CN1165990A - Positioning controlling device - Google Patents

Abstract

A locating controller limiting the number of indicating buttoons on operating disk to minimum can move the movable part to located coordinate reliably. After the direction for locating movable part is specified by direction specifying device, an index device can search the coordinate of defined position in specified direction from the coordinates of more defined positions stored in memory based on the reference which is the coordinate of current position detected by current coordinate detector. A moving device can move the movable part according to searched defined position. Therefore, the number of directions can be limited to minimum as long as the direction of moving the movable part is stored in direction specifying device.

Description

Position control device

The present invention relates to the position control device in the equipment such as work mechanism or robot device, more particularly, the movable part that relates to this equipment is positioned the control technology that the target location is used.

In equipment such as work mechanism or robot device, usually movable parts such as the worktable that has in this equipment or mechanical arm are positioned assigned position, then object such as is processed at operation.Can adopt the method for preset operation when moving this movable part, but according to different situations, operating personnel also can adopt operating switch etc. to navigate to the mode of assigned position.One of this technology is published the spy and is opened in the flat 5-131340 communique.

The particular content of the technology that moves of this indication movable part is described referring now to Figure 25.

On operation board 900, be provided with the instruction button of the some positions that are used for indicating a plurality of assigned positions predesignated or position location.Specifically, a position location is furnished with an instruction button, there is shown the situation that is provided with 10 buttons.And when operating personnel pushed one of them instruction button 904, this was pushed signal and is fed to the positioning control portion 914 of position control device 910 through PLC (Pro-grammable Logic Controller, programmable logic controller (PLC)) 940.

PLC940 is made of sequential circuit mostly, if with the sequential circuit diagram represent with operation board 900 on the corresponding circuit structure of instruction button, then as shown in figure 26.Promptly, a sequential circuit 904a corresponding with an instruction button 904 is made of illustrated circuit, and contact switch R20 that this sequential circuit 904a drives by the switch SW 20 of instruction button 904, relay system D20, D22, D24, by end signal and the circuit X20 that connects according to other condition for validity constitute.This circuit must be provided with corresponding to the instruction button number, under the situation of operation board 900, need 10 sequential circuit 904a ..., 904j.

And, receive the positioning control portion 914 of pushing signal from operation board, corresponding to the instruction button 904 of pushing, in storer 912, select one a plurality of elements of a fix 912b of storage in advance.Then, positioning control portion 914 gives motor driver 916 with drive signal, and coordinate until now is with till the elements of a fix of as above selecting are consistent.The motor driver 916 of having received drive signal is according to this drive motor 920, mobile movable part 930.

Like this, just can make movable part 930 move to the elements of a fix that the target location is promptly selected by instruction button 904.

, in the prior art,, must increase the instruction button number on the operation board in order to increase elements of a fix number.Therefore, needed to change the operation board that has a plurality of instruction button in the past.After the instruction button that is provided with on the operation board increases, the problem that also exists operating mistakes such as pushing the wrong instruction button to increase.In addition, be located at after instruction button number on the operation board increases, need to revise the sequential circuit in the PLC940, so the problem that exists cost to increase.

The present invention develops in view of this point, and its problem is to realize the instruction button number on the operation board is limited in minimum, and can reliably movable part be moved to the technology of position location.

The position control device such as the pattern of a kind of form of the present invention are shown in Figure 1, it be along move movable part (60) by the direction of direction specified device (10) appointment, be located in predetermined a plurality of assigned positions (P1, P2 ...) in the position control device of certain position, it is characterized in that: have separately coordinate of a plurality of assigned positions of storage (P ' 1, P ' 2 ...) storer (40); Detect the present coordinate pick-up unit (30) of the present position coordinate of movable part (60); With the present position coordinate by present coordinate pick-up unit (30) detection is benchmark, retrieves the indexing unit (20) by the assigned position coordinate on direction specified device (10) assigned direction from storer (40) in the position coordinates of a plurality of regulations of storage; And move the mobile device (50) of movable part (60) according to assigned position coordinate by indexing unit (20) retrieval.

Here, when mentioning " direction ", not only make a comment or criticism, also comprise all directions up and down to ("+" direction)/negative sense ("-" direction), or the direction of representing with vector form.When mentioning " coordinate ", the friendship coordinate of not only making a comment or criticism can also be curvilinear coordinates, face of cylinder coordinate, polar coordinates, complex coordinates etc. are determined the position in the energy of the coordinate space more than a monodrome a coordinate arbitrarily.

If adopt the position control device of this form, after then specifying the direction of the position of determining movable part (60) by direction specified device (10), the present position coordinate that indexing unit (20) will be detected by present coordinate pick-up unit (30) is retrieved the coordinate of the assigned position on the assigned direction as benchmark in the position coordinates of a plurality of regulations of storage from storer (40).Mobile device (50) moves movable part (60) according to the coordinate of the assigned position of retrieving like this.

Therefore, direction specified device (10) preferably has the button or the switch of the direction that is used to indicate mobile movable part (60), necessary button of operation or switch can be limited in Min..

In the position control device of above-mentioned form, as shown in Figure 2, storer (40) storing a plurality of assigned positions (P1, P2 ...) the homeposition that moves of the homeposition that moves of relevant permission and the combination (representing with solid line among Fig. 2) of stop position and forbidding and the information of the combination (dotting among Fig. 2) of stop position.

It is not to forbid the stop position that moves that indexing unit (20) is preferably retrieved the assigned position from homeposition along assigned direction, but allows the stop position that moves, and is the stop position of close homeposition.For example in Fig. 2, homeposition is P4, and during assigned direction " left side ", indexing unit (20) is not retrieved and forbidden the stop position P3 that moves, and retrieval allows the coordinate P ' of the stop position P1 that moves.

If adopt this improved form, then can reduce the operation button used of assigned direction or the number of times of switch.

The position control device such as the pattern of another kind of form of the present invention are shown in Figure 3, it is to move movable part along the direction by direction specified device (10a) appointment, be located in predetermined a plurality of assigned positions (P11, P12 ...) in the position control device of certain position, it is characterized in that: have storer (40a) the coordinate of each homeposition (showing with the two-wire frame table among Fig. 3) and direction storage stop position; Detect the present coordinate pick-up unit (30a) of the present position coordinate of movable part; The present position coordinate that will be detected by present coordinate pick-up unit (30a) is retrieved the indexing unit (20a) by the stop position coordinate on the direction of direction specified device (10a) appointment as homeposition in a plurality of stop position coordinates of storage from memory storage (40a); And the mobile device that moves movable part according to the coordinate of the stop position of retrieving by indexing unit (20a).

If adopt this form, then can significantly reduce the number of times of action button or switch.For example, under situation shown in Figure 3, in order to locate assigned position P16 commonly used, irrelevant with position before it, it is just enough to operate a switch.

