JP2665314B2 - Motor control device for parts inspection device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for controlling a motor for a component inspection device.

[0002]

2. Description of the Related Art Conventionally, as a component inspection apparatus for sequentially inspecting electronic components such as resistors and capacitors held at equal intervals on a carrier tape, the component tape is formed in a disk shape, and the carrier tape is formed along the circumferential surface thereof. Turret, a rotary drive for rotating the turret and transporting the carrier tape, and a pass / fail detection that is provided at a predetermined position near the turret and sequentially detects the pass / fail of components passing through as the turret rotates. A sensor, provided at a predetermined position different from the pass / fail detection sensor in the vicinity of the turret,
A discharge device that discharges, from a carrier tape, a component detected as a defective product by a pass / fail detection sensor has been put to practical use.

[0003] In this kind of component inspection apparatus,
In order to discharge a component detected as defective by the pass / fail detection sensor from the carrier tape, it is necessary to stop the rotation of the turret so that the component comes to the position where the discharge device is provided. Therefore, conventionally, as a rotary drive device for rotating the turret, a so-called index mechanism including a gear and a cam for intermittently stopping at each angle at which the turret is moved by one component, while using a motor as a drive source, is provided. Or the turret is continuously rotated by a motor via a speed reducer, and the turret is stopped by servo-controlling the motor so that defective products come to the position of the discharge device. Things have been adopted.

[0004]

However, in the former rotary drive device, the defective part can be accurately detected by previously matching the component position when the turret is intermittently stopped with the position of the discharge device. Although the turret can be stopped at the position of the ejection device and ejected, it can only be rotated by intermittent operation that repeats rotation and stop, and when the turret rotation speed is increased, mechanical vibration occurs Therefore, there is a problem that the inspection speed cannot be increased. In addition, the interval at which the turret is intermittently stopped is fixedly determined by the settings of each part of the index mechanism, and cannot be used for inspection of components arranged at other intervals.

On the other hand, in the latter rotary driving device, the rotation speed of the turret can be set to be large according to the rotation speed of the motor.
There is a problem that it is difficult to stop the turret so that the defective product comes to the position of the discharge device accurately. When the relative position between the pass / fail detection sensor and the discharge device is changed, the control amount from when the pass / fail detection sensor detects that the component is defective to when the turret is stopped is determined by the reduction ratio of the speed reducer. There is also a problem that it is necessary to change while taking into account, and that setting is difficult.

Therefore, it is conceivable to use a so-called direct drive motor (DD motor) having a high torque capable of directly rotating the turret by the rotating shaft. In this case, too, the relative position between the pass / fail detection sensor and the discharge device is considered. It was not possible to optimally control the motor according to the distance between the components to be inspected.

The present invention has been made in view of such a problem, and a holding member for holding a component to be inspected at equal intervals along a circumferential surface is fixed to a rotating shaft, and an arbitrary part around the holding member is fixed. A control which is suitable for controlling a motor for a component inspection apparatus in which a quality detection means for detecting the quality of a component and a discharge means for discharging the component from a holding member are provided at two places, and which has excellent versatility. It is intended to provide a device.

[0008]

That is, in order to achieve the above object, according to the present invention, as shown in FIG. 1, a component to be inspected is provided on a rotating shaft with a circumference. Holding members fixed at equal intervals along the surface, and pass / fail detection means for detecting pass / fail of the component passing at any two positions around the holding member as the holding member rotates, and the holding member A control device for controlling a motor for a component inspection device, which is provided with a discharging unit that discharges the component stopped with the stop of the component from the holding member, and detects a current rotational position of the rotary shaft. A constant rotation speed of the motor, an acceleration time for increasing the rotation speed from zero to the constant rotation speed, a deceleration time for decreasing the rotation speed from the constant rotation speed to zero, and the component. 1
An input unit for inputting angle data representing a rotation angle of the rotary shaft required to move the rotary shaft by an amount corresponding to each; and a constant rotation speed, an acceleration time, a deceleration time, and a current rotation position of the rotary shaft. When the rotation speed of the motor is increased from zero to the constant rotation speed and returned to zero again, the rotation position of the rotation shaft to start deceleration is calculated, and the rotation position is set as the deceleration start position. By adding a rotation angle represented by the angle data to a current rotation position of the rotation axis, the rotation axis to which the pass / fail detection means should be operated first after the operation of the motor is started. Detection command position setting means for calculating the rotation position of the motor and setting the rotation position as a detection command position; and after the deceleration start position and the detection command position are set, the constant rotation speed and acceleration Starting operation means for operating the motor from the stop state to the constant rotation speed based on the above, and when the operation of the motor is started by the starting operation means, the rotational position of the rotating shaft is detected by the detection command. It is determined whether or not the position has been reached, and if it is determined that the detection command position has been reached, the pass / fail detection means is actuated, and a rotation angle represented by the angle data is added to the detection command position to determine the detection command. When the operation of the motor is started by the detection command position updating means for updating the position and the starting operation means,
It is determined whether the rotation position of the rotating shaft has reached the deceleration start position, and when it is determined that the deceleration start position has been reached,
A result judging means for judging a detection result of the pass / fail detection means; and if the result judging means judges that the component is a non-defective product, a rotation angle represented by the angle data is added to the deceleration start position to perform the deceleration. Deceleration start position updating means for updating a start position, and stop operation means for stopping the motor based on the deceleration time when the result determination means determines that the component is defective. The gist of the present invention is a control device for a motor for a component inspection device.

