JPH01269221A - Positioning control device - Google Patents

Abstract

PURPOSE:To execute immediate stop control by obtaining a time, when respective recorded detecting values and a present value are widely changed, as the contact of a sending device to an object by storing the values, which are detected by respective detecting means, at the time of the normal operating condition of a sending mechanism in a positioning device and executing high speed positioning up to prescribed quantity. CONSTITUTION:A bit 2 to revolve a plunger spring 1 is revolved by a motor 3 of a positioning control device and the instruction of a torque is given from a speed control means 6 to a motor driving means 7 which drives this motor 3. The revolving condition of the motor 3 is detected by a revolution detector 4 and inputted to a positioning counter means 5 and a speed detecting means 10. Then, the torque of the means 7 is detected by a torque detecting means 8 and the change of the torque of the means 8 is detected by a torque change detecting means 9. The change of a revolving speed, which is detected by the means 10, is detected by a speed change detecting means 11 and the average value of the detected values from the respective means 11, 8 and 9 are stored in a storing means 12. After that, the stored average value and detected values from the respective means 11, 8 and 9 are compared and according to a compared result, the motor 3 is controlled by a command control means 14.

Description

[Detailed Description of the Invention] Industrial Application Field The present invention uses a screw mechanism to adjust the position at the tip of the screw when highly accurate position adjustment or correction is required, such as in the detection head of a video, DAT, or CD. This invention relates to a positioning control device that highly accurately determines the original position for position correction and adjustment by providing a head with seven orifices.

Conventional technology Conventionally, tilt adjustment using a feed mechanism such as a screw, and stopping control at the original position, was performed based on human sensitivity and subtle comparison of sensations, and automation has not progressed.

Hereinafter, a conventional example of automating tilt positioning for a head fastened to a video cylinder will be described.

FIG. 3 shows the structure for fastening the head of the video cylinder and adjusting the tilt. In FIG. 3, 16 is the rotor of the cylinder, 16 is the head connected to the rotor 15Vci, 16a is the head vane, and 16b is the helad base 16a.
Detector 17 provided above is the stator of the cylinder, 18 is a screw for tightening the head base 16a, and 1 is an insect screw for making the first push-down arm of the head base 16at.

Regarding the cylinder configured as described above, the position of the head chip 16b is confirmed by visual recognition, and if there is a difference from the predetermined position, a command is issued to rotate the insect screw 1 with an electric motor, etc., and the position is adjusted. I do. In preparation for the adjustment, it is necessary to bring the tip of the insect screw 1 into contact with the head 16 quickly and accurately without moving the position of the head 16. There are two ways to do this:

First, the first method is to detect the number of rotations of the bit that rotates the insect screw 1 by using a rotation detector of the motor, and to stop the motor when a predetermined value is reached.

In the second method, the torque of the electric motor that rotates the insect screw 1 is detected, and the torque reaches a predetermined value when the insect screw comes into contact with the pace. This is a method of detecting this and controlling the motor to stop.

Problems to be Solved by the Invention However, in the first method, variations in the tapping accuracy of the insect screw 1 or variations in the backlash of the bit insertion part of the screw head directly result in variations in the tilt start position of the insect screw 1. There was an issue of becoming. In addition, in the second method, it is important to improve responsiveness to variations in the frictional loads of the screws of each product, but this will result in poor stopping accuracy. On the other hand, the rotational speed of the electric motor and the stopping accuracy are inversely proportional. Therefore, the second method has the problem of not being able to deal with variations in product processing, high speed, and high accuracy.

In view of the above-mentioned problems, the present invention provides a device that automatically controls the preparatory work of bringing the tip of the insect screw into contact with the head base at high speed, with high precision, and reliably.

Means for Solving the Problems In order to achieve the above objects, the positioning control device of the present invention includes rotation control means for rotating at high speed up to a predetermined distance, means for limiting the torque of the electric motor, and torque detection means for detecting the torque. a torque change detection means for detecting a change in torque, a speed detection means for detecting a speed of the electric motor, a speed change detection means for detecting a change in the speed of the electric motor, a means for storing an average of these values, and and a command control means for sending a signal from the comparison means to the electric motor.

According to the above-described structure, the present invention stores the values detected by each detection means when the feed mechanism is in a normal operating state, performs high-speed positioning until a predetermined feed amount, and thereafter stores the values detected by each of the detected values. When the current value changes significantly, it is assumed that the feeding device has come into contact with a heavy object, and the motor drive means is immediately controlled to stop.

