JP4158086B2 - Positioning operation device and its origin setting method - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a positioning operation device that performs a positioning operation of an object to be operated by a pulse motor or an encoder-mounted motor, and particularly relates to an origin setting method for the positioning operation device.
[0002]
[Prior art]
2. Description of the Related Art Positioning operation devices that position an object to be operated by a pulse motor (stepping motor) or an encoder-mounted motor are known. Since the rotation angle of a pulse motor is proportional to the number of input pulses, counting the number of input pulses makes it possible to accurately position the operated object while recognizing the current position of the operated object. The encoder-equipped motor outputs a number of detection pulses proportional to the rotation angle, so if the detection pulses are counted, it is possible to accurately position the operated body while recognizing the current position of the operated body. In either case, however, it is necessary to set an origin as a reference for positioning operation control in advance.
Conventionally, the above origin setting is normally executed at the time of system startup immediately after power-on or immediately after a reset operation, and the origin setting is performed according to the following procedure.
(1) The positioning motor is driven in a predetermined direction in response to system activation, and the operated body is moved toward the origin (usually the stroke end of the operated body).
(2) The origin return of the operated body is detected by the origin detection switch provided at the origin position.
(3) The detected current position is set as the origin (stepping reference point).
[0003]
However, according to the above-described conventional origin setting method, since the operated body is actually returned to the origin, the initialization operation stroke and the initialization operation time are greatly different depending on the initial position of the operated body. When is the stroke end on the opposite side of the origin, the initialization stroke is full stroke.In addition, if the actuated object is stopped midway (middle), it is moved further to the stroke start point. There is a disadvantage that it takes time to set the origin.
[0004]
[Problems to be solved by the invention]
The present invention was devised to eliminate the above-described problems, and drives and controls a positioning motor while recognizing the current position of an object to be driven based on the origin set at the time of initialization. However, it is now possible to set the origin simply by moving the operated body for a specified stroke without actually returning the operated body to the origin, and as a result, the time required for origin setting is shortened and the normal control state is reached. It is an object of the present invention to provide a positioning operation device and a method for setting the origin of the positioning operation device that can quickly make a transition to (1).
[0005]
[Means for Solving the Problems]
  In order to solve the above-described problems, a positioning operation device according to the present invention includes a positioning motor including a pulse motor or an encoder-mounted motor, an object to be positioned by the positioning motor, and an operating position of the object to be operated. A positioning operation device comprising: a position sensor that changes an output signal; and a positioning operation control unit that drives and controls the positioning motor while recognizing the current position of the operated body based on an origin set at initialization. , An initialization driving means for driving the positioning motor in a predetermined direction at the time of system startup, and an output signal of the position sensor every time the positioning motor is driven at a predetermined angle, triggered by an output change of the position sensor during the initialization driving. Sensor signal sampling means for sampling, and Comprising a position recognizer to recognize a current position based on a change pattern of sampling signals, the origin setting means for setting the origin based on the recognized current positionWith  The actuated body has a selection groove for selecting an operation position formed in a substantially fan shape with a predetermined arc angle, and is configured to be rotatable so as to detect the output change through the selection groove, The signal sampling means counts the motor drive pulse for a predetermined angle to perform the centering operation of the selected groove, triggered by the output change, and then samples the output signal.It is characterized by this.
  Further, in order to solve the above problems, the origin setting method of the positioning operation device according to the present invention includes a positioning motor composed of a pulse motor or an encoder-mounted motor, an operating body that is positioned by the positioning motor, and the operating body A positioning sensor that changes the output signal in accordance with the operation of the positioning unit and a positioning operation control unit that drives and controls the positioning motor while recognizing the current position of the operated body based on the origin set at the time of initialization. An origin setting method for an operating device, wherein the positioning motor is driven at a predetermined angle, triggered by an initialization driving step of driving the positioning motor in a predetermined direction when the system is started, and an output change of the position sensor during the initialization driving. The output signal of the position sensor is sampled every time Comprising a sensor signal sampling process, the current position recognizing process for recognizing a current position based on a change pattern of the sampling signal, the origin setting step of setting the origin based on the recognized current positionIn addition, the driven body has a selection groove for selecting an operation position formed in a substantially fan shape with a predetermined arc angle, and is configured to be rotatable so as to detect the output change through the selection groove. In the sensor signal sampling step, the output signal is sampled after counting a motor drive pulse for a predetermined angle to perform the centering operation of the selected groove, triggered by the output change.It is characterized by this.