The position control device such as the pattern of another kind of form of the present invention are shown in Figure 4, it is that the movable part that can move in X-Y plane is moved along the direction by direction specified device (10) appointment of the forward of the forward that can specify X-axis and negative sense and Y-axis and negative sense, and be located predetermined a plurality of assigned positions ((PX1, PY1), (PX1, PY2) ..., (PX2, PY1) ...) in the position control device of optional position, it is characterized in that: have separately X coordinate of a plurality of assigned positions of storage (P ' X1, P ' X2 ...) storer (40C); The present X coordinate detecting device (30C) of the X coordinate of the present position of detection movable part; X coordinate with the present position detected by present X coordinate detecting device (30C) is a benchmark, retrieves the indexing unit (20C) by the X coordinate of the assigned position on the X-direction of direction specified device (10C) appointment from storer (40C) in the X coordinate of a plurality of assigned positions of storage; Move the X-axis mobile device of movable part along X-axis according to the X coordinate of the assigned position of retrieving by indexing unit (20C); Store separately Y coordinate of a plurality of assigned positions (P ' Y1, P ' Y2 ...) storer (40d); The present Y coordinate detecting device (30d) of the Y coordinate of the present position of detection movable part; Y coordinate with the present position detected by present Y coordinate detecting device (30d) is a benchmark, retrieves the indexing unit (20d) by the Y coordinate of the assigned position on the Y direction of direction specified device (10C) appointment from storer (40d) in the Y coordinate of a plurality of assigned positions of storage; Move the moving device of y-axis shift of movable part along y-axis shift according to the Y coordinate of the assigned position of retrieving by indexing unit (20d).

If adopt this form, as shown in Figure 4, having under the environment on broad plane, can utilize a few buttons or switch to determine a plurality of positions.If utilize the form of Fig. 1 along the Z direction, use with the form families of Fig. 4, then can have under the broad three-dimensional environment of X-Y-Z axle, determine the assigned position relevant with desirable three-dimensional position.

Under this form, shown in Figure 5 as pattern, storer (40C, 40d) combination (shown in zero among Fig. 5) of approaching X coordinate of the relevant permission of storage and Y coordinate and forbid approaching X coordinate and Y coordinate combination (as * shown in) information, (20C 20d) is preferably in X coordinate and the Y coordinate that allows retrieval assigned position under the approaching condition to indexing unit.

Even maloperation at this moment also can be forbidden moving to and forbid approaching position.

In addition, preferably increase path calculation device, be used for when by indexing unit (20C, 20d) comprise between the X of the X of Jian Suo assigned position, Y coordinate and present position, the Y coordinate and forbid approachingly when regional, calculate to avoid and forbid approaching zone and arrive the X that is retrieved, the path of Y coordinate from X, the Y coordinate of present position.

As shown in Figure 6, between present position PS and retrieve position, comprise when forbidding approaching regional F, calculate the path R that avoids this zone F and arrive the position PE that is retrieved from present position PS.If adopt this form, then can avoid prohibited area F, realize the action of operating personnel's appointment.

Fig. 1 is the structural representation of the position control device of a kind of form of the present invention.

Fig. 2 is the mode chart of a kind of form after Fig. 1 improves.

Fig. 3 is the mode chart of another form of the present invention.

Fig. 4 is the mode chart of another form of the present invention.

Fig. 5 is the mode chart of a kind of form after Fig. 4 improves.

Fig. 6 is the mode chart of a kind of form after Fig. 4 improves.

Fig. 7 is the block diagram of expression position control device () structure.

Fig. 8 is the figure of structure of the various worktable of expression, (A) the 1st setting coordinate table used of the coordinate of expression particular specification position, (B) table used of the coordinate of the specific movably assigned position of expression.

The 1st process flow diagram of the master processor program of Fig. 9 positioning control.

Figure 10 is the 1st process flow diagram of the retrieval process program of expression assigned position coordinate.

Figure 11 is an illustration of representing positioning control with elapsed time.

Figure 12 is the figure of the sequential circuit of expression PLC.

Figure 13 is the 2nd setting coordinate table that the coordinate of expression particular specification position is used.

Figure 14 is the 2nd process flow diagram of the master processor program of expression positioning control.

Figure 15 is the 3rd process flow diagram of the master processor program of expression positioning control.

Figure 16 is the 3rd setting coordinate table that the coordinate of expression particular specification position is used.

Figure 17 is the mode chart of expression conveying products, (A) for before carrying, (B) in carrying, (C) be the situation after carrying.

Figure 18 is the mobile named list that expression specifies orientable assigned position coordinate to use according to the present position.

Figure 19 is the 4th process flow diagram of the master processor program of expression positioning control.

Figure 20 is the block diagram of expression position control device (two) structure.

Figure 21 (A) is the mode chart of expression conveying products, (B) is the table that the coordinate of the expression assigned position that can move from the present position is used.

Figure 22 is the block diagram of another structure of expression position control device (two).

Figure 23 is the mode chart of expression conveying products, the situation when (A) expression is by the exclusion area, the situation when (B) exclusion area is made a circulation in expression.

Figure 24 is the 2nd process flow diagram of the retrieval process program of expression assigned position coordinate.

Figure 25 is the figure of the existing position control device of expression.

Figure 26 is the figure of the sequential circuit of expression PLC.

One embodiment of the invention below are described with reference to the accompanying drawings.For simply, the coordinate of present position is called " present coordinate ", the coordinate of assigned position is called " elements of a fix ".

The simple structure of the 1st embodiment at first, is described with reference to Fig. 1.

This structure such as pattern are shown in Figure 1, it is to have the movable part 60 that mobile devices such as utilizing motor 50 moves, movable part 60 is moved along the direction of direction specified device 10 appointments, be located in predetermined a plurality of assigned position P1, P2, P3 ... in the position control device of certain position.

This device has a plurality of assigned positions of storage coordinate P ' 1, P ' 2, P ' 3 separately ... the storer 40 of P ' X; Detect the present coordinate pick-up unit 30 of the present position coordinate of movable part 60; With the present position coordinate by 30 detections of present coordinate pick-up unit is benchmark, retrieves the indexing unit 20 by the assigned position coordinate on direction specified device 10 assigned directions from storer 40 in the position coordinates of a plurality of regulations of storage; And the mobile device 50 that moves movable part 60 according to assigned position coordinate by indexing unit 20 retrievals.

Secondly, specify the 1st embodiment with reference to Fig. 7 to Figure 12.Explanation has the positioning control of the worktable of NC work mechanism in this concrete example.

Fig. 7 is the structured flowchart of the position control device 100 of expression NC work mechanism, and expression is used to implement structure of the present invention.Among the figure, position control device 100 is made of CPU110, ROM102, RAM104, imput output circuit 106, circuit for controlling motor 114 and motor-drive circuit 116.

Operation board 120 is in the direction specified device 10, is provided with display 122 and two instruction button 124,126.Instruction button 124,126 is provided with one respectively to each assignable direction (at this moment being forward and negative sense).Display 122 uses pilot lamp usually, but also can use electric light or LED etc. can make operating personnel see clearly other possible display device that finish the location.

CPU110 controls the overall of position control device 100 according to the positioning control program of storing among the ROM102.In order to suppress cost, ROM102 uses EPROM, but not limit by this, also can use EEPROM.Above-mentioned positioning control program comprises the search program that the primary control program that positions usefulness, the retrieval elements of a fix use and carries out the control programs such as little feeding control program that little feeding is used.