According to a second aspect of the present invention, there is provided a motor control device for a component inspection apparatus according to the first aspect,
The deceleration start position setting means changes the rotation speed of the motor from zero to the constant rotation speed from among the rotation positions advanced from the current rotation position of the rotation shaft by a positive multiple of the rotation angle represented by the angle data. When returning to zero and returning to zero again, the rotational axis can be stopped and the rotational position closest to the current rotational position is calculated based on the acceleration time and deceleration time, and the constant rotational speed and the constant rotational speed are calculated from the rotational position. A gist of the invention is a control device for a motor for a component inspection device, wherein a rotation position returned by a rotation angle determined by a deceleration time is set as the deceleration start position.

According to a third aspect of the present invention, in the control device for a motor for a component inspection apparatus according to the first or second aspect, the input means can input an adjustment angle of the detection command position. Wherein the detection command position setting means sets the detection command position by adding or subtracting the input adjustment angle to or from the calculated rotation position. The gist is a control device.

According to a fourth aspect of the present invention, in the control device for a motor for a parts inspection apparatus according to any one of the first to third aspects, the input means is provided on the holding member. The number of holding units is configured to be inputtable, and the rotation angle of the rotation shaft required to move the component by one is calculated by dividing 360 degrees by the number of holding units input. A gist of the present invention is a control device for a motor for a component inspection device, which is provided with an angle calculation means.

[0012]

According to the first aspect of the present invention, there is provided a motor control system for a component inspection apparatus, comprising:
A holding member for holding the components to be inspected at equal intervals along the circumferential surface is fixed to the rotating shaft of the motor for the component inspection device, and holding members are provided at arbitrary two positions around the holding member. There is provided a pass / fail detection unit for detecting pass / fail of a component passing along with the rotation of the unit, and a discharging unit for discharging the stopped component from the holding member when the holding member stops. Then, the position detecting means detects the current rotational position of the rotating shaft.

[0013] Here, the user of the apparatus determines the constant rotation speed of the motor, the acceleration time required to increase the rotation speed of the motor from zero to the constant rotation speed, and the rotation speed of the motor via the input means. When deceleration time until the rotation speed is decreased from zero to zero and angle data representing the rotation angle of the rotating shaft required to move one part are input, the deceleration start position setting means sets the input constant rotation. Speed, acceleration time,
Based on the deceleration time and the current rotational position of the rotary shaft detected by the position detecting means, when the rotational speed of the motor is increased from zero to a constant rotational speed and returned to zero again, the rotation of the rotary shaft to start decelerating is started. A rotation position is calculated, and the rotation position is set as a deceleration start position.

That is, from the acceleration time and the constant rotation speed, the angle θ1 at which the rotating shaft rotates when the motor rotation speed is increased from zero to the constant rotation speed can be determined. When the rotation speed of the motor is decreased from the constant rotation speed to zero, the angle θ2 at which the rotation shaft rotates can be known. Therefore, the rotation position obtained by adding the angle θ1 to the current rotation position is set as the deceleration start position. Become. When the rotation speed is reduced from this rotation position, the rotation shaft stops at a position rotated by (θ1 + θ2) from the initial rotation position.

Further, the detection command position setting means sets the rotation angle represented by the input angle data (that is, the rotation angle of the rotation shaft necessary to move one component) to the current rotation position of the rotation shaft. By the addition, after the operation of the motor is started, first, the rotation position of the rotation shaft on which the pass / fail detection unit is to be operated is calculated, and the rotation position is set as the detection command position.

After the deceleration start position and the detection command position are set, the start-up operation means causes the motor to change from the stopped state to the constant rotation speed based on the inputted constant rotation speed and acceleration time. When the operation of the motor is started by the start-up operation means, the detection command position updating means determines whether or not the rotation position of the rotating shaft has reached the detection command position. When the determination is made, the pass / fail detection means is operated, and the detected command position is updated by adding the rotation angle represented by the angle data to the detected command position.

The result determining means determines whether or not the rotational position of the rotating shaft has reached the deceleration start position, and when it is determined that the rotational position has reached the deceleration start position, determines the detection result of the pass / fail detection means. If the result determination means determines that the part is non-defective, the deceleration start position updating means updates the deceleration start position by adding the rotation angle represented by the angle data to the deceleration start position. If the determining means determines that the part is defective, the stop operating means stops the motor based on the input deceleration time.

Next, a method of using such a controller for a motor for a component inspection apparatus will be described with reference to an example.
First, when any part held by the holding member is stopped at the position where the discharging means is provided, the position where the good or bad detecting means is provided is viewed from the part in a direction opposite to the rotation direction of the motor. The angle θ1 is larger than the rotation angle of one component so that the angle to the component immediately after the stopped component becomes the above-mentioned angle (θ1 + θ2). So that it is smaller than the rotation angle,
A constant rotation speed, an acceleration time, and a deceleration time of the motor are inputted, and angle data representing a rotation angle of a rotating shaft necessary for moving one part is inputted.