[0006]
DETAILED DESCRIPTION OF THE INVENTION
DESCRIPTION OF EMBODIMENTS Hereinafter, an air supply switching device illustrating an embodiment of the present invention as a preferred embodiment will be described in detail with reference to the drawings. FIG. 1 is a block diagram showing the overall configuration of the air supply switching device. As shown in this figure, the air supply switching device (positioning operation device) is a rotary device that switches the pump 1 for sending air (fluid) and the destinations of air sent from the pump 1 to four systems A to D. A valve (operated body) 2, a pulse motor (positioning motor) 4 for operating the rotary valve 2 via a speed reducer 3, and a control board (positioning operation control unit) 5 for performing drive control of the pulse motor 4 and the like. And a pressure sensor (position sensor) 6 for detecting an air pressure between the pump 1 and the rotary valve 2.
[0007]
FIG. 2 is a bottom view showing the distribution part of the rotary valve, and FIG. 3 is a plan view showing the rotating part of the rotary valve. As shown in these drawings, the rotary valve 2 includes a distribution portion 9 provided with four air supply ports 7A to 7D and one pump connection port 8 projecting, and a rotation rotatable with respect to the distribution portion 9. The rotating unit 10 is positioned by the pulse motor 4. Four switching positions A to D are set in the rotating unit 10, and the pump connection port 8 is selectively communicated to the air supply ports 7A to 7D at each switching position A to D. That is, on the rotating portion facing surface of the distributing portion 9, five communication holes 9 a to 9 e communicating with the air supply ports 7 A to 7 D and the pump connecting port 8 are formed, respectively, while on the distributing portion facing surface of the rotating portion 10. Are selectively connected to each of the communication holes 9a to 9d (air supply ports 7A to 7D) according to the rotation of the rotating portion 10 and the circular continuous communication groove 10a that always communicates with the communication hole 9e (pump connection port 8). The substantially fan-shaped selective communication groove 10b (fan angle 30 °) communicating with each other is formed so as to communicate with each other. The communication holes 9a to 9d communicating with the air supply ports 7A to 7D are arranged on the rotation trajectory of the selected communication groove 10b so that the intervals are not uniform. For example, in this embodiment, the communication holes 9a to 9d communicate with the communication hole 9a. 60 ° between the hole 9b, 60 ° between the communication hole 9b and the communication hole 9c, 120 ° between the communication hole 9c and the communication hole 9d, and 120 ° between the communication hole 9d and the communication hole 9a. Set to Note that the number of air supply ports and the angle setting thereof are arbitrarily set depending on the use and type of the rotary valve to be used.
[0008]
The pressure sensor 6 is originally an external sensor provided to detect the pressures of the A to D systems, but in this embodiment, the output signal of the pressure sensor 6 changes according to the operating position of the rotary valve 2. In consideration of the above, the origin of the positioning operation control is set by using the signal instead of the positioning sensor. That is, when the pulse motor 4 is driven at a constant speed in a predetermined direction, as shown in FIG. 4, the output signal of the pressure sensor 6 is low level at each switching position A to D (air supply position) of the rotary valve 2 ( L) and becomes a high level (H) between the switching positions A to D (air supply stop position). The origin setting described later is performed using this signal change. A preset level determination threshold is used for level determination (L, H) of the pressure sensor 6 that is an analog signal.
[0009]
The pulse motor 4 is configured such that the rotation angle is proportional to the number of input pulses and the rotation speed is proportional to the frequency of the input pulses. In the positioning operation of the rotary valve 2 by the pulse motor 4, the current position of the rotary valve 2 (rotating unit 10) can be recognized by counting the number of input pulses of the pulse motor 4. Be the standard. In this embodiment, the pulse motor 4 is employed as the positioning motor, but an encoder-mounted motor equipped with a rotary encoder (rotation angle detection sensor) can also be employed. That is, since the encoder-equipped motor outputs a number of detection pulses proportional to the rotation angle, the current position of the rotary valve 2 can be recognized by counting the detection pulses.