Embodiment Hereinafter, a positioning control device according to an embodiment of the present invention will be described with reference to the drawings.

FIG. 1 is a block diagram showing the configuration of an embodiment of the present invention. In Fig. 1, 1 is a insect screw, 2 is a bit that rotates the insect screw 1, 15 is a rotor that tightens the insect screw 1, and 16 is a rotor that tightens the insect screw 1.
is a head whose height is adjusted up and down, 3 is a motor that rotates the bit 2, 4 is a rotation detector that detects the rotation status of the motor 30, and 6 is a positioning counter that accumulates the signals of the rotation detector 4 and command signals. means, 6 is a speed control means for controlling the speed of the electric motor 3 according to instructions from the counter means 6, 7 is an electric motor drive means for driving the electric motor 3 according to instructions from the speed control means 6, 8 is a torque detection means for the electric motor 3, 9 Reference numeral 10 indicates torque change detection means for detecting a change in the torque detection means 8; 1o indicates a speed detection means for detecting the rotation speed from the signal of the rotation detector 4; 11 indicates a speed change detection means for detecting a change in the speed detection means 1o; 12 13 is a storage means for storing an average of each detection value of the torque detection means 8, the torque change detection means 9, the speed detection means 10, and the speed change detection means 11, and 13 is a comparison between the value stored in the storage means 12 and the actual value. Comparing means 14 is a finger control means that limits the driving means 7 and gives instructions to a counter etc. by the signal output of the comparing means 13.

The trend of the control device configured as described above will be explained using FIG. 2.

First of all, Figure 2 shows a timing chart of each detected value, etc. From the top, the speed command, detected speed value, detected speed change, output torque detected value, detected torque change, and insect screw tip position are shown in order. It is something. Command control means 14
Then, a command is issued to control the acceleration/deceleration feed amount by a predetermined amount at high speed (until the tip of the insect screw does not touch the head base). That's t. In the state from to t2,
After the time t2 when the speed becomes low from tl, the command control means 14 also acts on the motor drive means 7 so that torque exceeding a certain level is not output to the electric motor 3. Also,
The storage means 1 stores the average value of the torque and its change value and the average value of the speed change value within a short period of time after that time t2.
2 instructs and controls to store it. Next, the comparison means 13 compares and detects whether the detected value of each detector (speed change, torque, change) exceeds a certain value or more by comparing these stored values, and if any one exceeds the value, the value at time t3 Thus, the command control means 14 operates to reset the positioning counter means and issue a command to the speed control means 6 to immediately stop. In this way, the rotation is stopped by the detection means, and the positioning accuracy of the insect screw is improved.

Effects of the Invention As described above, the present invention provides various information on the electric motor, speed change detection,
By providing means for detecting torque and torque change, and means for storing and comparing these values, the fastest detection means can be used to eliminate individual differences in objects and accurately determine the height of objects. It has the effect of being adjustable.

[Brief explanation of the drawing]

FIG. 1 is an enlarged view of essential parts of a positioning restrictor in an embodiment of the present invention. 2... Bit, 3... Electric motor, 4...
... Rotation detector, 5 ... Positioning counter means, 6 ... Speed control means, 7 ... Electric motor drive means, 8 ... Torque detection Means, 9...
...Torque change detection means, 1o...Speed detection means, 11...Speed change detection means, 12...
・Memorization means, 13... Comparison means, 14...
...Command control means. Name of agent: Patent attorney Toshio Nakao and 1 other person No. 1
Fig. 2--D.R.3--.

Claims (1)

[Claims] An electric motor that rotationally drives a screw, a driving means that drives the electric motor, a speed control means that gives a torque instruction to the driving means, a rotation detection means that is attached to the electric motor and detects a rotation state, and the rotation detection means. a positioning control means for inputting a signal from and outputting a speed command to the designated position; a control means for applying a predetermined torque limit;
Torque detection means for detecting the amount of torque of the electric motor; speed detection means for detecting the rotational speed of the electric motor; torque change detection means for detecting a change in the torque of the electric motor;
speed detection means for detecting a change in the speed of the electric motor; storage means for storing an average value of detection values detected by each of the detection means; A positioning control device comprising a comparison means for comparing the two, and a control means for controlling a stop of an electric motor using a signal from the comparison means.