Then, by the deceleration start position setting means,
The rotation position of the rotating shaft at which deceleration is to be started in order to stop the component immediately after the component currently stopped at the position of the pass / fail detection unit at the position of the discharge unit (that is, the above-described angle is added to the current rotation position) The rotation position obtained by adding θ1) is set as the deceleration start position. Further, the detection command position setting means sets a rotation position obtained by adding the rotation angle represented by the input angle data to the current rotation position of the rotation axis as the detection command position.

The constant rotation speed, the acceleration time, and the deceleration time are input so that the angle θ1 is larger than the rotation angle of one part and smaller than the rotation angle of two parts. The reason is that the deceleration start position is set between each of the detection command positions sequentially updated from the first detection command position.

When the operation of the motor is started by the start-up operation means and the rotational position of the rotary shaft reaches the detection command position, the detection command position updating means activates the pass / fail detection means and sets the component to the detection command position. The rotation angle of the rotation shaft required to move the rotation by one is added. In other words, when a component that is one stop after the component stopped at the position of the pass / fail detection unit moves to the position of the pass / fail detection unit, the pass / fail detection unit operates and the component is inspected.

Thereafter, when the rotational position of the rotary shaft reaches the deceleration start position, the result of the pass / fail detection by the pass / fail detection means is judged by the result judging means, and the component (that is, the component which was initially stopped at the position of the pass / fail detection means) is determined. If it is determined that the next component) is defective, the stop operation means stops the motor based on the input deceleration time. Then, the parts are
It stops at the position where the discharging means is provided.

On the other hand, if the result determination means determines that the part is non-defective, the deceleration start position updating means determines
The rotation angle of the rotating shaft required to move one component to the deceleration start position is added, and the rotation of the motor is continued as it is. Then, when any of the components is determined to be defective by the result determining unit, the motor is stopped by the stop operating unit, and the component determined to be defective is located at the position of the discharging unit in exactly the same manner as described above. It is stopped exactly.

In other words, according to the motor control device for the parts inspection apparatus according to the first aspect, the user operates the motor in accordance with the relative position between the discharge means and the pass / fail detection means set at that time. By inputting the constant rotation speed, acceleration time, and deceleration time, which are conditions, and inputting angle data corresponding to the component interval of the holding member, the positional relationship between the discharging unit and the pass / fail detection unit and the component interval of the holding member are input. Regardless of this, the component inspection motor can be optimally controlled.

According to the first aspect of the present invention, since the holding member is directly rotated by the rotating shaft of the motor, the defective product can be accurately stopped at the position of the discharging means. The inspection speed can be arbitrarily adjusted according to the rotation speed of the motor.

Further, according to the control device of the first aspect, the constant rotation speed, the acceleration time, and the deceleration time, which are the operating conditions of the motor, are inputted, and the operation is performed according to the relative position between the discharge means and the pass / fail detection means. Since the speed of other processes provided before and after the component inspection process using the device is taken into account, it is possible to make settings in accordance with the relative positions of the discharging means and the pass / fail detection means. it can.

[0027] Next, in the control device for the motor for the parts inspection apparatus according to the second aspect, the deceleration start position setting means sets the rotation angle represented by the angle data from the current rotation position of the rotation axis to an angle obtained by multiplying the rotation angle by a positive number. Among the advanced rotation positions, when the rotation speed of the motor is increased from zero to a constant rotation speed and returned to zero again, the rotation position capable of stopping the rotation axis and closest to the current rotation position is determined as an acceleration time and a deceleration time. , And a rotation position that is returned from the rotation position by a rotation angle determined by the constant rotation speed and the deceleration time is set as the deceleration start position.

Therefore, according to the control device of the second aspect, the angle (θ1 + θ2) determined by the constant rotation speed, the acceleration time, and the deceleration time of the motor is viewed from the part stopped at the position of the discharging means. If the constant rotation speed, the acceleration time, and the deceleration time are input so as to be the angle between the component stopped at the position of the pass / fail detection unit and the next component, the pass / fail detection unit A deceleration start position at which the component immediately after the component stopped at the position (ie, the component to be inspected next) can be stopped at the position of the discharge means can be set.

In other words, in the control device for the motor for the component inspection apparatus according to the first aspect, the component that is one stop after the component stopped at the position of the discharge means from the component stopped at the position of the discharge means. The constant rotation speed, the acceleration time, and the deceleration time had to be input so that the angle up to and the angle (θ1 + θ2) completely coincided with each other. , The angle (θ1 +
θ2) is a constant rotation so that the angle between the component stopped at the position of the pass / fail detection unit and the next component after the component stopped at the position of the pass / fail detection unit is viewed from the component stopped at the position of the discharge unit. Simply enter the speed, acceleration time, and deceleration time.
It is possible to set a deceleration start position at which the component immediately after the component stopped at the position of the pass / fail detection unit can be accurately stopped at the position of the discharge unit.

Next, in the control device for the motor for the parts inspection apparatus according to the third aspect, when the adjustment angle of the detection command position is input through the input means, the detection command position setting means sets the calculated rotation position to the calculated rotation position. The detection command position is set by adding or subtracting the adjustment angle. Therefore, according to the control device for the motor for the component inspection device according to the third aspect, the timing for operating the pass / fail detection unit can be arbitrarily adjusted by the value of the adjustment angle input through the input unit.