RAM104 is in the storer 40, also is simultaneously in the present coordinate pick-up unit 30.For fast access, this RAM104 uses DRAM usually, but also can use Nonvolatile memory devices such as SRAM or special fast storer.

In RAM104, storing the present coordinate of the present position coordinate of expression movable part 60 (being exactly worktable 300 specifically), movable part 60 is positioned at a plurality of elements of a fix that a plurality of assigned positions use (promptly, the coordinate P ' 1 of assigned position, P ' 2, P ' X), and about the combination of the homeposition that allow to move and stop position and the information of combination of forbidding the homeposition that moves and stop position (for example under the situation of example shown in Figure 2, forbid moving to P3 from P4, permission moves to P1 from P4), or storage is pushed various data or input/output signal such as signal from what operation board 120 was sent here.

Input-output unit 106 be with the operation board 120 that is connected by PLC130 between carry out the circuit of the transmitting-receiving usefulness of signal.That is, receive the signal of pushing of the instruction button 124,126 sent here by PLC130 from operation board 120 etc., become accessible data mode, flow to CPU110 or RAM104 by bus 112 in 100 inner conversions of direction specified device.Input-output unit 106 is transformed into end signal after receiving the ending message of sending here by bus 112 from CPU110, gives operation board 120 with this end signal by PLC130, makes display 122 bright lamps.When mentioning display 122 " bright lamp ", comprise the situation of flicker in this manual.At this moment, also can be by mobile time flicker when finish the location other form such as bright lamp implement.

Circuit for controlling motor 114 will be transformed into the drive signal (simulating signal) of control servomotor 200 usefulness from the driving data (numerical data) that CPU110 sends here by bus 112, give motor-drive circuit 116.Motor-drive circuit 116 is amplified to this drive signal and drives the output of servomotor 200 necessary level (magnitude of voltage or current value) back.Like this, drive servomotor 200, have the worktable 300 of NC work mechanism along the move left and right of drawing by rotation.This worktable 300 is movable parts 60.

Above-mentioned CPU110, circuit for controlling motor 114, motor-drive circuit 116 and servomotor 200 have made mobile device 50 specialize.

Above-mentioned each component part all is connected with bus 112 mutually.

Secondly, with reference to Fig. 8 to Figure 12 processing sequence among the 1st embodiment is described.Fig. 9 and Figure 10 implement the process flow diagram that the 1st embodiment uses.Carry out the primary control program of storing among the ROM102 by CPU110, can implement flow process shown in Figure 9, and carry out the search program of storing among the ROM102, then can implement flow process shown in Figure 10.

Two tables shown in Figure 8 at first are described.Table shown in Figure 8 all is stored among the RAM104.Setting coordinate table 400 among Fig. 8 (A) be preestablish a plurality of elements of a fix P ' 1, P ' 2 ... the table of using with feeding rate.Feeding rate is different with the difference of the elements of a fix, for example is positioned at elements of a fix P ' at 1 o'clock, moves present coordinate pick-up unit 300 with the feeding rate of 20 units.Mobile forbidden list 410 among Fig. 8 (B) is to preestablish the combination (representing with zero among the figure) of the homeposition that allow to move and stop position and the homeposition forbidding moving and the combination (usefulness * expression among the figure) of stop position.

Set the situation of 4 elements of a fix shown in above-mentioned two tables 400,411, but be not limited to this number, can set the elements of a fix of predetermined any number.The number corresponding with the table shown in Fig. 8 (A), (B) is stored in RAM104.

When operating personnel's action button 124,126, when worktable 300 is moved to new position location, the processing in the execution graph 9.In flow process shown in Figure 9, wait by the time any one (step S10) in the instruction button 124,126 on the pressing operation dish 120, if pushed any one instruction button, just position the retrieval (step S12) of coordinate.The concrete processing sequence of the retrieval of these elements of a fix is described with reference to Figure 10.

Retrieval process shown in Figure 10 is the processing sequence that indexing unit 20 has been specialized.In illustrated flow process, judge at first whether present coordinate (goes on foot S30) in allowing worktable 300 movings range.If it is unusual that present coordinate not in the allowed band of worktable 300 time (NO), has promptly occurred, at this moment enter step S40, carry out misspecification, after this finish this retrieval process.

On the other hand, if present coordinate when (YES), then is benchmark with the present position, along the instruction button indicated direction retrieval elements of a fix of pushing (step S32) in allowing worktable 300 movings range.

For example, in Fig. 1, when movable part 60 is positioned at PP, push the instruction button 124 of expression " left side " after, be benchmark with the present position, along negative sense (negative sense promptly points to the left of figure) retrieval, push instruction button 126 after, be benchmark with the present position, retrieve along forward.In this embodiment, the nearest assigned position coordinate of retrieval.

Jian Suo result judges whether to see these elements of a fix (step S34) like this.If when not seeing these elements of a fix (NO), enter the step S40, carry out misspecification after, finish this retrieval process.On the other hand, when seeing these elements of a fix (YES), judge whether these elements of a fix are to allow mobile stop position (step S36).Specifically, judge according to the mobile forbidden list shown in Fig. 8 (B) 410.That is, in mobile forbidden list 410, the stop position that zero expression allows, the stop position that * expression is forbidden.For example, when the present position is P2, then conclude the stop position of position P3 for allowing, position P4 is the stop position of forbidding.If during no one, whole elements of a fix of then concluding setting all are the positions that can stop to present coordinate in predefined a plurality of elements of a fix.

If conclude when the elements of a fix of retrieval are the position (YES) that can stop, setting this coordinate figure (step S38), finish this retrieval process.On the other hand,, return step S32, retrieve other elements of a fix (step, S32 was to going on foot S36) when the elements of a fix of concluding retrieval are not movably when position (NO).Like this, be benchmark with the present position, can from a plurality of elements of a fix, retrieve along indicated direction and allow the nearest assigned position coordinate that stops.This result is to be benchmark with the homeposition, retrieves stop position nearest in the condition that allows to stop along the direction of appointment.

After retrieval process shown in Figure 10 finishes, return the step S14 of Fig. 9, judge whether produce mistake in the retrieval process (step 514).If when having produced wrong (YES), finish this master control and handle, travelling table 300.

When not producing wrong (NO) in the retrieval process, begin to drive servomotor 200, beginning travelling table 300 (S16).Promptly in Fig. 7, by bus 112, give circuit for controlling motor 114, drive servomotor 200 (step S16) by motor-drive circuit 116 with driving data from CPU110.Worktable 300 is moved, upgrade the present coordinate of storing among the RAM104 with its amount of movement.

Then, judge in step S18 whether the button of pushing continues to push in step S10.If arrive between the elements of a fix of in step S12, retrieving, interrupt the pressing operation of button, then going on foot S18 is NO (denying).At this moment make servomotor 200 stop (step S24), finish this master control and handle.Promptly in Fig. 7, stop going up the driving data of giving circuit for controlling motor 114 by bus 112 from CPU110.Position when consequently worktable 300 stops at operating personnel and interrupts the pressing operation of button.