[0010]
The control board 5 includes a pressure sensor 6, a microcomputer 11 that inputs a detection signal of the pressure sensor 6, and a pump on / off circuit that switches the driving state of the pump 1 in accordance with a pump ON / OFF signal output from the microcomputer 11. 12 and a motor drive circuit 13 for driving the pulse motor 4 in accordance with the motor drive pulse output from the microcomputer 11. Furthermore, the microcomputer 11 includes a main control unit (including a CPU, a ROM, a RAM, and the like) 14, an A / D conversion circuit 15 that performs analog / digital conversion on the detection signal of the pressure sensor 6, and inputs the converted signal to the main control unit 14; In response to an operation command output from the main control unit 14, a sequence controller 16 that outputs a motor drive pulse having a preset pattern to the motor drive circuit 13 and a motor drive pulse output from the sequence controller 16 are counted. And a pulse counter 17 for inputting to the microcomputer 11, and drive control of the pump 1 and the pulse motor 4 is performed according to a program stored in the ROM of the main control unit 14.
[0011]
FIG. 5 is a flowchart showing a control procedure of the main control unit in the air supply switching device. As shown in this figure, the main control unit 14 performs setting of the origin (switching position A) (S1 to S14) as initialization processing at the time of system startup, and then, based on a preset pattern, the pump 1 and The pulse motor 4 is driven and controlled (S15). Hereinafter, the procedure for setting the origin, which is the main part of the present invention, will be described in detail. When the system is started, first, the pump 1 is forcibly turned on (S1), and the pulse motor 4 is driven in a predetermined direction at a constant speed (S2: initialization drive step). In this state, the detection signal of the pressure sensor 6 is input (S3), and the change of the detected pressure P from H (high level) to L (low level) is determined (S4). If this determination is YES, the motor drive pulse corresponding to 15 ° is counted (S5: centering operation of the switching position), and then the detected pressure P1 (H / L signal) is sampled and stored in the memory (S6: sensor) Signal sampling step). Thereafter, each time the motor driving pulse corresponding to 60 ° is counted (S7, S9, S11), the detected pressures P2, P3, P4 are sampled and stored in the memory (S8, S10, S12: sensor signal sampling). Process). After sampling the four pressure signals P1 to P4, the current position of the rotary valve 2 is determined based on the combination pattern of these H / L (S13: current position recognition step), and then based on the determined current position. The origin for motor control is set (S14: origin setting step). That is, as shown in FIG. 6, when the starting point of sampling is the switching position A, the change pattern of the sampling data is “LLLLH”, so that the current position is determined to be intermediate between the switching positions C and D. Then, the position 180 ° before the current position is set as the origin A. When the starting point of sampling is the switching position B, the change pattern of the sampling data is “LLHL”. Therefore, it is determined that the current position is the switching position D, and the position 240 ° before the current position is set to the origin A. Set as. When the sampling starting point is the switching position C, the change pattern of the sampling data is “LHLH”, so that the current position is determined to be intermediate between the switching positions D and A, and 300 ° before the current position. Is set as the origin A. Further, when the sampling start point is the switching position D, the change pattern of the sampling data is “LHLL”, so it is determined that the current position is the switching position B, and 420 ° (60 °) before the current position. The position is set as the original A point. Thereby, the origin setting is completed without causing the rotary valve 2 to perform a full stroke operation, and it is possible to quickly shift to the normal control (S15).