In the control device for a motor for a component inspection apparatus according to the fourth aspect, when the number of holding portions provided on the holding member for holding the component is input via the input means, the angle calculation means Is 36 in the number of input holding units.
By dividing the angle by 0 degree, the rotation angle of the rotation axis required to move the component by one component is calculated. Then, inside the device, the deceleration start position setting means, the deceleration start position updating means, the detection command position setting means, and the detection command position updating means are replaced with the rotation angle calculated by the angle calculation means instead of the angle data. Is used to perform the above calculation.

Therefore, according to the motor control device for a parts inspection apparatus according to the fourth aspect, it is not necessary to calculate the rotation angle of the rotating shaft required to move one part and input the angle data. Also, only by inputting the number of holding portions provided on the holding member, it is possible to perform optimal control according to the interval between components.

[0033]

Embodiments of the present invention will be described below with reference to the drawings. First, FIG. 2 is a block diagram showing a configuration of a component inspection apparatus to which the present invention is applied.

As shown in FIG. 2, the component inspection apparatus according to the present embodiment sequentially inspects the quality of components (eg, resistors) 12 arranged at equal intervals on a carrier tape 10 and determines defective products on a carrier. The component 1 is ejected from the tape 10 and is formed in a disk shape.
2, a motor 16 for rotating the turret 14 counterclockwise in FIG. 2, and the quality of the component 12 provided near the turret 14 and passing with the rotation of the turret 14. A quality detection sensor 18 serving as a quality detection means for sequentially detecting, and a discharge which is provided near the turret 14 at a position different from the quality detection sensor 18 and which stops the component 12 stopped with the stop of the turret 14 from the carrier tape 10. A discharge device 20 as means, guide rollers 22 and 24 for guiding the carrier tape 10 to the turret 14,
A controller 26 as a control device for controlling the rotation state of the motor 16;
A start command and a stop command for starting and stopping the motor are output, and when a detection command is received from the controller 26, the pass / fail detection sensor 18 is operated.
, A sequencer 28 that activates the discharging device 20 when receiving a discharging command from the controller, and an input device 3 as input means for inputting various control parameters to be described later to the controller 26.
0.

Here, the turret 14 is directly fixed to the rotating shaft 16a of the motor 16. Then, the component 12 on the carrier tape 10 is
The holding groove 14a as a holding portion is formed at the same interval as that described above, and the component 12 is held by the holding groove 14a.

On the other hand, the motor 16 has a structure of a so-called PM type motor in which permanent magnets having different polarities are alternately arranged on the peripheral surface of the rotor and a plurality of pole teeth are excited on the stator side by a three-phase coil. And generates a high torque capable of rotating the turret 14 without passing through a speed reducer. A rotating shaft 16 a is provided inside the motor 16.
A resolver for detecting the rotational position of is provided.

The resolver includes a resolver stator around which a resolver coil is wound, and a resolver rotor.
The resolver stator is fixed on the stator side of the motor 16, and the resolver rotor is fixed on the rotor side of the motor 16. When the rotor rotates with an alternating current of a predetermined frequency (for example, 6 kHz) flowing through the resolver coil, the permeance (reciprocal of the magnetic resistance) at the pole teeth of the resolver stator and the resolver rotor changes, and the impedance of the resolver coil changes. Therefore, the rotation position of the rotating shaft 16a can be measured by detecting a change in the current of the resolver coil caused by this.

That is, the motor 16 is a so-called direct drive motor having a position detector for the rotating shaft 16a. Next, as shown in FIG. 2, the controller 26 executes a control program for motor control,
A ROM 34 storing the control program and a CPU
RAM 36 for temporarily storing the calculation results of control data 32 and control parameters input from the input device 30, a driver unit 38 for outputting a drive signal (PWM signal) to the motor 16 based on a command from the CPU 32, a resolver in the motor 16 An alternating current is passed through the coil, and a position detection unit 40 as a position detection means for detecting the current value of the coil to detect the rotational position (absolute position) of the rotary shaft 16a, and a start command and a stop command from the sequencer 28 are input. In addition, an I / O interface 42 for outputting a detection command and a discharge command to the sequencer 28, an I / O interface 44 for receiving a control parameter input from the input device 30, and a data bus connecting these components 46.

Then, the controller 26 (CPU 32)
When the power is turned on, a main routine (to be described later) and a motor control process are executed to control the drive of the motor 16. On the other hand, when a start switch (not shown) is turned on by a user of the component inspection apparatus, the sequencer 28 outputs a start command to the controller 26 to start the motor 16. When a detection command output as described later is received from the controller 26, the quality detection sensor 18 is actuated to determine the detection result. If the part 12 is defective, the controller 26 Then, a stop command indicating that the stop of the drive 16 is stopped is output. Then, after that, when a discharge command output as described later is received from the controller 26, the discharge device 20 is operated to discharge the component 12 from the carrier tape 10,
When the discharging operation is completed, a start command is output to the controller 26 again.

As the input device 30, a dedicated handy terminal provided with numeric keys for inputting numerical values, alphabet keys for inputting various control codes, or a general-purpose personal computer is used. Next, in the component inspection apparatus of the present embodiment configured as described above, a main routine and a motor control process executed by the controller 26 to control the motor 16 will be described.
This will be described with reference to FIGS. The motor control process
During the execution of the main routine, a predetermined time (for example, 1 m
This is executed as an interrupt process for each s).

