JP6092701B2 - Two-axis synchronous drive device and two-axis synchronous drive method - Google Patents

Description

  The disclosed embodiments relate to a two-axis synchronous drive device and a two-axis synchronous drive method that drive two drive shafts in synchronization with each other.

  In the two-axis synchronous drive device described in Patent Document 1, a predetermined control amount is calculated from the current position of one of the two drive shafts and the current position of the other drive shaft, and the calculated control amount. Is added to the control amount of the one drive shaft. Thereby, it is intended to reduce the positional deviation between the two drive shafts with certainty.

Japanese Patent Laid-Open No. 10-143215

  In the technique described in Patent Document 1, for example, driving generated on one drive shaft is corrected by correcting the control amount of the command to one drive shaft of two drive shafts driven by a common command. The delay is corrected and alignment with the drive shaft on the other side is performed. However, even if such synchronous control for alignment is performed, a drive resistance occurs for some reason on the drive object of each drive shaft, and as a result, a difference occurs between the operation positions of the two drive objects. There is. In such a case, it is difficult to operate the two driving objects equally.

  An object of the present invention is to provide a two-axis synchronization capable of operating each driving object evenly even when there is a difference in the operating position of the driving object between the two driving shafts due to the generation of the driving resistance. A driving device and a two-axis synchronous driving method are provided.

  In order to solve the above-described problem, according to one aspect of the present invention, a first motor for driving the first drive shaft and a second motor for driving the second drive shaft are provided. In the two-axis synchronous drive device that drives and controls the first motor and the second motor in synchronization, the drive position of the first motor and the drive position of the second motor do not deviate from a predetermined range. A two-axis synchronous drive device having control means for controlling the drive speed of the first drive shaft or the drive speed of the second drive shaft is applied.

  The two-axis synchronous drive device according to the present application includes two motors, that is, a first motor and a second motor, and drives and controls the first and second motors in synchronization with each other. The first motor drives the first drive shaft, and the second motor drives the second drive shaft. At this time, the drive speeds of the first drive shaft and the second drive shaft are controlled by the control means. At that time, the control means controls the drive speed so that the drive position of the first motor and the drive position of the second motor do not deviate from a predetermined range. Thereby, even if it is a case where a drive resistance arises in one drive object among the drive objects of each of the first drive shaft and the second drive shaft and a difference occurs in the operation position of the two drive objects, The difference between the operation positions can be eliminated, and both the driving objects can be operated equally.

  Preferably, the control means decelerates or stops the drive of one of the first motor and the second motor, the drive position of which is advanced.

  Thereby, even if it is a case where the operation position of one drive object precedes the operation position of the other drive object among the drive objects of each of the first drive shaft and the second drive shaft. It is possible to catch up the subsequent drive object that is delayed with respect to the drive object, and to make the operation positions of both the drive objects substantially the same.

  Preferably, the control means stops driving one of the first motor and the second motor whose driving position is advanced and continues driving the other motor whose driving position is delayed. .

  Thereby, even if it is a case where the operation position of one drive object precedes the operation position of the other drive object among the drive objects of each of the first drive shaft and the second drive shaft. It is possible to quickly and surely follow the subsequent driving object that is delayed with respect to the driving object, and to make the operating positions of both the driving objects substantially the same.

  Preferably, the control means accelerates driving of the other motor of which the driving position is delayed among the first motor and the second motor.

  Preferably, command generating means for generating a position command common to the first motor and the second motor, command paying means for sequentially paying out the position commands generated by the position command generating means, and the first motor A first detector that is mechanically coupled to the second motor and detects an actual driving position of the first motor; and a second detector that is mechanically coupled to the second motor and detects the actual driving position of the second motor. The control means inputs the position command delivered from the command delivery means and the actual driving position of the first motor detected by the first detector, and corresponds to the control amount of the position command. First motor control means for controlling the driving of the first motor based on a first position deviation between the first target driving position of the first motor and the inputted actual driving position of the first motor; From the command payout means The input position command and the actual drive position of the second motor detected by the second detector are input, and the second target drive position of the second motor corresponding to the control amount of the position command is input. And a second motor control means for controlling the driving of the second motor based on a second positional deviation between the input actual driving position of the second motor and the first detector detected by the first detector. A relative deviation calculating means for calculating a relative deviation between an actual driving position of one motor and an actual driving position of the second motor detected by the second detector; and the relative calculated by the relative deviation calculating means. A determination unit that determines whether or not a deviation is equal to or greater than a predetermined threshold value, and when the determination unit determines that the relative deviation is less than the threshold value, the position command is issued. Executed by the determination means If the difference is determined to the be equal to or greater than the threshold value, to stop the payout of the position command, and a payout control means for controlling said command dispensing means.