When continuing to push same button (YES among the step S18), before the elements of a fix of in arriving step S12, retrieving, continue to drive servomotor 200 (step S20).Then, when present coordinate arrives the elements of a fix of retrieving among the step S12, end of output signal, the display 122 bright lamps on the operation board 120 (step S22).After this, stop servomotor 200 (step S24), finish this master control and handle.

Like this, operating personnel push the direction of indicating travelling table 300, and (instruction button of negative sense is 124, the instruction button of forward is 126) instruction button after, along with the present coordinate being the direction retrieval elements of a fix that benchmark is pushed, can be before the elements of a fix that arrive retrieval, drive servomotor 200, travelling table 300.

Make an example of worktable 300 location according to above-mentioned processing sequence with reference to Figure 11 explanation.Figure 11 is an illustration of representing positioning control with elapsed time.With the longitudinal axis is the coordinate (present coordinate) of worktable 300, and transverse axis is time t.

The coordinate of worktable 300 is a forward with the top of drawing, is negative sense with the below of drawing.Present coordinate P0 when supposing the beginning of worktable 300 is between elements of a fix P1 and elements of a fix P3, and supposition elements of a fix P3, P4, P2 are positioned at forward successively.

Among the figure, operating personnel at first push instruction button 126 on the operation board shown in Figure 7 120 at moment t10, in master control handling part S12 shown in Figure 9, seek elements of a fix P3.This result for retrieval is that worktable 300 beginnings are moved along forward.At this moment, if operating personnel continue to push instruction button 126, just then the present coordinate of worktable 300 arrives elements of a fix P3, so predicate " YES " in the step of Fig. 9 S20, tl2 stops in the moment.At this moment t12, the display 122 bright lamps of operation board 120.Halted state is maintained to operating personnel and pushes till the instruction button next time.In a single day instruction button disconnects, and the lamp of display 122 just extinguishes.

After this, operating personnel push instruction button 126 once more at moment t14, just handle in master control and seek elements of a fix P4 among the step S12.This result for retrieval is that worktable 300 beginnings are moved along forward.In these elements of a fix P4 moving process,,,, worktable 300 stops so slowing down at once just then in the step of Fig. 9 S18, conclude " NO " if operating personnel's hand leaves button 126.

Then, if operating personnel at moment t18 pressing button 126, worktable 300 will begin to move along forward again, and will be same as described above, the elements of a fix P4 that arrives retrieval stops (t20 constantly).

If operating personnel push instruction button 126 at moment t22, and are same as described above, worktable 300 beginnings are moved along forward, arrive the elements of a fix P2 that retrieves among the step S12 and stop (t24 constantly).

After moment t24,, in step S12, can not find the elements of a fix more forward than elements of a fix P2 along forward even operating personnel push instruction button 126.Therefore, conclude among the S14 in the step wrong, so worktable 300 stops.

On the other hand, operating personnel push instruction button 124 at moment t26, seek elements of a fix P3 in master processor program step S12.That is and since along negative sense from elements of a fix P2 nearest be elements of a fix P4, according to the mobile forbidden list 410 shown in Fig. 8 (B), forbid moving to elements of a fix P4 from elements of a fix P2, therefore in step S36 shown in Figure 10, predicate " NO ".

This result for retrieval is that worktable 300 is opened to make to negative sense and moved.Then, if operating personnel continue to push instruction button 124, just then the present coordinate of worktable 300 arrives elements of a fix P3, so predicate " YES " and stop (t28 constantly) at step S20.

In the 1st embodiment, if the instruction button 124,126 (assigned direction) that the indication worktable 300 (movable part 60) on the pressing operation dish 120 (direction specified device 10) moves, retrieval process then shown in Figure 10 (indexing unit 20) is according to the direction of the instruction button of pushing, along this instruction button oppositely, a plurality of elements of a fix of storage in advance among the retrieval RAM104 (storer 40).Circuit for controlling motor 114 and motor-drive circuit 116 drive servomotor 200 (motor 60) according to the elements of a fix of this retrieval, and worktable 300 is moved, and position.

Therefore, no matter how many position location numbers has, as long as have on the operation board 120 indication travelling table 300 direction instruction button (in the present embodiment, the instruction button 124 of negative sense and the instruction button 126 of forward) get final product, the number that therefore operation board 120 (direction specified device 10) can be gone up the instruction button that is provided with is limited in minimum.Like this,, can both use same operation board 120 effectively even the position location number increases or subtracts, very economical.

At this moment, because of the instruction button number is few, so can make operation board 120 miniaturizations own.So can also alleviate the weight of operation board 120, easy operating.So can prevent operating mistake because of the instruction button number reduces.Display 122 bright lamps when worktable 300 arrives the elements of a fix, so operating personnel can know easily that worktable 300 located.

The sequential circuit of PLC130 gets final product according to sequential circuit figure formation shown in Figure 12 according to the instruction button 124,126 of operation board 120.Promptly, the switch SW 10 of instruction button 124 and the switch SW 12 of instruction button 126 become the condition of beginning all directions location, the contact portion of relay D10 and the coil portion of relay W10 become the positioning instruction of negative sense, the contact portion of relay D12 and the coil portion of relay W12 become the positioning instruction of forward, finish according to the contact R10 of end signal action and the coil portion location of relay W14.

Like this, because the number of instruction button is few, the design of sequential circuit becomes simply, can reduce design number in man-hour.

Even deposit the elements of a fix number at place among the increase and decrease RAM104, the instruction button number that is located on the operation board 120 also can be certain, so need not remodify the sequential circuit of PLC130.

From this point, also can reduce direction specified device 10 overall manufacturing costs.

The elements of a fix that position usefulness are set in the setting coordinate table 40 shown in Fig. 8 (A) by the order of importing, but each elements of a fix of setting are arranged in order before the actual location, can constitute setting coordinate table 402 shown in Figure 13.Specifically, can realize by having the method (sequencer program) that the coordinate figure that makes each elements of a fix in the setting coordinate table 40 arranges by ascending (or descending order).Sort method for example quicksort program is general technology, and explanation is omitted.

If adopt this structure, shown in the setting coordinate table 402 among Figure 13, during as present coordinate indicator PTR1 indication elements of a fix P3, when operating personnel push the forward instruction button, as indicate shown in the indicator PTR2 of elements of a fix P4, the position of only changing indicator gets final product.Therefore, the program of retrieval process is also simple, can reduce this and develop necessary man-hour.Therefore can reduce the overall manufacturing cost of direction specified device 10.

In the above-described embodiments, just think when operating personnel push instruction button just travelling table 300 (the step S18 among Fig. 9), but the structure that only also can adopt the instruction button on pressing operation dish 120 at first to come positioning table 300.

Specifically, shown in the processing sequence among Figure 14, can save the judgement that step S18 in the primary control program of Fig. 9 goes on foot S20 repeatedly, until arriving the elements of a fix.

If adopt this structure, then during worktable 300 moved to the next elements of a fix from present coordinate, operating personnel needn't often push instruction button.Therefore the operation of operation board 120 is light.Position beyond if desired in the precalculated position stops, and corresponding instruction button (for example emergency stop push button) can be set on operation board 120, forces when pushing this instruction button worktable 300 is stopped.