FIG. 3 is a flowchart showing a main routine. The main routine is started when the controller 26 is turned on. First, at step (hereinafter simply referred to as S) 110, the user of the device operates the motor 16 via the input device 30. The constant rotation speed V during the steady operation, the acceleration time AT for increasing the rotation speed of the motor 16 from zero to the constant rotation speed V,
Calculate the deceleration time RT until the rotation speed of the motor 16 decreases from the constant rotation speed V to zero, the number N of holding grooves 14a provided in the turret 14 (hereinafter referred to as the number of divisions), and a detection command position CP described later. Offset △ θ,
It is determined whether or not the control parameter consisting of is input.

If it is determined in S110 that these control parameters have been input, then in S120, the input constant rotation speed V, acceleration time AT, deceleration time RT, division number N, position Based on the current rotation position GP of the rotation shaft 16a detected by the detection unit 40, a rotation angle obtained by dividing 360 degrees from the current rotation position GP by the number of divisions N (that is, when moving the part 12 by one piece). Of the rotation position advanced by a positive multiple of the required rotation angle)
6 is increased from zero to the constant rotation speed V and returned to zero again, the rotation position of the rotation shaft 16a can be stopped and the rotation position closest to the current rotation position GP is determined as the stop position Stop.
In S130, the rotation position of the rotation shaft 16a at which deceleration should be started to stop the rotation shaft 16a at the stop position Stop is calculated as the deceleration start position RP. In this embodiment, the processing of S120 and S130 corresponds to the deceleration start position setting means.

Here, the calculation of the stop position Stop and the deceleration start position RP will be described with reference to FIG. As shown in FIG. 5, the rotation speed of the motor 16 is changed from zero to a constant rotation speed V.
The angle θ1 at which the rotating shaft 16a rotates while being raised to
Is a value obtained by multiplying the constant rotation speed V by the acceleration time AT and dividing by 2 (V · AT / 2). Further, while the rotation speed of the motor 16 is lowered from the constant rotation speed V to zero, the rotation shaft 16a
Is the value (V · RT / 2) obtained by multiplying the constant rotation speed V by the deceleration time RT and dividing by 2.

Therefore, as shown in FIG. 5, the rotation position SP obtained by adding the angle (θ1 + θ2) to the current rotation position GP.
However, when the motor 16 is operated under the conditions of the constant rotation speed V, the acceleration time AT, and the deceleration time RT, the rotation position becomes the rotation position where the rotation shaft 16a can be stopped first.

Therefore, in S120, the current rotational position G
Among the rotational positions advanced by a positive multiple of the rotational angle obtained by dividing 360 degrees from P by the number of divisions N, the rotational position next to the rotational position SP is calculated as the stop position Stop, and in S130, the rotational position is calculated from the stop position Stop. The rotational position returned by θ2 is
The deceleration start position RP is calculated.

Accordingly, the motor 1 is shifted from the current rotational position GP.
If the operation of No. 6 is started and deceleration is started from the deceleration start position RP, the rotating shaft 16a can be stopped at the stop position Stop. As described above, when the stop position Stop and the deceleration start position RP are calculated, in S140, a rotation angle obtained by dividing 360 degrees by the number of divisions N is added to the current rotation position GP, and an offset △ A process as a detection command position setting means for calculating a detection command position CP by subtracting θ is executed. Note that this detection command position CP
Represents the rotational position of the rotary shaft 16a to which the detection command should be output first to the sequencer 28 after the operation of the motor 16 is started.

Then, in S150, the sequencer 2
8 to determine whether or not a start command has been output, and if there is a start command, the process proceeds to S160, and an operation used to determine whether to rotate or stop the motor 16 in a motor control process described later. The instruction flag FS is set to “0” indicating that the motor 16 is to be rotated. Then, the operation of the motor 16 is started by the motor control processing described later.

Then, in S170, the sequencer 2
It is determined whether or not a stop command has been output from S8, and the process waits in S170 until there is a stop command, that is, until it is determined that any part 12 is defective. On the other hand, if any of the parts 12 is determined to be defective, the sequencer 28
When a stop command is output from step S180, the process advances to step S180 to determine whether or not the stop of the motor 16 has been completed by executing a motor control process to be described later. An ejection command is output to the sequencer 28. Then, in subsequent S200, the above-described S12
0 and S130, the stop position Stop
And the deceleration start position RP are calculated, and in subsequent S210, it is determined whether or not a start command is output from the sequencer 28 again. When the start command is output, that is, when the discharge of the defective product is completed, the process from S160 is repeated again.

Next, the constant rotation speed V, the acceleration time AT, the deceleration time RT, and the number of divisions N input as described above, and the stop position Sto calculated by executing the main routine.
A motor control process for controlling the motor 16 based on p, the deceleration start position RP, and the detection command position CP will be described with reference to the flowchart shown in FIG.

As shown in FIG. 4, when execution of the motor control process is started, first, in S310, it is determined whether or not the operation instruction flag FS is "1", and it is not "1". That is, if it is determined to be "0", the process proceeds to S320.
At S320, the constant rotation speed V and the acceleration time A
Based on T, the motor 16 is operated to execute a process as a starting operation means. The processing in S320 is performed so that the rotation speed of the motor 16 increases to the constant rotation speed V over the acceleration time AT, and then stabilizes at the constant rotation speed V.
Outputting a drive signal from the driver unit 38 to the motor 16;
It is executed in such a procedure.