  The two-axis synchronous drive device according to the present application includes first motor control means for controlling the drive of the first motor and second motor control means for controlling the drive of the second motor. In order to drive and control the first and second motors in synchronization with each other, a position command common to these two motors is used. When the command generating means generates the common position command, the generated position instructions are sequentially paid out by the command paying means. The dispensed position command is sequentially input to each of the first motor control means and the second motor control means.

  At this time, the actual drive position of the first motor is detected by the first detector. Based on the detection result, the first motor control means makes the actual drive position of the first motor approach the first target drive position corresponding to the control amount of the input common position command (in other words, the first motor drive means). Feedback control is performed so that the positional deviation becomes zero. Similarly, based on the detection result of the second detector, the second motor control means approaches the actual drive position of the second motor to the second target drive position corresponding to the control amount of the input common position command. As described above (in other words, the second positional deviation is zero), feedback control is performed.

  Here, among the driving object of the first driving shaft driven by the first motor and the driving object of the second driving shaft driven by the second motor, a driving resistance is generated in one of the driving objects. Consider a case in which there is a difference in the operating position of two driven objects. In that case, a difference also occurs between the actual driving position of the first motor and the actual driving position of the second motor, corresponding to the difference in the operating position of the two driving objects. In the fifth invention of the present application, the difference between the actual driving position of the first motor and the actual driving position of the second motor is calculated by the relative deviation calculating means, and the calculated difference is not less than a predetermined threshold value. Whether or not there is is determined by the determination means.

  At this time, until the drive resistance is generated, there is no significant difference between the actual drive positions of the first motor and the second motor, and the determination of the determination means is not satisfied. Therefore, the payout of the position command from the command payout means is continued as it is under the control of the payout control means. On the other hand, if a relatively large difference occurs between the actual drive position of the first motor and the actual drive position of the second motor as described above due to the generation of the drive resistance, the determination of the determination means is satisfied. As a result, the payout of the position command from the command payout means is stopped and interrupted by the control of the payout control means. When the delivery of the position command is stopped, the control value of the position command input to each of the first motor control means and the second motor control means becomes zero. As a result, each motor control means controls each motor so that the position deviation remaining at that time becomes zero, and when the remaining position deviation becomes zero, the driving of each motor is stopped.

  However, at the time when the operation is interrupted, the operation position of one drive object is ahead of the operation position of the other drive object in accordance with the difference between the operation positions of the two drive objects described above. become. As described above, a common position command (that is, a command having the same value) is input to the first motor control unit and the second motor control unit until just before the interruption. Based on this, the first motor control means and the second motor control means control the first motor and the second motor, respectively. As a result, the actual driving position of the motor related to the preceding driving object (hereinafter referred to as “preceding motor” as appropriate) is relatively close to the target driving position based on the common position command, and the position deviation is relatively small. . On the other hand, the actual driving position of the motor related to the delayed driving object (hereinafter referred to as “following motor” as appropriate) is relatively far from the target driving position based on the common position command, and the position deviation is relatively large. It has become.

  Accordingly, after the interruption, if drive control is continued for the preceding motor and the succeeding motor so that the remaining position deviations are both zero as described above, the position deviation of the preceding motor is first determined. After the drive control is completed to 0 (ie, the motor is stopped), the position deviation of the subsequent motor is subsequently changed to 0 and the drive control is terminated (ie, the motor is stopped). Thereby, the drive position of a preceding motor and the drive position of a subsequent motor can be made to correspond. Since the determination by the determination means is not satisfied by the coincidence of the drive positions, the position command payout from the command payout means is resumed by the control of the payout control means. As a result, the two motors can resume driving in the form in which the driving positions coincide with each other, and the operating positions of the two driving objects can be aligned.

  As described above, even when a driving resistance is generated in one of the two driving objects and a difference occurs in the operating position, the difference in the operating position is surely eliminated, and both the driving objects are removed. It can be operated evenly.