[0012]
  In the first embodiment of the present invention configured as described above, the air supply switching device sets the origin for recognizing the current position of the rotary valve 2 when positioning the rotary valve 2 by driving the pulse motor 4. Do. This origin setting is triggered by the initialization drive step (S2) for driving the pulse motor 4 in a predetermined direction when the system is started and the output change (H → L) of the pressure sensor 6 during the initialization drive. A sensor signal sampling step (S6, S8, S10, S12) for sampling the output signals (P1 to P4) of the pressure sensor 6 every time the angle (corresponding to 60 ° with the rotation angle of the rotary valve 2) is driven, and the sampling signal A current position recognition step (S13) for recognizing the current position based on the change pattern and an origin setting step (S14) for setting the origin based on the recognized current position are performed.At that time, a change in the output of the pressure sensor 6 during the initialization driving is detected through the selection groove 10b having a circular arc angle of 30 ° of the rotary valve 2 (rotating unit 10) configured to be rotatable. In the initialization driving process, this change is detected. Triggered by the output change due to the detection, after counting the motor drive pulses for a predetermined angle (15 °) to perform the centering operation of the selection groove 10b (30 °), the output signals (P1 to P4) are sampled. Then, the pulse motor 4 is driven at a predetermined angle.In other words, when setting the origin of positioning operation control, it is possible to set the origin simply by operating the rotary valve 2 by a predetermined stroke without actually returning the origin, and as a result, the time required for origin setting is shortened. Can quickly move to the normal control state.In addition, each positioning position (communication holes 9a to 9d) on the rotation locus of the selection groove 10b can be arbitrarily set in number and angle, and the selection groove 10b has an arc angle (30 °). Output signal (P1 to P4) that should be set at the origin in a state in which proper alignment that communicates with each positioning position (communication holes 9a to 9d) is maintained even after the center alignment operation. Sampling). Moreover, the pressure sensor 6 is an external sensor that is originally provided for purposes other than the origin setting, and is also used (substitute) as the origin setting detection means of the pulse motor 4, so that a dedicated position sensor is provided. Compared to the above, the number of parts can be reduced and the cost can be reduced. For example, when a dedicated position sensor is provided, the origin sensor is attached to the output shaft of the reducer. In this case, a magnetic sensor or the like is attached to the fixed part of the reducer, and a magnet or the like is provided to the output shaft. Become. Then, the configuration between the reducer and the valve becomes complicated, the number of parts increases, and the whole cannot be designed to be small and compact, and increasing the number of sensors unnecessarily reduces the reliability. It becomes a factor. Therefore, by using the pressure sensor 6 together with the origin setting detection means, the reliability of the air supply switching device can be improved, and there is an advantage that such problems can be eliminated.
[0013]
Hereinafter, a reagent injection device illustrating an embodiment of the present invention as a preferred embodiment will be described in detail with reference to the drawings. (However, a detailed description of the configuration common to the above embodiment is omitted.) FIG. 7 is a front view showing a drive mechanism of the reagent injection device, and FIG. 8 is a block diagram showing a control system of the reagent injection device. It is. As shown in these drawings, the reagent injection device (positioning operation device) is engaged with a movable element 101 (an object to be operated) provided with an injection nozzle (not shown), and is screwed into the movable element 101 and rotated. In accordance with the helical feed shaft 102 for laterally feeding the movable element 101, a pulse motor 103 for positioning the movable element 101 in four injection positions A to D by the rotational drive of the helical feed shaft 102, A control board (positioning operation control unit) 104 that performs drive control and the like, a stator 105 arranged in parallel above the spiral feed shaft 102, and a slit provided at a predetermined position of the stator 105 provided on the mover 101. Reflective photosensors (position sensors) 106 that detect the portions 105a to 105c and the front end position of the stator 105, and detect the limit position (EL) of the mover 101. Constructed and a photosensor 107 for reflective limit to.
[0014]
The slit portions 105a to 105c are formed between the injection positions AB, between the injection positions BC, and between the injection positions CD. The formation intervals of the slit portions 105a to 105c in the stator 105 are set to be equal with reference to the left end (sampling start position) of each of the slit portions 105a to 105c. The width dimensions of the slit portions 105a to 105c are respectively For example, in this embodiment, the slit portion 105a is set to a width of 1 mm, the slit portion 105b is set to a width of 2 mm, and the slit portion 105c is set to a width of 3 mm. In addition, you may provide a convex plate (convex part) in the stator 105 instead of the slit parts 105a-105c, and in this case, the detection signal (H / L) of the photosensor 106 is inverted. The photosensors 106 and 107 may be of a transmissive type, and in this case, the detection signal (H / L) is inverted.