In the present embodiment, shown in the data among Fig. 8 (B), preestablished non-stop combination.Therefore, moving of P2 → P3 shown in Figure 11 need only be operated button No. one time.Certainly also can utilize the data among Fig. 8 (B), adopt this mode, can temporarily be parked in each given position.

Secondly with reference to Figure 15 the 2nd embodiment is described.This concrete example is the same with the 1st embodiment, is the embodiment of positioning control that has the worktable of NC work mechanism.

Different with master control handling procedure shown in Figure 9, master control handling procedure shown in Figure 15 is stored in ROM102, and the data of allowed band (for example maximal value and minimum value) are stored in RAM104, in addition, the structure of direction specified device 10 is identical with block diagram shown in Figure 7, and explanation is omitted.

Figure 15 is the process flow diagram that the processing sequence that the 2nd embodiment uses is implemented in expression, carries out the primary control program of storing among the ROM102 by CPU110 and realizes.The contents processing identical with master control handling procedure shown in Figure 9 is marked with prosign, specifies (promptly from going on foot S10 to the process that goes on foot S16) and is omitted.

In Figure 15, in step S16, behind the driving indexing unit 20, in step S50, judge whether to continue by being pressed in the instruction button that step S10 pushed.If reaching before the elements of a fix of step S12 retrieval, when not pushing same button (NO), make indexing unit 20 stop (step S58), finish this master control and handle.The processing of step shown in the S58 is identical with the processing of step S24 shown in Figure 9.

On the other hand, when continuing to push same button (YES of step S50), whether the present coordinate of judgment task platform 300 arrives with the elements of a fix in step S12 retrieval is in the allowed band of benchmark (step S52).When if the present coordinate of worktable 300 has arrived above-mentioned allowed band interior (YES), end of output signal, the display 122 bright lamps on the operation board 120 (step S54).Then, before worktable 300 arrives the elements of a fix of retrieval, continue to drive servomotor 200 (step S56), make servomotor 200 stop (step S58).After this, finishing this master control handles.

Therefore, in the 2nd embodiment, circuit for controlling motor 114 and motor-drive circuit 116 drive servomotor 200 according to the elements of a fix in step S12 retrieval, when travelling table 300 (movable part 60), present coordinate arrive in the allowed band, the end of output signal, display 122 bright lamps position.

Therefore, operating personnel can know that it is in the allowed band of benchmark that worktable 300 arrives with the elements of a fix, so the preparation that can work next time by display 122 bright lamps.

In the 2nd embodiment, if arrive in the public allowed band, just the end of output signal, but also can set in the allowed band, if just arrive end of output signal in this allowed band by each elements of a fix.

Specifically, setting coordinate table 404 shown in Figure 16 is pre-deposited RAM104, S52 judges whether to arrive in the allowed band corresponding with the elements of a fix of retrieving and gets final product in the step.Can be to each elements of a fix in a plurality of elements of a fix with allowed band and give speed setting in setting coordinate table 404.

If adopt this structure, can confirm allowed band to each present coordinate, thus can set the allowed band of a certain elements of a fix wideer, and set the allowed band of another elements of a fix narrow wideer.Therefore can at best period end of output signal, can flexibly correspondingly process preparation etc. according to the kind of the given position of locating.

Secondly, with reference to Fig. 3 the 3rd embodiment is described simply.

Its structure such as pattern are shown in Figure 3, it is to move movable part along the direction by direction specified device (10a) appointment, be located in predetermined a plurality of assigned positions (P11, P12 ...) in the position control device of certain position, it has the storer (40a) of the coordinate of homeposition (showing with the two-wire frame table among Fig. 3) and direction storage stop position; Detect the present coordinate pick-up unit (30a) of the present position coordinate of movable part; The present position coordinate that will be detected by present coordinate pick-up unit (30a) is retrieved the indexing unit (20a) by the stop position coordinate on direction specified device (10a) assigned direction as homeposition in a plurality of stop position coordinates of storage from storer (40a); And the mobile device that moves movable part according to assigned position coordinate by indexing unit (20a) retrieval.

Secondly, the concrete example of the 3rd embodiment is described with reference to Figure 17 to Figure 19.This concrete example as shown in figure 17, it is the embodiment that the moving body 502 that moves along guide rail 500 is positioned control in the position control device of the conveying device that has conveying products 504 grades.

The structure of position control device 100 is except that a part, and is identical with block diagram shown in Figure 7, and explanation is omitted.Difference is with the mobile forbidden list 402 among mobile named list shown in Figure 180 412 replacement Fig. 8 (B), it is deposited in RAM104, replace master control handling procedure shown in Figure 9 with control and treatment program shown in Figure 19, it is deposited in ROM102, and replaces worktable 300 with moving body 502 (one of movable part 60).

Mobile named list 412 among Figure 18 is to preestablish the table that from the present position (present coordinate) navigates to next shift position (elements of a fix) usefulness.This mobile named list 412 is set the elements of a fix of next location along the direction (that is, pros and negative sense) that with the present coordinate is the benchmark instruction button of pushing.

Each elements of a fix P11, P12 ..., P17 coordinate figure be set in advance in setting coordinate table 400 shown in Fig. 8 (A) etc.Have in the table * the place represent not have the corresponding elements of a fix, so locate herein invalid.For example,, set elements of a fix P16, set elements of a fix P13 corresponding to the instruction button 124 of negative sense corresponding to the instruction button 126 of forward to present coordinate (the present elements of a fix) P14.

Figure 19 is the process flow diagram that the processing sequence that the 3rd embodiment uses is implemented in expression, carries out the primary control program of storing among the ROM102 by CPU110 and realizes.Handle identical contents processing with master control shown in Figure 9 and be marked with same number of steps, explanation is omitted.

In step S10, if the instruction button on the pressing operation dish 120, the then elements of a fix (step S12a) that should locate from mobile named list 412 retrievals.Whether then, judging whether among the S12a in the step can be along the direction location of retrieval, i.e. location invalid (step S14a).If be invalid location indication (YES), finish this master control and handle.At this moment moving body 502 stops.

When not being the next elements of a fix that should locate of the i.e. retrieval of invalid location indication (NO of step S14a), moving body 502 is moved to the elements of a fix of retrieval, position (after the step S1 6).

Return Figure 17, illustrate according to one of above-mentioned processing sequence location moving body 502 example.Figure 17 is the mode chart of conveying products, Figure 17 (A) for before carrying, Figure 17 (B) in carrying, Figure 17 (C) is the situation after carrying.

Accumulator 510,512,514,516,518 (hereinafter to be referred as " accumulator 510 etc. ") is the place of depositing product, sends mouth 520,522 as shown in the figure, is positioned at elements of a fix P11, P12, P13, P14, P15, P16, P17 successively.

In Figure 17 (A), at first, when moving body 502 is positioned at present coordinate P11, put down moving body 502, keep product 504.After this, when operating personnel push instruction button 124 on the operation board shown in Figure 7 120, because of not having the elements of a fix along negative sense, thus predicate among the step S14a in Figure 19 invalid.So moving body 502 stops.