  Preferably, the first motor control means inputs the position command and the actual drive position of the first motor, calculates the first position deviation, and corresponds to the calculated first position deviation. A first deviation counter that outputs one speed command, and a first motor drive circuit that controls driving of the first motor based on the first speed command output from the first deviation counter, The second motor control means inputs the position command and the actual drive position of the second motor, calculates the second position deviation, and outputs a second speed command corresponding to the calculated second position deviation. A second deviation counter for outputting, and a second motor driving circuit for controlling the driving of the second motor based on the second speed command outputted from the second deviation counter.

  As described above, in the state where the operation position of one drive object precedes the operation position of the other drive object, the delivery of the common position command is interrupted. At this time, in the sixth invention of the present application, among the first motor driving circuit and the second motor driving circuit, the position deviation calculated by the deviation counter (first deviation counter or second deviation counter) is calculated in the driving circuit related to the preceding motor. (The first position deviation or the second position deviation) is relatively small. On the other hand, in the drive circuit related to the subsequent motor, the position deviation (second position deviation or first position deviation) calculated by the deviation counter (second deviation counter or first deviation counter) is relatively large.

  After the interruption, the drive control is continued for the preceding motor and the succeeding motor, so that the positional deviation in the motor driving circuit related to the preceding motor becomes zero, and the corresponding motor driving circuit (first The motor (first motor or second motor) is stopped by the control of the motor drive circuit or the second motor drive circuit. Thereafter, the positional deviation in the motor drive circuit related to the subsequent motor becomes 0 later, and the motor (second motor or first motor) is controlled by the control of the corresponding motor drive circuit (second motor drive circuit or first motor drive circuit). ) Stops. As a result, the driving position of the preceding motor and the driving position of the succeeding motor can be reliably matched.

  Preferably, the first drive shaft is provided with a first press-fit shaft having the same axis as the first drive shaft, and the second drive shaft is provided with the same axis as the second drive shaft and the second press-fit shaft. The first press-fit shaft provided on the first drive shaft and the second press-fit shaft provided on the second drive shaft are respectively provided in the first motor for press-fitting into the corresponding press-fit members. The first press-fit load and the second press-fit load in the axial direction are applied by the torque and the torque of the second motor.

  As a result, the first press-fit shaft is press-fitted into the press-fit member by the first press-fit load from the first drive shaft, and the second press-fit shaft is press-fitted into the press-fit member by the second press-fit load from the second drive shaft. Can be performed in synchronization with each other. Then, a press-fitting resistance (for example, a driving resistance) to the press-fitted member is generated on one of the first press-fitting shaft and the second press-fitting shaft for some reason, and the positions of the two press-fitting shafts (press-fitting height). Even if there is a difference between the two, it is possible to eliminate the difference and press-fit both press-fitting shafts evenly and simultaneously.

  In order to solve the above problems, according to another aspect of the present invention, a first motor for driving a first drive shaft and a second motor for driving a second drive shaft are synchronized with each other. In the two-axis synchronous drive method for controlling the drive, the drive speed of the first drive shaft, or the drive speed of the first motor so that the drive position of the first motor and the drive position of the second motor do not deviate from a predetermined range, or A two-axis synchronous drive method for controlling the drive speed of the second drive shaft is applied.

  According to the two-axis synchronous drive device and the two-axis synchronous drive method of the present invention, even if a difference occurs in the operation position of each of the two drive shafts due to the generation of the drive resistance, Can be operated evenly.

It is explanatory drawing showing an example of a processing apparatus used as the drive object of the biaxial synchronous drive device of one Embodiment. It is a block diagram showing the functional structure of the 2 axis | shaft synchronous drive device of one Embodiment. It is a flowchart showing an example of the control procedure performed by cooperation of a relative deviation calculation part, a determination part, a payout control part, and a position command output circuit. It is a block diagram showing the functional structure of the biaxial synchronous drive device in the modification which sets a press-fit load. It is a flowchart showing an example of the control procedure performed by cooperation of a relative deviation calculation part, a determination part, a payout control part, a position command output circuit, and a press-fit load determination circuit.

  Hereinafter, an embodiment will be described with reference to the drawings.

<Outline of processing apparatus>
FIG. 1 is an explanatory diagram illustrating an example of a processing device (a so-called press-fitting device in this example) that is a driving target of the two-axis synchronous driving device according to the present embodiment. In FIG. 1, the processing apparatus 1 includes a pair of bases 10 and 20, and a workpiece support 11 that supports a shaft W1 (corresponding to a first press-fit shaft) and a shaft W2 (corresponding to a second press-fit shaft) as workpieces. , 21 and the bases 10 and 20, respectively. The first drive shaft 12 and the second drive shaft 22 for moving the work support bases 11 and 21 back and forth in FIG. And first and second motors 14 and 24 (not shown in FIG. 1; see FIG. 2 to be described later) for driving the first and second drive shafts 12 and 22 forward and backward, respectively.