On the other hand, at S310, the operation instruction flag FS
Is determined to be “1”, the process proceeds to S330.
Then, at S330, the motor 16 is set to the constant rotation speed V.
From the time of the deceleration time RT to stop. Note that the process of S330 is
The rotation speed of the motor 16 is reduced to zero over the deceleration time RT, and thereafter, a drive signal is output from the driver unit 38 to the motor 16 so that the rotation shaft 16a stops at the stop position Stop. You.

After S320 or S330, in S340, it is determined whether or not the rotational position GP of the rotating shaft 16a has reached the detection command position CP, and it is determined that the rotation position GP has reached the detection command position CP. In S350, a detection command is output to the sequencer 28 in S350.
Then, a rotation angle obtained by dividing 360 degrees by the division number N is added to the detection command position CP. That is, the processing as the detection command position updating means is executed by the processing of S340 to S360.

When the detected command position is updated in S360, or in S340, the current rotational position G is updated.
If it is determined that P has not reached the detection command position CP, the process moves to S370, and this time the current rotational position G
It is determined whether or not P has reached the deceleration start position RP. If it is determined that P has reached the deceleration start position RP, the process proceeds to S380, and it is determined whether or not a stop command is output from the sequencer 28. A process as a result determination means is executed. If it is determined that the stop command has not been output, that is, if it is determined that the component 12 is a non-defective product, the process proceeds to S3.
Proceeding to 90, a process as a deceleration start position updating means for adding a rotation angle obtained by dividing 360 degrees by the number of divisions N to the deceleration start position RP and the stop position Stop, respectively, is executed.

When the deceleration start position RP and the stop position Stop are updated in S390, or when it is determined in S370 that the current rotational position GP has not reached the deceleration start position RP. Shifts to S400, and determines whether or not the motor 16 has made one rotation. If it is determined that the motor has not made one rotation, the motor control process is terminated as it is. If it is determined that the motor has made one rotation, in S410, the stop position Stop, the deceleration start position RP, and the detection command position are determined. CP and current rotational position G
P is corrected to coordinates corresponding to one rotation of the motor 16,
The motor control process ends.

On the other hand, if it is determined in S380 that a stop command has been output from the sequencer 28, the flow shifts to S420, where the operation instruction flag FS is set to "1", and then to S400. In other words, in the main routine and the motor control processing, when a start command is output from the sequencer 28 and the operation instruction flag FS is set to “0” in S160 of the main routine, the processing of S320 is performed in the motor control processing. Then, the operation of the motor 16 is started.

Then, by the processing of S340 to S360, the rotational position GP of the rotary shaft 16a is changed to the S in the main routine.
A detection command is output to the sequencer 28 when it reaches the detection command position CP calculated in 140 for the first time, and every time it rotates by an angle obtained by dividing 360 degrees by the number of divisions N thereafter. The sequencer 28 activates the pass / fail detection sensor 18 at the timing when the detection command is received, and outputs a stop command to the controller 26 when the detection result is defective.

Similarly, when the rotational position GP of the rotary shaft 16a first reaches the deceleration start position RP calculated in S130 of the main routine, and then 360 degrees are divided into N by the processing of S370 to S390. It is determined whether or not there is a stop command from the sequencer 28 every time the motor rotates by an angle divided by.
If the part 12 inspected in response to the detection command output at 0 is defective, the operation instruction flag FS is determined at S420.
Is set to "1", the deceleration of the motor 16 is started by the processing of S330, and the rotating shaft 16a is stopped at the stop position Stop set at that time.

When the motor 16 is completely stopped,
In S190 of the main routine, a discharge command is output to the sequencer 28, and the process of S200 is executed.
Thereafter, when the ejection of the component 12 is completed and the activation command is output again from the sequencer 28 (S210: YES), the same processing as described above is restarted.

Next, a method of using the controller 26 for controlling the motor 16 in such a component inspection apparatus and an operation state thereof will be specifically described with reference to FIGS. FIG. 6 illustrates a case where the pass / fail detection sensor 18 and the discharge device 20 are disposed in a 90-degree positional relationship, and the turret 14 is provided with a total of 16 holding grooves 14a. In other words, the distance from the position of the discharging device 20 to the position of the pass / fail detection sensor 18 corresponds to an interval of four components 12. In FIG. 6, the numbers (numbers in circles) given to the components 12 are, for convenience of explanation, the discharging devices 20.
The parts 12 that are currently stopped at the position of 0 are set to the 0th, and the parts 12 are sequentially numbered counterclockwise.
Furthermore, in the following description, the rotation position of the rotation shaft 16a is represented by an angular position with respect to the position of the 0th component. First, the angle (θ1 + θ2) shown in FIG.
The angle between the fourth component and the fifth component stopped at the position of the pass / fail detection sensor 18 as viewed from the surface component in the direction opposite to the rotation direction of the motor 16 (the direction of the arrow in FIG. 6). (In the case of this example, it is larger than 90 degrees and 112.5
Degrees or less) and the angle θ1 shown in FIG.
Is the angle between the first component and the second component as viewed from the component on the 0th surface in the direction opposite to the rotation direction of the motor 16 (in the case of this example, greater than 22.5 degrees and not more than 45 degrees) )
The constant rotation speed V, the acceleration time AT, and the deceleration time RT are input so that In addition, 16 is input as the number of divisions N, and an angle smaller than the angle of one component (22.5 degrees in this example) is input as the offset Δθ.

