JP2533013Y2 - Synchronous control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to a synchronous control device for synchronously operating a plurality of mechanical devices, for example, a filling device and a capper.

[Prior art] Conventionally, as a synchronous control device, a pulse train oscillating means capable of adjusting the number of pulses per unit time, an origin signal generator for generating an origin signal, a plurality of mechanical devices synchronously operated, A motor provided in each mechanical device for driving each, a home position detector provided in each mechanical device to detect a home position, and a pulse train oscillating means provided in each mechanical device, an origin signal generator, Each signal from the origin detector of own machine is input, and the own motor is controlled so that the origin signal from the origin signal generator and the origin signal from own origin detector have a predetermined timing. And a driving means for driving the motor at an operation speed corresponding to the number of pulses is known (Japanese Patent Publication No. 58-3891).

In this synchronous control device, common to each machine device,
A pulse train as a speed signal and an origin signal as a phase signal are supplied, and the driving means of each mechanical device independently operates in a phase corresponding to the origin signal and a pulse train corresponding to the number of pulses per unit time. The speed drives the motor of each machine.

[Problem to be Solved by the Invention] However, conventionally, for example, a pulse generator is mounted on a rotating shaft of a variable speed motor, a cam mechanism is mounted, and the variable speed motor is rotated at a predetermined number of revolutions. Since the pulse train of the operating speed is generated and the origin signal is obtained for each rotation of the variable speed motor by the cam mechanism, the maintenance and inspection thereof are complicated.

[Means for Solving the Problems] In view of such circumstances, the present invention operates in synchronization with a pulse train oscillating means capable of adjusting the number of pulses per unit time and an origin signal generator for generating an origin signal. A plurality of mechanical devices, a motor provided in each mechanical device for driving each mechanical device, an origin detector provided in each mechanical device for detecting the origin position of each, and the pulse train oscillation provided in each mechanical device. A driving means for inputting a signal from each of the means and driving each motor at an operation speed corresponding to the number of pulses, wherein the origin signal generator is supplied with a pulse train from the pulse train oscillating means. The driving means comprises a counter which counts the number and outputs the origin signal each time the counted number reaches a predetermined number. Count the number of pulses and reset by the origin signal generated from the origin signal generator, and count the number of pulses from the pulse generator attached to the motor and reset by the origin signal from the origin detector. Comparing means for comparing the number of pulses counted by the master counter with the number of pulses counted by the slave counter, and detecting an error of the origin signal of the mechanical device with respect to the origin signal from the origin signal generator. And a synchronous control device which controls its own motor so as to eliminate the error.

[Operation] According to the above configuration, it is possible to manufacture the camera at a low cost because a cam mechanism is not required, and it is also possible to change the timing of outputting the origin signal in accordance with the interval and accuracy of the origin signal in each mechanical device. And maintenance can be made unnecessary.

"Example" Hereinafter, the present invention will be described with reference to the illustrated embodiment. In FIG. 1, reference numeral 1 denotes a rotary filling device, 2 denotes a rotary capper, and a timing screw 3 is disposed between the filling device 1 and the capper 2. doing. The timing screw 3 is operated in mechanical linkage with the capper 2.

As is well known in the art, an empty container supplied to the filling device 1 is filled with a filling material such as a filling liquid by the filling device 1, and the container filled with the filling material is filled via the timing screw 3 into the filling device. 1 and is introduced into the capper 2 which is operating in synchronism with 1, and is capped by the capper 2 and then discharged from the capper 2.

However, the filling device 1 and the capper 2 are connected to the first motor.
4A and the second motor 4B are independently driven to rotate. The first motor 4A has the first
A pulse generator 5A is attached, and a pulse train signal generated by the rotation of the first motor 4A from the first pulse generator 5A is input to a first driving means 6A for driving the first motor 4A.

The first motor 4A is provided with a first origin detector 7A for detecting that the motor has made one rotation, and an origin signal from the first origin detector 7A is also input to the first drive means 6A. . One rotation of the first motor 4A corresponds to one operation of the filling device 1. This operation is performed when the filling device 1 has, for example, 20 filling nozzles (not shown). The filling device 1 is rotated by 1/20, that is, one container is introduced into or discharged from the filling device 1;
This means that the processing for the book container has been completed.