  The shaft W <b> 1 is provided with the same axis as the first drive shaft 12. The shaft W1 is pressed in the axial direction by the torque of the first motor 14 that acts from the work support 11 when the first motor 14 is driven and the work support 11 moves upward in FIG. It is press-fitted into the disk D (corresponding to the press-fit member) by a load (corresponding to the first press-fit load). Similarly, the shaft W <b> 2 is provided with the same axis as the second drive shaft 22. The shaft W2 is press-fitted in the axial direction by the torque of the second motor 24, which acts from the work support 21 when the second motor 24 is driven and the work support 21 moves upward in FIG. It is press-fitted into the disk D by a load (corresponding to the second press-fitting load).

  In the above configuration, in this example, the arrangement positions of the shafts W1 and W2 in the forward / backward direction (vertical direction in FIG. 1) are shifted with respect to the disk D. Correspondingly, before the press-fitting operation is started, the shafts W1 and W2 are respectively abutted against the positioning portions 13 and 23, thereby being positioned to the initial positions. Thereafter, the work support 11 via the first and second drive shafts 12 and 22 is controlled by synchronously controlling the driving of the first and second motors 14 and 24 by the two-axis synchronous drive device of the present embodiment described later. , 21 are controlled synchronously. Thereby, the shafts W1 and W2 can be press-fitted into the disc D and assembled.

<2-axis synchronous drive device>
FIG. 2 is a block diagram illustrating an example of a two-axis synchronous drive device according to the present embodiment. In FIG. 2, the biaxial synchronous drive device 100 includes a first motor 14 for driving the first drive shaft 12, a second motor 24 for driving the second drive shaft 22, and the first motor 14. A first detector 15 that detects the actual drive position of the first motor 14, a second detector 25 that is mechanically coupled to the second motor 24 and detects the actual drive position of the second motor 24, and a servo. An amplifier 2, a position command output circuit 8, a relative deviation calculation unit 5, a determination unit 6, and a payout control unit 7 are included.

  The position command output circuit 8 sequentially issues a command generation unit 3 that generates a position command common to the first motor 14 and the second motor 24, and a position command (for example, composed of a pulse train) generated by the position command generation unit 3. And a command payout unit 4 to be issued. The command generation unit 3 functions as a command generation unit in the present embodiment, and the command payout unit 4 functions as a command payout unit in the present embodiment.

  The servo amplifier 2 includes a first motor control unit 16 (corresponding to first motor control means) and a second motor control unit 26 (corresponding to first motor control means).

  The first motor control unit 16 includes a first deviation counter 17 and a first motor drive circuit 18. The first deviation counter 17 inputs the position command paid out from the command payout unit 4 and the actual drive position of the first motor 14 from the first detector 15. The first deviation counter 17 includes a target drive position (corresponding to the first target drive position) of the first motor 14 corresponding to the input control amount of the position command, and an actual value of the input first motor 14. A deviation (first position deviation) from the drive position is calculated. Further, the first deviation counter 17 outputs a speed command (first speed command) corresponding to the calculated first position deviation. The first motor drive circuit 18 controls the drive of the first motor 14 based on the first speed command output from the first deviation counter 17.

  The second motor control unit 26 includes a second deviation counter 27 and a second motor drive circuit 28. The second deviation counter 27 inputs the position command paid out from the command payout unit 4 and the actual drive position of the second motor 24 from the second detector 25. Then, the second deviation counter 27 includes a target drive position (corresponding to the second target drive position) of the second motor 24 corresponding to the input control amount of the position command, and an actual value of the input second motor 14. A deviation (second position deviation) from the drive position is calculated. Further, the second deviation counter 27 outputs a speed command (second speed command) corresponding to the calculated second position deviation. The second motor drive circuit 28 controls the drive of the second motor 24 based on the second speed command output from the second deviation counter 27.

  The relative deviation calculation unit 5 inputs the actual driving position of the first motor 14 detected by the first detector 15 and the actual driving position of the second motor 24 detected by the second detector 25; Their relative deviation is calculated.