Then, as shown in FIG. 6, the position of the fifth component is calculated as the first stop position Stop1 in S120 of the main routine, and the position of the first component and the second component are determined in S130 of the main routine. The position between the first component and the third component is calculated as the first deceleration start position RP1. Also, in S140 of the main routine, the 0th component and 1
The position between the first and second components is calculated as the first detection command position CP1.

Thereafter, when the start switch of the sequencer 28 is turned on, a start command is output from the sequencer 28 to the controller 26 to start the operation of the motor 16, and when the first detection command position CP 1 comes to the position of the discharging device 20,
A detection command is output to sequencer 28. Then, the pass / fail detection sensor 18 detects pass / fail of the fifth component, and if the fifth component is not defective, a stop command is not output from the sequencer 28 to the controller 26. Therefore, S310 and S320 are performed in the motor control process. , S340 to S410
Are sequentially executed, and the detection command position CP and the stop position Sto
p and the deceleration start position RP are sequentially updated by an angle obtained by dividing 360 degrees by the division number N.

For example, when the third detection command position CP3 comes to the position of the discharge device 20 and a detection command is output to the sequencer 28 to inspect the seventh component,
If the seventh component is defective, a stop command is output from the sequencer 28 to the controller 26. Then, the third deceleration start position RP is set at the position of the discharge device 20.
When 3 arrives, "1" is set to the operation instruction flag FS in S420 of the motor control process, and thereafter, the process of S330 is executed instead of S320, and the motor 16 is controlled to decelerate.

When the third stop position Stop3, that is, the seventh part comes to the position of the discharge device 20, the motor 1
The rotation of 6 stops. Then, S18 of the main routine
0 is affirmatively determined, and the sequencer 28 is subsequently performed in S190.
Therefore, the ejection device 20 is operated by the sequencer 28, and the seventh component is ejected from the carrier tape 10. Then, when the ejection of the components is completed, the sequencer 28 outputs the start command again, the affirmative determination is made in S210 of the main routine, and the rotation of the motor 16 is restarted again.

As described above, the controller 26 of the present embodiment
According to this, the user sets the constant rotation speed V, the acceleration time AT, and the deceleration time RT, which are the operating conditions of the motor, in accordance with the relative position between the discharge device 20 and the pass / fail detection sensor 18 set at that time. By inputting the number (the number of divisions) N of the holding grooves 14 a provided in the turret 14, the motor 16 can be operated regardless of the positional relationship between the ejection device 20 and the pass / fail detection sensor 18 and the interval between the components 12. It can be controlled optimally.

According to the controller 26 of this embodiment, the turret 14 is directly rotated by the rotating shaft 16a of the motor 16, so that the defective product is accurately stopped at the position of the discharge device 20. It is possible,
Further, the inspection speed can be arbitrarily adjusted by the rotation speed of the motor 16.

Further, in the controller 26 of this embodiment, since the constant rotation speed V, the acceleration time AT, and the deceleration time RT, which are the operating conditions of the motor 16, are inputted, the component inspection using the device is performed. The setting according to the relative position between the discharge device 20 and the pass / fail detection sensor 18 can be performed in consideration of the speed of another process provided before and after the process.

On the other hand, in the controller 26 of the present embodiment, the rotational speed of the motor 16 is set to zero among the rotational positions advanced by a positive multiple of the rotational angle obtained by dividing 360 degrees by the number of divisions N from the current rotational position GP. When the rotation speed is increased to the constant rotation speed V and returned to zero again, the rotation shaft 16a can be stopped and the rotation position closest to the current rotation position GP is determined as the stop position St.
and an angle θ2 (= V · V) determined from a constant rotation speed V and a deceleration time RT from the stop position Stop.
The rotational position returned by RT / 2) is calculated as the deceleration start position RP.

Therefore, according to the controller 26 of this embodiment, the constant rotation speed V, the acceleration time AT, and the deceleration time RT
The angle (θ1 + θ2) shown in FIG. 5 is determined between the component stopped at the position of the pass / fail detection sensor 18 and the component immediately after it, as viewed from the component stopped at the position of the discharge device 20. If the constant rotation speed V, the acceleration time AT, and the deceleration time RT are input so as to be the angle to the position, the component after the component stopped at the position of the pass / fail detection sensor 18 (the next inspection). It is possible to set the deceleration start position RP for stopping the component) at the position of the discharge device 20 accurately.

Further, the controller 26 of this embodiment is configured so that the detection command position CP can be adjusted by inputting the offset Δθ through the input device 30. Therefore, according to the controller 26 of the present embodiment, after the detection command is output to the sequencer 28, the pass / fail detection sensor 18 is operated, and the sequencer 2
By inputting the offset Δθ according to the total delay time from when the stop command returns from 8, it is possible to set the inspection timing according to the system.