Therefore, the first origin detector 7A does not necessarily need to detect the rotation of the first motor 4A, but may detect the rotation of the filling device 1 as a matter of course. The origin signal is not required once for one operation, but may be output once for several operations.

The second motor 4B is also provided with a second pulse generator 5B and a second origin detector 7B in the same manner as described above, and these signals are input to the second drive means 6B.

Next, in the present embodiment, the pulse train oscillating means 11 capable of adjusting the number of pulses per unit time according to the operation speed includes a main switch 12A and an operation speed manually set, and a signal corresponding to the operation speed. Output main speed volume 13
A, a control means 14 for outputting a voltage corresponding to the operation speed set in the main speed control 13A, and a required number of pulses of two phases based on a voltage value corresponding to the operation speed output from the control means 14. And a V / F converter 15 that outputs a pulse train signal of

The control means 14 gradually increases the output voltage from zero to a voltage corresponding to the operation speed, and controls the main switch 12
When A is released and the signal from the main speed potentiometer 13A is no longer input, the voltage output is gradually and smoothly reduced to zero, and the voltage output from the V / F converter 15 It is possible to effectively prevent noise from being mixed in by the phase pulse train signal.

Further, a low-speed volume 13B is connected to the control means 14 via a sub-switch 12B connected in parallel with the main switch 12A so that a low operation speed can be set by the low-speed volume 13B. I have.

One of the main switch 12A and the sub-switch 12B is selectively opened and closed by a line controller 17, and the line controller 17 normally closes the main switch 12A. For example, when a sensor (not shown) detects that the number of containers to be introduced into the filling device 1 has decreased, the main switch 12A is switched to the sub switch 12B so that the filling can be performed even if the main speed volume 13 is not operated. Apparatus 1
In addition, it is possible to automatically operate at a low speed set by the low speed volume 13B while keeping the synchronized state of the capper 2.

The pulse train oscillating means 11 receives the pulse train output from the pulse train, counts the number of pulses, resets the count when the count reaches a predetermined number, and outputs an origin signal at the same time as the origin signal. A generator 16 is connected, and a pulse train from the pulse train oscillating means 11 and an origin signal from the origin signal generator 16 are input to the driving means 6A, 6B.

Since each of the driving means 6A and 6B has the same configuration, only the configuration of one of the first driving means 6A will be described. In FIG. 2, the first driving means 6A A pulse train signal is input and counted, and the main counter 21 is reset by the origin signal from the origin signal generator 16 and generated by the rotation of the first motor 4A from the first pulse generator 5A. A second counter 22 is provided which inputs and counts the two-phase pulse train signal to be counted, and is reset by the origin signal from the first origin detector 7A.

The pulse train signal from the pulse train oscillating means 11 is
It is directly input to the F / V converter 23, converted into a voltage by the converter 23, and applied to the first motor 4A via an adder 24, switches 25 and 26A connected in series, and a servo amplifier (not shown). The first motor 4A can be driven at a speed corresponding to the voltage, and therefore at a speed corresponding to the number of pulses from the pulse train oscillating means 11.

On the other hand, the count numbers of the counters 21 and 22 are
The actual operation state of the filling device 1 with respect to the synchronization signal from the pulse train oscillating means 11 and the origin signal generator 16 is detected by comparing the count numbers of the two, and the output corresponding to the error is added. Output to the container 24. This adder 24 performs the F / F operation according to the error.
The output voltage from the V converter 23 is increased or decreased, whereby the operating speed of the first motor 4A can be adjusted.

In the normal state in which the filling device 1 is completely synchronized with the synchronization signal, the comparison means 31
A phase difference setting unit 32 is provided to indicate the difference between the counts in the F / V converter 22. The F / V converter 2 is used until the synchronization state between the synchronization signal and the filling device 1 at the start of operation is within the allowable error range.
The switch 25 for preventing the output voltage from 3 from being applied to the first motor 4A is provided.

Further, the sub-counter 22 has a low-speed setter 33 for driving the first motor 4A at a predetermined low-speed operation speed until the first origin signal of the filling device 1 is obtained at the start of operation, and is opened and closed by the low-speed setter 33. Switches 26A and 26B are provided. The output of the comparison means 31 is input to the line controller 17, and the low-speed setting device 33 can be controlled by the line controller 17.