  The determination unit 6 determines whether or not the relative deviation calculated by the relative deviation calculation unit 5 is equal to or greater than a predetermined threshold (details will be described later).

  When the determination unit 6 determines that the relative deviation is less than the threshold value, the payout control unit 7 executes the position command payment, and the determination unit 6 determines that the relative deviation is equal to or greater than the threshold value. If so, the command payout unit 4 is controlled so as to temporarily stop the payout of the position command.

  The servo amplifier 2, the relative deviation calculation unit 5, the determination unit 6, and the payout control unit 7 synchronize the first motor 14 and the second motor 24 described in the claims, and the first motor 14 The drive position of the first drive shaft 12 or the drive speed of the second drive shaft 22 is controlled so that the drive position of the first drive shaft 12 and the drive position of the second motor 24 do not deviate from a predetermined range.

<Control procedure>
In the above configuration, an example of a control procedure executed by the cooperation of the relative deviation calculation unit 5, the determination unit 6, the payout control unit 7, and the position command output circuit 8 will be described with reference to the flow of FIG.

  In FIG. 3, first, in step S <b> 1, the command generation unit 3 of the position command output circuit 8 is common to the two motors 14 and 24 in order to drive and control the first and second motors 24 in synchronization with each other. Generate a position command. Then, the generated position command is sequentially delivered to the servo amplifier by the command delivery unit 4. The delivered position command is sequentially input to the first deviation counter 17 of the first motor control unit 16 of the servo amplifier 2 and the second deviation counter 27 of the second motor control unit 26.

  At this time, the actual drive position of the first motor 14 is detected by the first detector 15. Based on the detection result, the first motor control unit 16 determines that the actual driving position of the first motor 14 corresponds to the control amount of the input common position command (consisting of a pulse train in the above example). Feedback control is performed so as to approach one target drive position (in other words, the first position deviation becomes “0”). Similarly, based on the detection result of the second detector 25, the second motor control unit 26 determines that the actual drive position of the second motor 24 corresponds to the control amount of the input common position command. Feedback control is performed so as to approach the target drive position (in other words, the second position deviation becomes “0”). Accordingly, as described above, when the axial press-fit load is applied to the shafts W1 and W2 in the processing apparatus 1 to press-fit the disc D, the shaft to the disc D due to the first press-fit load from the first drive shaft 12 is provided. The press-fitting of W1 and the press-fitting of the shaft W2 into the disk D by the second press-fitting load from the second drive shaft 22 can be performed in synchronization with each other.

  After step S1, in step S2, the determination unit 6 determines that the difference between the actual drive position of the first motor 14 and the actual drive position of the second motor 24 calculated by the relative deviation calculation unit 5 is the same. Then, it is determined whether or not it is a predetermined threshold value or more. This determination has the following significance.

  That is, for example, the drive object of the first drive shaft 12 driven by the first motor 14 (the shaft W1 in the above example) and the drive object of the second drive shaft 22 driven by the second motor 24 (the above-described object) In the example, it is assumed that one of the driving objects in the shaft W2) has a driving resistance, and a difference occurs between the operating positions of the two driving objects. In that case, a difference also occurs between the actual driving position of the first motor 14 and the actual driving position of the second motor 24 in accordance with the difference in the operating position of the two driving objects.

  At this time, there is no significant difference in the actual drive positions of the first motor 14 and the second motor 24 until the drive resistance is generated. As a result, the determination by the determination unit 6 in step S2 is not satisfied (S2: NO), and the process proceeds to step S5. In step S5, it is determined whether or not the delivery of the position command from the command delivery unit 4 has been completed (in other words, whether or not the two driving objects have reached the target position). Until the payout is completed, the determination in step S5 is not satisfied (S5: NO), and the process returns to step S1 and the same procedure is repeated. That is, until the two driving objects reach the target position and the payout is completed, the payout of the position command from the command payout unit 4 is continued under the control of the payout control unit 7.

  On the other hand, if a relatively large difference occurs between the actual drive position of the first motor 14 and the actual drive position of the second motor 24 as described above due to the generation of the drive resistance in the step S2, the relative deviation is increased. It becomes more than the said predetermined threshold value, and the determination of the determination part 6 in step S2 is satisfy | filled (S2: YES), and it transfers to step S3.

