wheel and two idler wheels. For restrictions. Taking the implementation of one swing wheel and two idler wheels as an example, the roll-to-roll transmission system with tension and edge adjustment functions includes a swing wheel, two idler wheels, and two rotary actuating units. The swing wheel has a wheel shaft, and the wheel shaft system penetrates the swing wheel axially. The two idlers are used to support the film and change the direction of the film. The two rotary actuating units are respectively installed on opposite sides of the axle of the swing wheel. Each of the rotary actuating units may be a servo motor or a stepping motor to provide reciprocating motion in the direction of the arc path.

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 disposed downstream of the conveying 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 cell, which detects the force on both sides of the axle to output two force-sensing values.

The control method of the roll-to-roll transmission 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 activated, a control unit initializes 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 units are used to obtain the two force sensing values.

In step S40, the control unit calculates and updates 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. Then, in step S50, according to the updated two torque force control command values, correspondingly control the two rotary actuating units to drive at least one swing wheel on the film to move along an arc-shaped path.

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

1. By controlling the rotary actuating units 51, 52 to drive the swing wheel 10 or the swing wheel group formed by the first swing wheel 11 and the second swing wheel 12, at the same time realize 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 device configuration and save device space, and the control system is also simpler.

2. Using the sensed 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 immediate and dynamic control of the swing The wheel 10 controls the edge and tension of the film 90 simultaneously.

10‧‧‧swing wheel

101‧‧‧axle

11‧‧‧The first swing wheel

12‧‧‧The second swing wheel

111‧‧‧ First axle

121‧‧‧Second axle

21‧‧‧First idler

22‧‧‧Second idler

30‧‧‧Edge sensing unit

41‧‧‧First force sensing unit

42‧‧‧Second Force Sensing Unit

51‧‧‧First rotary actuation unit

52‧‧‧Second rotary actuating unit

60‧‧‧Control unit

61‧‧‧First connecting arm

62‧‧‧Second connecting arm

71‧‧‧First connector

72‧‧‧Second connector

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 ‧‧‧ First torque force control command value

T _CM2 ‧‧‧ Second torque force control command value

ΔD _T ‧‧‧Movement in vertical upward direction

−ΔD _T ‧‧‧Movement amount in the upward direction

ΔD _T1 ‧‧‧ First upward compensation distance

ΔD _T2 ‧‧‧Second upward compensation distance

−ΔD _T1 ‧‧‧ First downward compensation distance

−ΔD _T2 ‧‧‧Second downward compensation distance

D _M ‧‧‧ Transmission direction

D _T ‧‧‧ vertical upward direction

D _R ‧‧‧ Swing direction

D _R1 ‧‧‧ Swing direction

D _R2 ‧‧‧ Swing direction

P _C1 ‧‧‧ First Center Fulcrum

FIG. 1A: A schematic plan view of a part of a transmission mechanism of a first embodiment of a roll-to-roll transmission 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: A schematic plan view of a part of a transmission mechanism of a second embodiment of a roll-to-roll transmission system with tension and edge adjustment functions. Figure 2B: a partial schematic view of Figure 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: Block diagram of the control unit of a roll-to-roll transmission system with tension and edge adjustment functions. Fig. 6A: Schematic diagram of a film shifted in one direction for this creation. Fig. 6B: Schematic diagram of the film shifted in another direction for this creation. FIG. 7A: A schematic diagram of the first case of adjusting the edge and tension of the film according to the first embodiment of the present invention. FIG. 7B: A schematic diagram of the second case of adjusting the edge and tension of the film according to the first embodiment of the present invention. FIG. 7C: A schematic diagram of the third case of adjusting the edge and tension of the film in the first embodiment of the present invention. Fig. 7D: A schematic diagram of a fourth situation of edge and tension adjustment of the film in the first embodiment of the present invention. FIG. 8A: A schematic diagram of the first case of adjusting the edge and tension of the film according to the second embodiment of the present invention. FIG. 8B: A schematic diagram of the second situation of adjusting the edge and tension of the film in the second embodiment of the present invention. FIG. 8C: A schematic diagram of a third situation of edge and tension adjustment of the film according to the second embodiment of the present invention. FIG. 8D: A schematic diagram of a fourth situation of edge and tension adjustment of the film according to the second embodiment of the present invention. Figure 9: Flow chart of the method for creating a roll-to-roll transmission system with tension and edge adjustment functions. Figure 10 is a schematic diagram of a conventional roll-to-roll film transmission system.

Claims (10)

A roll-to-roll transmission system with tension and edge adjustment functions transmits 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 of which has a wheel shaft An edge sensing unit, spanning an edge disposed on the front and back sides of the film, to sense the position of the edge of the film, and output an edge sensing value; two force sensing units are respectively provided in the At least one swing wheel on both sides of the axle to detect the force on both sides of the axle and output two force sensing values; two rotary actuating units are respectively connected to the opposite two of the at least one swing wheel Side; 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 the two torque force control command values, and according to the edge sensing Value, the two force sensing values and the two torque force control command values, the two torque force control command values are calculated and updated to control the two rotary actuating units respectively, and 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 transmission system with tension and edge adjustment functions as described in claim 1 further includes: two idler wheels, which are rotatably provided on both sides of the at least one swing wheel to support the film along the Transmission direction transmission. The roll-to-roll conveying system with tension and edge adjustment function as described in claim 2, wherein the edge sensing unit is adjacent to any idler wheel disposed above and downstream of the conveying direction and across the positive side of the film , The edge on both sides. The roll-to-roll transmission system with tension and edge adjustment functions as described in any one of claims 1 to 3, wherein the at least one swing wheel is a swing wheel, and both sides of the axle of the swing wheel are connected to the Two rotary actuation units. The roll-to-roll transmission system with tension and edge adjustment functions as described in any one of claims 1 to 3, wherein the at least one swing wheel is two swing wheels, and the two swing wheels form a swing wheel group, and the swing The two rotary actuating units are connected to the two sides of the wheel set respectively. The roll-to-roll transfer system with tension and edge adjustment functions as described in 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 roll-to-roll transmission system control method with tension and edge adjustment functions for simultaneous edge and tension adjustment of a film The roll-to-roll transmission system control method 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 based on The updated two torque force control command values respectively control the two rotary actuating units to drive at least one swing wheel on the film to move along an arc-shaped path. The roll-to-roll transmission system control method with tension and edge adjustment function as described in claim 7, wherein the condition that the edge and tension of the film are simultaneously balanced satisfies: 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 method for controlling a roll-to-roll transmission system with tension and edge adjustment functions as described in claim 7, wherein the step of calculating and updating the two torque force control command values and correspondingly controlling the two rotary actuator units to drive The movement of at least one swing wheel on the film along the arc path is performed by a control unit. The roll-to-roll transmission system control method with tension and edge adjustment function as described in claim 7, wherein the edge sensing value is an edge sensing unit sensing the position of one edge of the film, the two force sensing The value is that the two force sensing units respectively sense the force on both sides of the axle of the at least one swing wheel.