In the above configuration, the switches 12A, 12B, 25, 26
In the state where A is open and the switch 26B is closed, when a required operation speed is set to the main speed volume 13A and an operation start command is given to the line controller 17, the line controller 17 turns on the main switch 12A and ,
The low speed setting device 33 of the first driving means 6A is operated.

When the main switch 12A is turned on, the control means 14 of the pulse train oscillating means 11 outputs a voltage corresponding to the operation speed to the V / F converter 15, whereby the V / F converter 15 corresponds to the operation speed. Since the pulse train signal is output, the first driving means 6A
The main counter 21 starts counting the pulse train signal immediately after the reset.

At this time, the pulse train signal from the pulse train oscillating unit 11 is input to the F / V converter 23 of the first driving unit 6A, but since the switches 25 and 26A are open, the F / V converter 23 Is not applied to the first motor 4A.

On the other hand, when the low-speed setting device 33 is activated at the same time when the main switch 12A is turned on, the low-speed setting device 33
Since a predetermined low voltage is applied to the first motor 4A by closing 26B, the first motor 4A starts operating at a low speed. Then
The pulse train signal from the first pulse generator 5A is input to the slave counter 22, and the first origin detector
When the first origin signal from 7A is input and the slave counter 22 is reset, the low speed setting device 33 opens the switch 26B and closes the switch 26A.

When the slave counter 22 is reset, the comparing means 31 detects a phase shift of the filling device 1 with respect to the synchronization signal from the count number of the main counter 21 at that moment, and adds an error signal corresponding to the error amount to the adder 24. And the adder 24 increases or decreases the voltage from the F / V converter 23 according to the error signal.

In detecting the above phase shift, the simplest case is that when the count number of the main counter 21 and the count number of the slave counter 22 are the same, and the origin signal is input and reset at the same time, the pulse train oscillation means 11 and the origin It is assumed that the filling device 1 is operating completely synchronously with the synchronization signal from the signal generator 16. In this case, if the main counter 21 is reset and the slave counter 22 is not reset at the same time, This means that the phases of the signal and the filling device 1 are not synchronized.

However, the main counter 21 when resetting is performed
Is not necessarily the same as the count number of the slave counter 22, and if different, the proportional constant obtained from both count numbers may be multiplied by one count number.

The phase difference setting device 32 is used to assume that synchronization is established when the main counter 21 and the slave counter 22 have a certain count difference, whereby both counters 21 and 22 are synchronized. The phase to be reset is adjusted so that synchronization can be obtained. Comparison of the number of counts of the main counter 21 and the slave counter 22 in consideration of the phase difference setting device 32,
That is, the phase shift of the filling device 1 with respect to the pulse train signal is constantly monitored, not only at the reset time of the respective counters 21 and 22, and the comparing means 31 outputs the first signal via the adder 24 so as to always obtain synchronization. The operation of motor 4A is corrected.

When the phase shift of the filling device 1 with respect to the synchronization signal when the slave counter 22 is reset for the first time is within the allowable error range, the comparing means 31 immediately closes the switch 25, but when the error is large. Switch 25
Are kept open. As a result, switch 25,
26B are both opened and the voltage is not applied to the first motor 4A, so that the operation of the first motor 4A is stopped.

During this time, since the main counter 21 counts the pulse train signal, when the phase of the main counter 21 approaches the phase of the slave counter 22 and the phase shift between the two falls within a predetermined allowable error range, the switch 25 is switched as described above. Close.

As a result, the voltage from the F / V converter 23 corrected by the adder 24 is applied to the first motor 4A, so that the filling device 1 is decelerated or accelerated in response to the synchronization signal, and the phase and the operating speed are increased. And will be completely synchronized. At this time, as described above, since the control means 14 gradually increases the output voltage to a voltage corresponding to the operation speed set in the main speed control 13A, the filling device 1 operates the operation set in the main speed control 13A. It is possible to operate the motor at a speed and in a state where the phase and the operating speed are completely synchronized with respect to the synchronization signal.

The above operation is performed in the same manner for the capper 2, and the phase and the operation speed of the capper 2 are completely synchronized with the synchronization signal.

From the synchronous operation state described above, the main speed control 13
If A is manually adjusted and the driving speed is changed,
The control means 14 gradually increases and decreases the number of pulses to a value corresponding to the new operation speed, and when the operation stop command is given to the line controller 17, the line controller 17 opens the main switch 12A. As a result, the control means 14 gradually decreases the number of pulses to stop the filling device 1 and the capper 2.