The controller 26 of the above embodiment operates the pass / fail detection sensor 18 via the sequencer 28 and determines whether or not there is a stop command from the sequencer 28.
Although the detection result of the quality detection sensor 18 is determined, the controller 26
May be directly operated to directly determine the detection result.

In the above embodiment, the input device 3
From 0, the number (division number) N of the holding grooves 14a provided in the turret 14 is input, and 360 degrees are divided by the division number N to obtain the rotation angle required to move the part 12 by one. However, this rotation angle is input to the input device 30.
Alternatively, it may be configured to input directly from.

[Brief description of the drawings]

FIG. 1 is a block diagram illustrating the configuration of the present invention.

FIG. 2 is a block diagram illustrating a configuration of a component inspection apparatus according to the embodiment.

FIG. 3 is a flowchart illustrating a main routine executed by the controller according to the embodiment.

FIG. 4 is a flowchart illustrating a motor control process executed by the controller according to the embodiment.

FIG. 5 is an explanatory diagram illustrating calculation of a stop position and a deceleration start position executed in a main routine.

FIG. 6 is an explanatory diagram illustrating the operation of the controller according to the embodiment.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 10 ... Carrier tape 12 ... Parts 14 ... Turret 14a ... Holding groove 16 ... Motor 16a ... Rotating shaft 18 ... Goodness detection sensor 20 ... Ejection device 26 ... Controller 28 ... Sequencer 30 ... Input device 32 ... CPU
34 ROM 36 RAM 38 Driver 40 Position detector

──────────────────────────────────────────────────続 き Continuation of the front page (51) Int.Cl. ⁶ Identification number Agency reference number FI Technical display location G05D 3/12 306 G05D 3/12 306G 306R 13/62 13/62 C

Claims (4)

(57) [Claims] 1. A holding member for holding a component to be inspected at equal intervals along a circumferential surface is fixed to a rotating shaft, and at two arbitrary positions around the holding member, the holding member is rotated by rotation of the holding member. For controlling a motor for a component inspection apparatus provided with a pass / fail detection means for detecting pass / fail of the passing part and a discharge means for discharging the part stopped from the holding member when the holding member stops. A position detecting means for detecting a current rotational position of the rotating shaft; and a constant rotation speed of the motor, an acceleration time until the rotation speed is increased from zero to the constant rotation speed, and a rotation speed. Input means for inputting deceleration time required for lowering from the constant rotation speed to zero and angle data representing a rotation angle of the rotation shaft required to move the component by one piece, respectively; Speed, acceleration time When the rotational speed of the motor is increased from zero to the constant rotational speed and returned to zero again based on the deceleration time, the current rotational position of the rotary shaft and the current rotational position of the rotary shaft, the rotational position of the rotary shaft at which deceleration is to be started is determined. The deceleration start position setting means for calculating and setting the rotation position as a deceleration start position, and adding the rotation angle represented by the angle data to the current rotation position of the rotary shaft, thereby starting the operation of the motor. After that, firstly, the rotational position of the rotary shaft on which the pass / fail detection means should be operated is calculated, the detection instruction position setting means for setting the rotational position as the detection instruction position, and the deceleration start position and the detection instruction position are set. After that, on the basis of the constant rotation speed and the acceleration time, starting operation means for operating the motor from the stopped state to the constant rotation speed; When the operation of the motor is started, it is determined whether or not the rotational position of the rotating shaft has reached the detection command position, and when it is determined that the detection command position has been reached, the pass / fail detection means is operated, Detection command position updating means for adding the rotation angle represented by the angle data to the detection command position to update the detection command position; and when the operation of the motor is started by the start-up operation means, the rotation of the rotary shaft It is determined whether or not the position has reached the deceleration start position, and if it is determined that the position has reached the deceleration start position, a result determination unit that determines a detection result of the pass / fail detection unit; If it is determined that the component is non-defective, a deceleration start position updating unit that updates the deceleration start position by adding the rotation angle represented by the angle data to the deceleration start position; If it is determined that the article, a motor control device for a component inspecting apparatus being characterized in that and a stop operation means for stopping the motor based on the deceleration time. 2. The control device for a motor for a parts inspection device according to claim 1, wherein the deceleration start position setting means multiplies a rotation angle represented by the angle data by a positive number from a current rotation position of the rotation shaft. Of the rotational position advanced by an angle,
When increasing the rotation speed of the motor from zero to the constant rotation speed and returning it to zero again, the rotation shaft can be stopped and the rotation position closest to the current rotation position is determined based on the acceleration time and the deceleration time. A motor control device for a component inspection device, wherein a rotation position calculated and returned from the rotation position by a rotation angle determined by the constant rotation speed and the deceleration time is set as the deceleration start position. 3. The control device for a motor for a component inspection device according to claim 1, wherein said input means is configured to be capable of inputting an adjustment angle of said detection command position, and said detection command position setting means. Setting the detection command position by adding or subtracting the input adjustment angle to or from the calculated rotation position. 4. The control device for a motor for a component inspection apparatus according to claim 1, wherein the input means is configured to be capable of inputting the number of holding portions provided on the holding member. And an angle calculating means for calculating a rotation angle of the rotation shaft required to move the part by one by dividing 360 degrees by the number of the input holding parts. Control device for the motor for the parts inspection device.