[0015]
The control board 104 includes a microcomputer 108 for inputting detection signals of the photosensors 106 and 107, and a motor drive circuit 109 for driving the pulse motor 103 in accordance with a motor drive pulse output from the microcomputer 108. The Further, the microcomputer 108 outputs a motor drive pulse having a preset pattern in accordance with an operation command output from the main control unit (including a CPU, ROM, RAM, etc.) 110 and the main control unit 110. And a pulse counter 112 that counts the motor drive pulses output from the sequence controller 111 and inputs the pulses to the microcomputer 108. The pulses are determined according to a program stored in the ROM of the main control unit 110. Drive control of the motor 103 is performed.
[0016]
FIG. 9 is a flowchart showing a control procedure of the main control unit in the reagent injection device. As shown in this figure, the main control unit 110 performs origin setting (S101 to S111) as initialization processing at the time of system startup, and then drives and controls the pulse motor 103 based on a preset pattern ( S112). Hereinafter, the procedure for setting the origin, which is the main part of the present invention, will be described in detail. When the system is activated, first, the signal change of the photosensors 106 and 107 is determined while driving the pulse motor 103 in a predetermined direction at a constant speed (S101: initialization drive process) (S102 and S103). Here, when the EL signal of the limit photosensor 107 is input, the current position is immediately determined (S110), and the origin is set (S111). On the other hand, when it is determined that the photosensor 106 has changed from H (high level) to L (low level), the motor drive pulse corresponding to 0.5 mm (moving element movement amount) is counted (S104), and then the photosensor The detection signal (H / L signal) 106 is sampled and stored in the memory as data D1 (S105: sensor signal sampling step). Thereafter, each time the motor driving pulse corresponding to 1 mm is counted (S106, S108), the detection signal of the photosensor 106 is sampled and stored in the memory as data D2, D3 (S107, S109: sensor signal sampling step). . After sampling the three data D1 to D3, the current position of the mover 101 is determined based on the combination pattern of H / L (S110: current position recognition step), and then based on the determined current position. An origin for motor control is set (S111: origin setting step). That is, when the starting point of sampling is the slit portion 105a, the change pattern of the sampling data becomes “LHH” due to the slit width, so that it is determined that the current position is between the injection positions A and B. Set the origin based on. When the sampling starting point is the slit portion 105b, the change pattern of the sampling data is “LLH” due to the slit width, so that it is determined that the current position is between the injection positions BC, and this current position Set the origin based on. Further, when the starting point of sampling is the slit portion 105c, since the change pattern of the sampling data is “LLL” due to the slit width, it is determined that the current position is between the injection positions CD, and this current position Set the origin based on. Thereby, the origin setting is completed without causing the mover 101 to perform a full stroke operation, and it is possible to quickly shift to the normal control (S112).
[0017]
In the second embodiment of the present invention configured as described above, the reagent injection device performs origin setting for recognizing the current position of the mover 101 when positioning the mover 101 by driving the pulse motor 103. . This origin setting is triggered by the initialization drive process (S101) for driving the pulse motor 103 in a predetermined direction when the system is started, and the output change of the photosensor 106 during the initialization drive. The sensor signal sampling step (S105, S107, S109) for sampling the output signal of the photo sensor 106 every time it is driven, and the current position recognition for recognizing the current position based on the change pattern of the sampling signal A step (S110) and an origin setting step (S111) for setting the origin based on the recognized current position are performed. In other words, when setting the origin, the origin can be set only by operating the movable element 101 for a predetermined stroke without actually returning the origin to the origin, and as a result, the time required for the origin setting can be shortened. The transition to the normal control state can be performed quickly.
[0018]
【The invention's effect】
  The present invention is configured as described above, so that the positioning motor is driven and controlled while recognizing the current position of the driven body based on the origin set at the time of initialization. Without returning to the origin, the origin can be set by simply moving the target object for a specified stroke.As a result, the time required for the origin setting can be shortened and the transition to the normal control state can be performed quickly. CanIn addition, the number and angle of each positioning position on the rotation locus of the selected groove can be arbitrarily set, and the selected groove is within the arc angle range after the centering operation. However, it is possible to perform sampling of the output signal to be set at the origin while maintaining proper alignment with each positioning position..