During operation, the synchronization signal and the filling device 1
Alternatively, if the synchronization state with the capper 2 cannot be obtained and the error exceeds a predetermined allowable range, the comparing means 31 of the mechanical device outputs an abnormal signal to activate the alarm 34, and Is output to the line controller 17.

Then, the line controller 17 switches the main switch 12A
Is released to stop the operation of the filling device 1 and the capper 2, or when the synchronized state of the filling device 1 cannot be obtained, the line controller 17 opens the switch 25 by the comparing means 31 of the filling device 1. Then, the operation of only the filling device 1 is stopped while the operation of the capper 2 is continued.

Note that the start of the synchronous operation is not limited to the above-described embodiment. That is, the low speed setting device 33 may be operated with the main switch 12A opened, and the switch 26B may be closed to start the operation of the first motor 4A at a low speed.

In this case, a pulse train signal from the first pulse generator 5A is input to the slave counter 22, and the first origin signal from the first origin detector 7A is input shortly, and the slave counter 22 is reset. For example, the phase of the filling device 1 can be detected. Then, when the error between the phase of the slave counter 22 and the phase of the main counter 21 in the stopped state falls within the allowable error range, the switch 26B is opened to stop the first motor 4A.

The same operation is performed for the capper 2, and when the phases of all the mechanical devices are detected and stopped, the main switch 12A
At the same time as inputting the pulse train signal to the main counter 21, the operation of each of the motors 4A and 4B may be started based on the pulse train signal.

In this case, the output of the pulse generators 5A and 5B can be detected as a two-phase pulse output so that the rotation directions of the motors 4A and 4B can be detected. Even if they are reversed for some reason when stopped, the phase can be accurately detected.

Furthermore, if the addition / subtraction counter is also used for the main counter 21 and the origin signal generator 16, a command for the forward rotation side and a command for the reverse rotation side of the mechanical device can be issued by the main speed control 13A. In this case, the pulse train oscillation means
Numeral 11 outputs a pulse train signal in the addition direction and a pulse train signal in the subtraction direction according to the two-phase pulse train signal. Each counter adds or subtracts a count according to each pulse train signal. An origin signal is output each time the number is reached.

Further, the mechanical device to be synchronized does not need to be an independent device.For example, in the case of a roll labeler, the cutter for cutting the roll label and the feed roller for supplying the roll labeler to the cutter may be a mechanical device for synchronizing. Of course, the number of mechanical devices to be synchronized may be three or more.

[Effects of the Invention] As described above, according to the present invention, a cam mechanism is not required as in the related art, so that it can be manufactured at a low cost, and maintenance and inspection can be made substantially unnecessary. Further, it is possible to easily change the timing of outputting the origin signal in accordance with the interval, accuracy, and the like of the origin signal in the mechanical device to be synchronously controlled.

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram showing one embodiment of the present invention, and FIG. 2 is a block diagram showing a driving means 6A of FIG. 1. Filling device (mechanical device) 2. Capper (mechanical device) 4A, 4B Motor 5A, 5B Pulse generator 6A, 6B Driving means 7A, 7B Origin detector 11 Pulse train oscillation Means 16 Origin signal generator (counter) 17 Line controllers 21, 22 Counter 31 Comparison means

Claims (1)

(57) [Scope of request for utility model registration] A pulse train oscillating means capable of adjusting the number of pulses per unit time, an origin signal generator for generating an origin signal, a plurality of mechanical devices which are operated synchronously with each other, and provided in each mechanical device. A motor for driving each of them, an origin detector provided for each mechanical device to detect the origin position of each, and a signal from the pulse train oscillating means provided for each mechanical device, respectively, Driving means for driving at an operation speed corresponding to the number of pulses, wherein the origin signal generator counts the number of pulses by inputting a pulse train from the pulse train oscillating means, and the count number becomes a predetermined number. The driving means counts the number of pulses from the pulse train oscillating means and generates the origin signal from the origin signal generator. The main counter reset by the origin signal, the number of pulses from the pulse generator attached to the motor are counted, the sub-counter reset by the origin signal from the origin detector, and the number of pulses counted by the main counter And a comparison means for comparing the number of pulses counted by the slave counter with the origin signal from the origin signal from the origin signal from the origin signal of the own machine. A synchronous control device characterized by controlling.