When the instruction button 126 on operating personnel's pressing operation dish 120, in step S12a, retrieval elements of a fix P16, to going on foot S20, shown in Figure 17 (B), moving body 502 moves to elements of a fix P16 along guide rail 500 by execution step S16 after this.

Therefore, in the 3rd embodiment, the next elements of a fix (indexing unit 20) that should locate of retrieval in step S12a, it is so long as not invalid, circuit for controlling motor 114 and motor-drive circuit 116 drive servomotor 200, and mobile moving body 502 (movable part 60) positions.

Therefore, navigate to the frequency of ad-hoc location (elements of a fix) when high from all places (present coordinate), above-mentioned the 3rd embodiment is favourable.At this moment, operating personnel needn't the pressed several times instruction button, can reduce number of operations.So can fast moving body 502 be positioned at the target location.

In the 3rd embodiment, be directly to navigate to ad-hoc location (elements of a fix), but also can navigate to ad-hoc location (elements of a fix) through the 3rd position (middle coordinate) from certain position (present coordinate) from certain position (present coordinate).Specifically, in mobile named list 412 shown in Figure 180, establish the hurdle of specifying middle coordinate, can before the step of Figure 19 S18, carry out the localization process of this middle coordinate.

For example, in multiple operation automatic numerical control lathe etc.,, be convenient to make instrument to move to the truing device position on the way, after grinding (finishing), return initial point again making instrument when present coordinate returns initial point (being positioned initial point).

From the 1st embodiment to the 3 embodiment, the situation of control movable part 60 on has been described.Different therewith, in the 4th embodiment control movable part 60 on two.Simple structure such as the pattern of the 4th embodiment are shown in Figure 4, it is along the direction mobile movable part in X-Y plane by direction specified device (10c) appointment of the forward of the forward that can specify X-axis and negative sense and Y-axis and negative sense, be located in predetermined a plurality of assigned positions ((PX1, PY1), (PX1, PY2), (PX2, PY1) ...) in the position control device of certain position, it have separately X coordinate of a plurality of assigned positions of storage (P ' X1, P ' X2 ...) storer (40C); The present X coordinate detecting device (30C) of the X coordinate of the present position of detection movable part; X coordinate with the present position detected by present X coordinate detecting device (30C) is a benchmark, retrieves the indexing unit (20C) by the X coordinate of the assigned position on the X-direction of direction specified device (10C) appointment from storer (40C) in the X coordinate of a plurality of assigned positions of storage; Move the X-axis mobile device of movable part along X-axis according to the X coordinate of the assigned position of retrieving by indexing unit (20C); Store separately Y coordinate of a plurality of assigned positions (P ' Y1, P ' Y2 ...) storer (40d); The present Y coordinate detecting device (30d) of the Y coordinate of the present position of detection movable part; Y coordinate with the present position detected by present Y coordinate detecting device (30d) is a benchmark, retrieves the indexing unit (20d) by the Y coordinate of the assigned position on the Y direction of direction specified device (10C) appointment from storer (40d) in the Y coordinate of a plurality of assigned positions of storage; Move the moving device of y-axis shift of movable part along y-axis shift according to the Y coordinate of the assigned position of retrieving by indexing unit (20d).This concrete example is the same with the 1st embodiment, is the embodiment of positioning control that has the worktable of NC work mechanism.

The block diagram of Figure 20 shows the structure that has with the position control device 100 of the conveying device of pallet 302 conveying products etc.The part that Fig. 7 is identical is marked with identical symbol, and explanation is omitted.As follows with parts difference shown in Figure 7.

That is, a plurality of assigned positions X coordinate and Y coordinate separately separately is stored in RAM104 in the position control device 100.Realize memory storage 40c, 40d (with reference to Fig. 3) by RAM104.The mobile forbidden list 410 shown in the storage map 8 (B) not in this RAM104, and the mobile forbidden list 414 shown in storage Figure 21 (B) (expression allows or forbids that movable body is near the information with X coordinate and Y coordinate appointed positions).

In addition, without operation board 120, and with the operation board 120a that has 4 instruction button 124a, 124b, 124c, 124d (one of direction specified device 10a), be used to refer to the X-axis and the Y-axis forward/negative sense separately of XY travel mechanism.In addition, circuit for controlling motor 114 does not connect motor-drive circuit 116, and connect motor-drive circuit 116a, be used for driving along X-direction move one of movable part 60 pallet 302 servomotor 200 and move the servomotor 202 of the pallet 302 of one of movable part 60 along Y direction.

In Figure 21 (A), accumulator the 530,532,534,540,542, the 544th, the place of depositing product, sending into mouth 552 is places of sending into product, sending mouth 550 is places of sending product.Suppose that they lay respectively at following coordinate place.

That is, represent that with the rectangular coordinate form that is expressed as [the 1st (for example X-axis), the 2nd (for example Y-axis)] accumulator 530 is positioned at [P21, P34].Equally, accumulator 532 is positioned at [P21, P33], and accumulator 534 is positioned at [P21, P32].Accumulator 540,542,544 is positioned at the P22 except that the 1st, the 2nd position respectively successively with accumulator 530,532,534 is identical.

Send mouth 550 and be positioned at [P23, P35], send into mouth 552 and be positioned at [P23, P31].

Coordinate [P21, P35], [P22, P35], [P21, P31], [P22, P31] are that whatsoever reason is all forbidden the approaching zone of pallet 302 (following this zone is called " prohibited area ") shown in figure bend portion.Therefore, in the mobile forbidden list 414 shown in Figure 21 (B), preestablish the location effective (representing with zero in the table) of the coordinate position that does not belong to prohibited area, belong to the location invalid (usefulness * expression in the table) of the coordinate position of prohibited area.

Utilize said structure, respectively X-axis and Y-axis are carried out master control processing shown in Figure 9, and retrieval process shown in Figure 10 (indexing unit 20c, one of d), can locate pallet 302 along the 1st (X-axis) and the 2nd (Y-axis) respectively.That is, if instruction button 124a or the 124b of pressing operation dish 120a, can be along the 1st location tray 302, if push instruction button 124c, 124d then can be along the 2nd location tray 302.

Each processing sequence is except that the step S36 of Figure 10, and identical with Figure 10, explanation is omitted.With reference to mobile forbidden list 414, which elements of a fix judgement is in the step of this Figure 10 S36.Judge that promptly the elements of a fix of retrieving are effective or invalid in step S32.

When for example pallet 302 is positioned at accumulator 530 places, even the instruction button 124c of operating personnel's pressing operation dish 120a can not be positioned pallet 302 coordinate [P21, P35] and locate.Be that pallet 302 stops.

At this moment, push instruction button 124a,, be located in accumulator 540 places along the 1st forward mobile pallet 302.Perhaps push instruction button 124d,, be located in accumulator 532 places along the 2nd negative sense mobile pallet 302.