  In step S <b> 3, the payout of the position command from the command payout unit 4 is interrupted (temporarily stopped) by the control of the payout control unit 7. Then, it returns to step S2 and the same procedure is repeated. That is, the interruption is continued until the relative deviation becomes less than the predetermined threshold value and the determination of the determination unit 6 in step S2 is not satisfied. When the delivery of the position command is interrupted in this way, the positions input to the first deviation counter 17 of the first motor control unit 16 and the second deviation counter 27 of the second motor control unit 26 as described above. The value of the command control amount is “0”. As a result, each of the motor drive circuits 18 and 28 controls the motors 14 and 24 so that the position deviation remaining at that time becomes “0”, and the remaining position deviation becomes “0”. When this happens, the driving of the motors 14 and 24 stops.

  However, at the time when the operation is interrupted, the operation position of one drive object is ahead of the operation position of the other drive object in accordance with the difference between the operation positions of the two drive objects described above. become. As described above, a common position command (that is, a command having the same value) is input to the first deviation counter 17 and the second deviation counter 27 until just before the interruption. Based on this, the control of the first motor 14 and the second motor 24 is performed. As a result, the actual driving position of the motor 14 or 24 (preceding motor) related to the preceding driving object is relatively close to the target driving position based on the common position command, and the first deviation counter 17 (or the second deviation counter 17). The first position deviation (or second position deviation) calculated by the deviation counter 27) is relatively small. On the other hand, the actual drive position of the motor 24 or 14 (following motor) related to the delayed drive object is relatively far from the target drive position based on the common position command, and the second deviation counter 27 (or the first deviation counter 27). The second position deviation (or first position deviation) calculated by the deviation counter 17) is relatively large.

  Therefore, after the interruption, the drive control is continued with respect to the preceding motor 14 (or 24) and the succeeding motor 24 (or 14) so that the remaining positional deviations are both “0” as described above. Thus, after the position deviation in the motor drive circuit 18 (or 28) related to the preceding motor 14 (or 24) is “0” and the drive control is finished (that is, the motor is stopped), the subsequent operation is performed later. The position deviation in the motor drive circuit 28 (or 18) related to the motor 24 (or 14) becomes “0”, and the drive control is completed (ie, the motor is stopped). Thereby, the drive position of the preceding motor 14 (or 24) and the drive position of the subsequent motor 24 (or 14) can be matched.

  Then, due to the coincidence of the drive positions, the relative deviation becomes less than the predetermined threshold value, and the determination of the determination unit 6 in step S2 is not satisfied (S2: NO). As a result, the process proceeds to step S5 as described above, and the dispensing of the position command from the command dispensing unit 4 is resumed by the control of the dispensing control unit 7 (step S5: NO). As a result, the two motors 14 and 24 can resume driving in the form in which the driving positions coincide with each other, and the operating positions of the two driving objects can be aligned. Since the payout is completed when the two driven objects reach the target position after the restart, the determination in step S5 is satisfied (S5: YES), and this flow is terminated.

  As described above, according to the present embodiment, even when a driving resistance is generated in one of the two objects to be driven and a difference occurs in the operating position, the difference in the operating position is reliably eliminated. Both drive objects can be operated equally. Therefore, as described above, in the processing apparatus 1, when an axial press-fitting load is applied to the shafts W 1 and W 2 to press-fit the disc D, one of the shafts W 1 and W 2 is pressed into the press-fitted member for some reason ( Even if there is a difference in the position of the two shafts W1 and W2 in the press-fitting direction (press-fitting height) due to, for example, driving resistance, the difference is eliminated and the two are press-fitted evenly and simultaneously. Can do.

In the above, among the first motor 14 and the second motor 24, the driving of the preceding motor whose driving position is advanced is stopped and the driving of the subsequent motor whose driving position is delayed is continued. The drive of the preceding motor may be decelerated.
Further, of the first motor 14 and the second motor 24, the driving of the preceding motor whose driving position is advanced is stopped, and the driving of the succeeding motor whose driving position is delayed is accelerated. I do not care.

  The disclosed embodiments are not limited to the above-described embodiments, and various modifications can be made without departing from the spirit and technical idea thereof. Hereinafter, such modifications will be described in order.

(1) When performing press-fit load setting FIG. 4 shows a functional configuration of a two-axis synchronous drive device 100 ′ according to this modification. As shown in FIG. 4, in the two-axis synchronous drive device 100 ′ of the present modification, a press-fit load detector 56, a press-fit load setting device 55, and a press-fit load determination circuit 57 are newly added to the configuration shown in FIG. Provided.

  The press-fit load detector 56 is composed of, for example, a load cell and detects the value of the press-fit load applied to the shafts W1 and W2.