[Brief description of the drawings]
FIG. 1 is a block diagram showing an overall configuration of an air supply switching device.
FIG. 2 is a bottom view showing a distributor of a rotary valve.
FIG. 3 is a plan view showing a rotary part of a rotary valve.
FIG. 4 is a waveform diagram showing an output waveform of a pressure sensor.
FIG. 5 is a flowchart showing a control procedure of a main control unit in the air supply switching device.
FIG. 6 is an explanatory diagram showing a relationship between sampling data and a current position.
FIG. 7 is a front view showing a drive mechanism of the reagent injection device.
FIG. 8 is a block diagram showing a control system of the reagent injection device.
FIG. 9 is a flowchart showing a control procedure of a main control unit in the reagent injection device.
[Explanation of symbols]
1 pump
2 Rotary valve
3 Reducer
4 Pulse motor
5 Control board
6 Pressure sensor
7A-7D air supply ports
8 Pump connection port
9 Distribution Department
9a-9e communication hole
10 Rotating part
10a Continuous communication groove
10b Selective communication groove
11 Microcomputer
12 Pump on / off circuit
13 Motor drive circuit
14 Main controller
15 A / D converter circuit
16 Sequence controller
17 Pulse counter
101 Movable element
102 Spiral feed axis
103 pulse motor
104 Control board
105 Stator
105a-105c slit part
106 Photosensor
107 Photosensor for limit
108 Microcomputer
109 Motor drive circuit
110 Main control unit
111 Sequence controller
112 pulse counter

Claims (4)

A positioning motor consisting of a pulse motor or an encoder-mounted motor;
An object to be positioned by the positioning motor;
A position sensor whose output signal changes in accordance with the operating position of the object to be operated;
A positioning operation device including a positioning operation control unit that drives and controls the positioning motor while recognizing a current position of the operated body based on an origin set at initialization;
Initialization driving means for driving the positioning motor in a predetermined direction at the time of system startup;
Sensor signal sampling means for sampling the output signal of the position sensor every time the positioning motor is driven at a predetermined angle, triggered by the output change of the position sensor during the initialization drive,
Current position recognition means for recognizing a current position based on the change pattern of the sampling signal;
And origin setting means for setting the origin based on the recognized current position ,
The actuated body has a selection groove for selecting an operation position formed in a substantially fan shape with a predetermined arc angle, and is configured to be rotatable so as to detect the output change through the selection groove,
The sensor signal sampling means samples the output signal after counting a motor drive pulse for a predetermined angle to perform the centering operation of the selection groove, triggered by the output change. .   In Claim 1, The said to-be-operated body is a rotary valve which switches the destination of the fluid pumped from a pump, The said position sensor is a pressure sensor interposed between a pump and a rotary valve, It is characterized by the above-mentioned. Positioning device.   3. The positioning operation device according to claim 2, wherein the rotary valve has a plurality of switching positions and is set so that the operating angles between the switching positions are not equal. A positioning motor consisting of a pulse motor or an encoder-mounted motor;
An object to be positioned by the positioning motor;
A position sensor whose output signal changes in accordance with the operating position of the object to be operated;
A positioning operation device origin setting method comprising: a positioning operation control unit that drives and controls the positioning motor while recognizing the current position of the object to be operated based on the origin set at initialization,
An initialization driving step of driving the positioning motor in a predetermined direction at the time of system startup;
A sensor signal sampling step that samples the output signal of the position sensor every time the positioning motor is driven by a predetermined angle, triggered by the output change of the position sensor during the initialization drive,
A current position recognition step for recognizing a current position based on a change pattern of the sampling signal;
An origin setting step for setting the origin based on the recognized current position ,
The operated body has a selection groove for selecting an operation position formed in a substantially fan shape at a predetermined arc angle, and is configured to be rotatable so as to detect the output change through the selection groove.
In the sensor signal sampling step, the output signal is sampled after counting a motor drive pulse for a predetermined angle to perform the centering operation of the selection groove, triggered by the output change. Origin setting method.

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