Like this, in the 4th embodiment, utilize operation board 120a (direction specified device 10a) to specify after X-direction location tray 302 (movable part 60), is benchmark by retrieval process shown in Figure 10 (indexing unit 20c) with the present X coordinate of storing among the RAM104 (with the present X coordinate of present X coordinate detecting device 30C detection), does not belong to the coordinate of prohibited area from RAM104 (memory storage 40c) in a plurality of X coordinates of storage in the X coordinate of retrieval assigned direction.Drive the X-axis mobile device (50X) that constitutes by circuit for controlling motor 114 and motor-drive circuit 116 and servomotor 200 according to the X coordinate of this retrieval,, locate along X-direction along X-direction mobile pallet 302.In addition, utilize operation board 120a (direction specified device 10a) to specify after Y direction location tray 302 (movable part 60), is benchmark by retrieval process shown in Figure 10 (indexing unit 20d) with the present Y coordinate of storing among the RAM104 (with the present Y coordinate of present Y coordinate detecting device 30d detection), does not belong to the coordinate of prohibited area from RAM104 (memory storage 40d) in a plurality of Y coordinates of storage in the Y coordinate of retrieval assigned direction.Drive the moving device (50Y) of y-axis shift that constitutes by circuit for controlling motor 114 and motor-drive circuit 116 and servomotor 202 according to the Y coordinate of this retrieval,, locate along Y direction along Y direction mobile pallet 302.

Therefore, during location tray 302, need on sequential circuit, not interlock.Thereby the number of the instruction button (direction indication) of establishing on the operation board 120a (direction specified device 10a) can be limited in minimum, can prevent the interference of the existence in the prohibited area reliably.

During retrieval, according to mobile forbidden list 414, promptly describe the information of the restricting relation between the 1st and the 2nd, determine the elements of a fix of location next time, so can retrieve the elements of a fix that do not belong to prohibited area reliably.Therefore,, but pass through to move along any one in the 1st and the 2nd even can not directly move to the elements of a fix of target from present coordinate, on one side can make a circulation, Yi Bian be positioned the elements of a fix of target.If allow near all points, then the table shown in Figure 21 (B) shouldn't.

In the 4th embodiment, when showing with diaxon location movable part 60 along each method of controlling.Different therewith, the situation that diaxon is controlled movable part 60 is controlled in explanation simultaneously in the 5th embodiment.

This structure is to move movable part along the direction by the appointment of direction specified device, is located the position control device of certain position in predetermined a plurality of assigned positions.

It has the coordinate of a plurality of assigned positions of storage, storage representation is forbidden the storer of the prohibited area in the zone that movable part moves simultaneously; Detect the present coordinate pick-up unit of the present position coordinate of movable part; With the present position coordinate by the detection of present coordinate pick-up unit is benchmark, and retrieval is by the indexing unit of the assigned position coordinate on the direction specified device assigned direction in the position coordinates of a plurality of regulations of storing from storer; When between by the position coordinates of the regulation of indexing unit retrieval and present position coordinate, comprising prohibited area, generate circuitous prohibited area and arrive by the path generating unit of indexing unit from the mobile route of the position coordinates of the regulation of present position zatacode indexing; And the mobile device that moves movable part along the mobile route that generates by the path generating unit.

Secondly, the concrete example of the 5th embodiment is described with reference to Figure 22 to Figure 24.

Identical with the 4th embodiment, the block diagram of Figure 22 shows the structure that has with the position control device 100 of the conveying device of pallet 302 conveying products etc.The part that Figure 20 is identical is marked with identical symbol, and explanation is omitted.As follows with parts difference shown in Figure 20.

That is, do not store retrieval process program shown in Figure 10 among the ROM102 in position control device 100, and the retrieval process program of storage implementation retrieval process shown in Figure 24.In addition, the data that storage representation is forbidden the prohibited area in the zone that pallet 302 moves in RAM104.In addition, do not use operation board 120, and use operation board 120b, it has instruction button 124e, 124f, 124g, 124h, is used to refer to the orientation (directions of the 1st quadrant to the 4 quadrant all quadrants in the plane coordinate system) of diaxon (X-axis and Y-axis).

Utilize said structure, handle by carrying out master control shown in Figure 9, and retrieval process shown in Figure 24, can be along diaxon simultaneously to pallet 302 location.About with Fig. 9 and identical step in processing shown in Figure 10 step, explanation is omitted.

Shown in Figure 23 (A), when pallet 302 is positioned at accumulator 540, if the instruction button 124 of operating personnel's pressing operation dish 120b, just would carry out the elements of a fix retrieval shown in the step S12 among Fig. 9.Retrieve thus and the corresponding coordinate (step S32 shown in Figure 24) of usefulness instruction button 124g indicated direction (direction of the 1st quadrant).Promptly to the 1st and the 2nd retrieval simultaneously be positioned at forward the elements of a fix send mouthfuls 550.

In Figure 23 (A), when pallet 302 is positioned at accumulator 540, also can pushes the 1st of indication and be the instruction button 124h of negative sense (direction of the 4th quadrant) for forward, the 2nd.

When the instruction button 124g of the 1st quadrant is retrieved in operation, there is with oblique line portion illustrated prohibited area between mouth 550 and the homeposition (accumulator 540) sending of retrieval.Therefore in step S60 shown in Figure 24, judge whether to comprise prohibited area.

When comprising prohibited area (YES) between the elements of a fix of retrieving and present coordinate, execution route generates handles (step S62).This path generates and handles is the described processing that the path generating unit is specialized in back, when between the elements of a fix of retrieving and present coordinate prohibited area being arranged, generates the mobile route L2 shown in Figure 23 (B).It is general technology that the path generates the concrete processing sequence of handling, and explanation is omitted.

By along the mobile route L2 mobile pallet 302 (movable part 60) that generates like this, be located target and send mouth 550, can prevent the interference of the existence in the prohibited area reliably.

Owing on operation board 120b, be provided with and quadrantal heading is corresponding to 4 instruction button 124e, 124f, 124g, 124h,, improved operability so can push the instruction button corresponding better with the direction of location tray 302.

One embodiment of position control device more than has been described, but the structure of the other parts in this position control device, shape, size, material, number, configuration and operation condition etc. are not limited to present embodiment.

For example, position control device 100 of the present invention is shown in the embodiment when being applicable to NC work mechanism, conveying device, but be not subjected to the restriction of these devices, can be applicable to general processing equipment, the manipulator controller of controlling mechanical arm, conveying device etc. and the necessary control device in location that carries out movable part yet.

Processing equipment comprises work mechanism and the combination unipurpose machines such as discharging processing machine or solid mechanical, conveyer that lathe, drilling machine, boring machine, milling machine, grinding machine, broaching machine etc. are general.Mechanical arm comprises mechanical arms such as multi-joint manipulator, quadrature mechanical arm, welding manipulator.Conveying device comprises conveying devices such as gyrator, tipper, lifter, desk-top conveyer.

When for example position control device 100 of the present invention being applied to manipulator controller, in teaching etc., the number of specifying the orientation that carries out mechanical arm can be reduced, operating mistake can be prevented.

Movable part 60 has adopted moving body 502 or the pallet 302 that has in the conveying device of the worktable 300 that has in the NC work mechanism, conveying products etc., but be not limited thereto, the present invention can be applicable to from certain position (present coordinate) and navigate to the necessary whole movable parts in target location (elements of a fix).In having the device of this movable part, also can will specify the number of orientation to be limited in minimum.