  The press-fit load setting device 55 is for the user to input a press-fit load set value (stop press-fit load set value) that can be regarded as press-fit completed.

  The press-fit load determination circuit 57 determines whether or not the press-fit load value detected by the press-fit load detector 56 has reached the stop press-fit load set value set by the press-fit load setter 55.

  In this modification, an example of a control procedure executed by the cooperation of the relative deviation calculation unit 5, the determination unit 6, the payout control unit 7, the position command output circuit 8, and the press-fit load determination circuit 57 is shown in FIG. This will be described with reference to the flow.

  In the flow shown in FIG. 5, Steps S4 and S6 are newly provided in addition to the procedures of the flow of FIG.

  That is, when there is no big difference in the actual drive position of the 1st motor 14 and the 2nd motor 24, and the determination of the determination part 6 in said step S2 is not satisfy | filled (S2: NO), it transfers to newly provided step S4.

  In step S4, the press-fit load determination circuit 57 determines whether or not the press-fit load value detected by the press-fit load detector 56 has reached the stop press-fit load set value. If the stop press-fit load set value has been reached, the determination in step S4 is satisfied (S4: YES), and it is considered that press-fitting has been completed normally, and this flow is terminated. If the stop press-fit load set value has not been reached, the determination in step S4 is not satisfied (S4: NO), and the process proceeds to step S5 described above.

  In step S5, as described above, it is determined whether or not position command payout from the command payout unit 4 has been completed (in other words, whether or not the two driving objects have reached the target position). Here, in this modification, since step S4 is provided before step S5, when the press-fitting is completed normally as described above, the determination of step S4 is satisfied (to step S5). This flow should end (without reaching). That is, unlike the above-described embodiment, when the determination in step S5 is satisfied, the command payout unit is in spite of the press-fit load value detected by the press-fit load detector 56 not reaching the stop press-fit load set value. This is a case where the delivery of the position command from 4 is completed. In this case, since the press-fit load is not sufficiently large, for example, there is a high possibility that some mechanical failure has occurred. Therefore, in the present modification, when the determination in step S5 is satisfied, the process proceeds to step S6, and after processing such as a predetermined error display is executed, this flow is terminated.

  Also by this modification, the effect similar to the said embodiment is acquired.

(2) Others In the foregoing, the case where the two-axis synchronous drive device and the two-axis synchronous drive method are applied to so-called workpiece press-fitting has been described as an example. However, the present invention is not limited to this and can be applied to so-called workpiece conveyance.

  In addition to those already described above, the methods according to the above-described embodiments and modifications may be used in appropriate combination.

  In addition, although not illustrated one by one, the disclosed embodiments are implemented with various modifications within a range not departing from the gist thereof.

2 Servo amplifier 3 Command generator (command generator)
4 Command payout section (command payout means)
5 Relative deviation calculation part (relative deviation calculation means)
6 determination part (determination means)
7 Payment control unit (payout control means)
8 Position command output circuit 12 1st drive shaft 14 1st motor 15 1st detector 16 1st motor control part (1st motor control means)
17 1st deviation counter 18 1st motor drive circuit 22 2nd drive shaft 24 2nd motor 25 2nd detector 26 2nd motor control part (2nd motor control means)
27 Second deviation counter 28 Second motor drive circuit 100 2-axis synchronous drive device 100 ′ 2-axis synchronous drive device D disk (press-fit member)
W1 shaft (first press-fit shaft)
W2 shaft (second press-fit shaft)

Claims (7)

A first motor for driving the first drive shaft;
A second motor for driving the second drive shaft;
Have
In a two-axis synchronous drive device that drives and controls the first motor and the second motor in synchronization,
Control means for controlling the drive speed of the first drive shaft or the drive speed of the second drive shaft so that the drive position of the first motor and the drive position of the second motor do not deviate from a predetermined range. When,
Command generating means for generating a position command common to the first motor and the second motor;
Command paying means for sequentially paying out the position commands generated by the command generating means;
A first detector mechanically coupled to the first motor for detecting an actual drive position of the first motor;
A second detector mechanically coupled to the second motor and detecting an actual driving position of the second motor;
The control means includes
The position command paid out from the command payout means and the actual drive position of the first motor detected by the first detector are inputted, and the first motor corresponding to the control amount of the position command is inputted. First motor control means for controlling drive of the first motor based on a first position deviation between a first target drive position and the inputted actual drive position of the first motor;
The position command paid out from the command payout means and the actual drive position of the second motor detected by the second detector are inputted, and the second motor corresponding to the control amount of the position command is inputted. Second motor control means for controlling the driving of the second motor based on a second position deviation between the second target driving position and the inputted actual driving position of the second motor;
A relative deviation calculating means for calculating a relative deviation between the actual driving position of the first motor detected by the first detector and the actual driving position of the second motor detected by the second detector;
Determining means for determining whether or not the relative deviation calculated by the relative deviation calculating means is equal to or greater than a predetermined threshold;
When the determination means determines that the relative deviation is less than the threshold value, the position command is issued, and the determination means determines that the relative deviation is equal to or greater than the threshold value. If so, a payout control means for controlling the command payout means so as to stop the payout of the position command,
2-axis synchronous drive apparatus according to claim <br/> comprise a. In the biaxial synchronous drive device according to claim 1,
The control means includes
A two-axis synchronous drive device that decelerates or stops the drive of one of the first motor and the second motor, the drive position of which is advanced. In the biaxial synchronous drive device according to claim 1,
The control means includes
The two-axis synchronization characterized in that, of the first motor and the second motor, the driving of one motor whose driving position is advanced is stopped and the driving of the other motor whose driving position is delayed is continued. Drive device. In the biaxial synchronous drive device according to claim 1,
The control means includes
A two-axis synchronous drive device that accelerates the drive of the other motor of which the drive position is delayed among the first motor and the second motor. The two-axis synchronous drive device according to any one of claims 1 to 4 ,
The first motor control means includes
A first deviation counter that inputs the position command and the actual drive position of the first motor, calculates the first position deviation, and outputs a first speed command corresponding to the calculated first position deviation; ,
A first motor drive circuit for controlling the driving of the first motor based on the first speed command output from the first deviation counter;
With
The second motor control means includes
A second deviation counter for inputting the position command and the actual driving position of the second motor to calculate the second position deviation and outputting a second speed command corresponding to the calculated second position deviation; ,
A second motor driving circuit for controlling driving of the second motor based on the second speed command output from the second deviation counter;
A two-axis synchronous drive device comprising: The two-axis synchronous drive device according to any one of claims 1 to 5 ,
The first drive shaft is
A first press-fit shaft is provided at the same axis as the first drive shaft;
The second drive shaft is
A second press-fit shaft is provided at the same axis as the second drive shaft;
The first press-fit shaft provided on the first drive shaft and the second press-fit shaft provided on the second drive shaft are:
A two-axis synchronous drive device that applies a first press-fit load and a second press-fit load in the axial direction by the torque of the first motor and the torque of the second motor in order to press-fit the corresponding press-fit members, respectively. . A first motor for driving the first drive shaft, a second motor for driving the second drive shaft,
In a two-axis synchronous drive method in which drive control is performed in synchronization with each other
A first speed for controlling the driving speed of the first driving shaft or the driving speed of the second driving shaft so that the driving position of the first motor and the driving position of the second motor do not deviate from a predetermined range . Steps,
A second step of generating a position command common to the first motor and the second motor;
A third step of sequentially paying out the position commands generated in the second step;
A fourth step mechanically coupled to the first motor and detecting an actual drive position of the first motor;
A fifth step mechanically coupled to the second motor and detecting an actual drive position of the second motor,
The first step includes
The position command paid out in the third step and the actual drive position of the first motor detected in the fourth step are input, and the first motor of the first motor corresponding to the control amount of the position command is input. A sixth step of controlling driving of the first motor based on a first position deviation between one target driving position and the inputted actual driving position of the first motor;
The position command paid out in the third step and the actual drive position of the second motor detected in the fifth step are input, and the second motor corresponding to the control amount of the position command is input. A seventh step of controlling the driving of the second motor based on a second positional deviation between the two target driving positions and the input actual driving position of the second motor;
An eighth step of calculating a relative deviation between the actual driving position of the first motor detected in the fourth step and the actual driving position of the second motor detected in the fifth step;
A ninth step of determining whether or not the relative deviation calculated in the eighth step is equal to or greater than a predetermined threshold;
If it is determined in the ninth step that the relative deviation is less than the threshold value, the position command is paid out, and the relative deviation is greater than or equal to the threshold value in the ninth step. And a tenth step of stopping the delivery of the position command when it is determined, and a two-axis synchronous drive method.

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