Adopted the instruction button assigned direction, but the device that also can adopt manual impulsator or control lever etc. to carry out multidirectional indication with an indicator.Control lever is to have the operating rod that can move along two-dimensional directional.

In setting coordinate table 400 shown in Figure 8, preestablished elements of a fix P1, P2, P3, P4 etc., but these elements of a fix can increase arbitrarily, delete, upgrade period.Specifically, the coordinate edit routine (coordinate edit methods) that comprises increase, deletion, the renewal elements of a fix in ROM102 in the positioning control program of storing gets final product.

If adopt this structure, can not only set certain elements of a fix, and the energy desirable elements of a fix of setting operation personnel (position of location), improved degree of freedom.

Embodiments of the invention more than have been described, but in an embodiment of the present invention, the technology item of in following claim, putting down in writing, have also had the example of following various technology items.

Movable part is moved by the direction of direction specified device appointment in a kind of edge, be located the position control device of certain position in predetermined a plurality of assigned positions, it is characterized by: it has the coordinate of a plurality of assigned positions of storage, storage representation is forbidden the storer of the prohibited area in the zone that movable part moves simultaneously; Detect the present coordinate pick-up unit of the present position coordinate of movable part; With the present position coordinate by the detection of present coordinate pick-up unit is benchmark, and retrieval is by the indexing unit of the assigned position coordinate on the direction specified device assigned direction in the position coordinates of a plurality of regulations of storing from storer; When between by the position coordinates of the regulation of indexing unit retrieval and present position coordinate, comprising prohibited area, generate circuitous prohibited area and arrive by the path generating unit of indexing unit from the mobile route of the position coordinates of the regulation of present position zatacode indexing; And the drive unit that drives above-mentioned motor in order to move movable part along the mobile route that generates by the path generating unit.

According to the technology item of said structure, indexing unit is a benchmark with the present position coordinate, and retrieval is by the assigned position coordinate on the direction specified device assigned direction in the position coordinates of a plurality of regulations of storing from storer.When comprising prohibited area between the position coordinates of the regulation of such retrieval and the present position coordinate, the path generating unit generates circuitous prohibited area and arrives by the mobile route of indexing unit from the position coordinates of the regulation of present position zatacode indexing.Then, drive unit is according to the mobile route that generates, drive motor, and mobile movable part is positioned at the assigned position of retrieval.

Specified by the direction specified device even comprise the direction of prohibited area between the position coordinates of the regulation of retrieval and the present position coordinate, this prohibited area that also can make a circulation generates mobile route.Therefore, movable part positions when mobile, can prevent the interference of the existence in the prohibited area reliably.

As mentioned above,,, also the number of the button of assigned direction in the direction specified device or switch etc. can be limited in minimumly, can prevent operating mistake even when the position coordinates of regulation increases if adopt the present invention.The assigned position coordinate increases or subtracts, and the direction number of direction specified device still can be constant, needn't revise the sequential circuit in the PLC.

If employing the present invention because movable part can not move to the assigned position coordinate in the zone of forbidding moving, can prevent the interference of the existence in the prohibited area reliably.

Claims (6)

1. position control device, this device moves movable part (60) along the direction by direction specified device (10) appointment, be located in predetermined a plurality of assigned positions (P1, P2 ...) in certain position, it is characterized in that: have separately coordinate of a plurality of assigned positions of storage (P ' 1, P ' 2 ...) storer (40); Detect the present coordinate pick-up unit (30) of the present position coordinate of movable part (60); With the present position coordinate by present coordinate pick-up unit (30) detection is benchmark, retrieves the indexing unit (20) by the assigned position coordinate on direction specified device (10) assigned direction from storer (40) in the position coordinates of a plurality of regulations of storage; And move the mobile device (50) of movable part (60) according to assigned position coordinate by indexing unit (20) retrieval.

2. position control device according to claim 1, it is characterized in that: storer (40) storing a plurality of assigned positions (P1, P2 ...) about the combination of the homeposition that allow to move and stop position and the information of forbidding the combination of the homeposition that moves and stop position, retrieval is not to forbid the stop position that moves the assigned position of indexing unit (20) from homeposition along assigned direction, and is the stop position of close homeposition.

3. position control device, this device moves movable part along the direction by direction specified device (10a) appointment, be located in predetermined a plurality of assigned positions (P11, P12 ...) in certain position, it is characterized in that: have storer (40a) the coordinate of each homeposition and direction storage stop position; Detect the present coordinate pick-up unit (30a) of the present position coordinate of movable part; The present position coordinate that will be detected by present coordinate pick-up unit (30a) is retrieved the indexing unit (20a) by the stop position coordinate on the direction of direction specified device (10a) appointment as homeposition in a plurality of stop position coordinates of storage from memory storage (40a); And the mobile device that moves movable part according to the coordinate of the stop position of retrieving by indexing unit (20a).

4. position control device, this device makes the movable part that can move in X-Y plane move along the direction by direction specified device (10) appointment of the forward of the forward that can specify X-axis and negative sense and Y-axis and negative sense, be located predetermined a plurality of assigned positions ((PX1, PY1), (PX1, PY2) ..., (PX2, PY1) ...) in the optional position, it is characterized in that: have separately X coordinate of a plurality of assigned positions of storage (P ' X1, P ' X2 ...) storer (40C); The present X coordinate detecting device (30C) of the X coordinate of the present position of detection movable part; X coordinate with the present position detected by present X coordinate detecting device (30C) is a benchmark, retrieves the indexing unit (20C) by the X coordinate of the assigned position on the X-direction of direction specified device (10C) appointment from storer (40C) in the X coordinate of a plurality of assigned positions of storage; Move the X-axis mobile device of movable part along X-axis according to the X coordinate of the assigned position of retrieving by indexing unit (20C); Store separately Y coordinate of a plurality of assigned positions (P ' Y1, P ' Y2 ...) storer (40d); The present Y coordinate detecting device (30d) of the Y coordinate of the present position of detection movable part; Y coordinate with the present position detected by present Y coordinate detecting device (30d) is a benchmark, retrieves the indexing unit (20d) by the Y coordinate of the assigned position on the Y direction of direction specified device (10C) appointment from storer (40d) in the Y coordinate of a plurality of assigned positions of storage; Move the moving device of y-axis shift of movable part along y-axis shift according to the Y coordinate of the assigned position of retrieving by indexing unit (20d).

5. position control device according to claim 4, it is characterized in that: storer (40C, 40d) storing about allowing approaching X coordinate and the combination of Y coordinate and the information of forbidding the combination of approaching X coordinate and Y coordinate, (20C is 20d) at the X coordinate and the Y coordinate that allow retrieval assigned position under the approaching condition for indexing unit.

6. position control device, it is characterized in that: in the described position control device of claim 5, also have when by indexing unit (20C, 20d) comprise between the X of the X of Jian Suo assigned position, Y coordinate and present position, the Y coordinate and forbid approachingly when regional, calculate and avoid the path calculation device of forbidding approaching zone and arriving the path of the X that retrieved, Y coordinate from X, the Y coordinate of present position.

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