JPH03198111A - Automatic position controller - Google Patents

Abstract

PURPOSE:To quickly and accurately stop an object to be moved at a position where the object abuts on a subject member by stopping a servo motor when its output reaches the prescribed value. CONSTITUTION:A servo amplifier 20 controls a servo motor 21 which drives an object to be moved, and the drive of the motor 21 is stopped when the output of the amplifier 20 reaches the prescribed value. Then the object is stopped in a state where the object abuts on a subject member. Thus an approximation sensor, etc., can be omitted and at the same time the noise which are caused by the variance of stopping position at the time of chucking can be eliminated together with the defect such as the undesired stress of a mechanical part, etc. Then an automatic position controller can stop the chucking of the subject member directly at a fixed position.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to an automatic position control device that stops a driven object while it is in contact with an object. #11 In order to automatically position a movable adjustment body that is to be fixed after determining the weight, it is usually done in a cycle of chucking the *si chiropractic, then canceling the preliminary decision, positioning, and fixing, but regarding chucking , Strategy No. 2
It was configured as shown in the figure and factor 8.

That is, in the second plate and FIG. 8, l is the fixed side plate, 2.
Reference numeral 3 denotes a top plate and a bottom plate fixed to the stationary side plate 1 with screws 4, which together with the fixed side plate 1 constitute a magazine rack.

Reference numeral 5 denotes an adjustment side plate slidably arranged between the top plate 2 and the bottom plate 3 via a screw 6, 7 a part of an electric screwdriver, and 8 a hexagonal wrench for tightening the screw 6 inserted into the electric screwdriver 7. , 9 is a positioning stopper whose end surface 91 contacts one surface 51 of the aX side plate 5 and serves as a holding surface during positioning slide, 10 is an air cylinder, and 11 is an air cylinder l.
The connecting body is fixed to the rond of O, the sliding shaft configured to slide inside the connecting body ll and not slipping out, and the sliding shaft fixed to the slide shaft stop, and the one side 51 of the mu side plate 6 is held by suction by air power. The suction cup 14 is a compression coil spring placed between the connecting rod 11 and the suction cup, the intestine is a proximity sensor that detects the adjustment side plate 6, the holder 16 is a holder for attaching the proximity sensor to the positioning stopper 9, and the positioning stopper is 9°
and the air cylinder 10, and are held and set via a guide (not shown) w! 4. The moving frame is configured to be movable toward the side plate 5, and together with the positioning stopper 9, the air cylinder lO1 suction cup 13, etc., constitutes a chucking part.

19 is the sequencer to which proximity sensor b is connected, 19 is the sequencer 18 &:, the connected position command unit, 2 is the servo amplifier, 2 is the servo motor of the positioning drive source,
η is a signal cable between the position command unit 19 and the servo amplifier, and 2 is a detector signal cable between the servo motor 21.

In this conventional device, a fixed side plate 11 is clamped and fixed to a top plate 2 and a bottom plate 3 by screws at predetermined positions of a clamping device (not shown). II The movable frame 17 to which the positioning stopper 9 and the like are attached moves toward the adjustment side plate 5 using the servo motor 4 as a drive source, and when the installed and adjusted sensor detects the surface 51 of the adjustment side plate 6, the servo motor 21
is decelerated and stopped.〇The suction cup 13 is pushed toward the adjustment side plate 5 side by the power of the cylinder IO, and the suction cup mouth attracts the surface 51 of the g adjustment side plate 5. When the electric screwdriver 7 and the hexagonal wrench wrench 8 sew the screw 6 and the adjusting side plate 5 is set or released, the suction cup B uses the power of the cylinder 10 to pull and hold the surface 51 of the mvtt side plate 5 against the surface 91 of the positioning stopper 9. be done. The adjustment side plate 5 is positioned by a servo mechanism including a position command unit 19.

Thereafter, the adjusting side plate 5 is tightened with the screw 6 using an electric screwdriver 7 and a six-inch spanner 8, and the electric screwdriver 7 and the like are removed from the screw 6. The suction of the suction cup opening is released and returned to its original position, and at the same time, the servo mechanism parts such as the electric screwdriver 7 and the moving frame return to their original positions.

By the above procedure, the rack width positioning including chucking is performed.

[Problem a that the invention attempts to solve]

Since the conventional type is configured as described above, when chucking the adjustment side plate 5, the stop position may vary due to response delay or response error of the control system, or the servo motor may be stopped using a sensor signal. The stop position may change due to load fluctuations, causing various problems during chucking.Also, there is a risk of damage to the workpiece due to sensor misalignment, wire breakage, etc.As the sensor detection distance is short, the servo deceleration time may also be reduced. There were issues such as the need to keep it short.

This invention was made to solve these problems, and eliminates problems such as noise caused by variations in stop position during chucking, unnecessary stress on the mechanical part, and misalignment between the electric screwdriver and the screw. Distance 11.1I depending on conditions
It is an object of the present invention to provide an automatic position control device that can directly chuck and stop a tjalI side plate 6 in a fixed position, eliminating the need for a sensor device that requires a tjalI side plate 6.

[Means to solve the problem]

The automatic position control device according to the present invention controls the servo motor that drives the beating body by servo-up, and operates to stop the servo motor when the output of this servo amplifier reaches a predetermined value, thereby targeting the hooked body. It is designed to stop when it comes into contact with a member.

[Effect]

By configuring the servo motor according to the present invention to stop when the output of the servo amplifier reaches a predetermined value, it is possible to stop the driven object while it is in contact with the target member, eliminating the need for a proximity sensor, etc., and quickly and Accurate position control is possible.

〔Example〕

An embodiment of the present invention will be described below with reference to FIG.

That is, in Fig. 1, numeral 5 is an electromagnetic relay with a normally open contact side connected to the input of the servo amplifier connected to the output of the sequencer, and 5 is an electromagnetic relay connected to the output of the servo amplifier and connected to the input of the servo amplifier. Normally open contact 251 connected to the input section
The electromagnetic relay is a variable resistor for adjusting the torque limit of the servo motor 4.

When the contact 241 of the electromagnetic relay connected to the input part of the servo amplifier is closed, the torque limiting operation of the servo motor 4 becomes effective. Further, the electromagnetic relay b operates when the servo 7 generates an output greater than the value set by the torque limit adjustment transformer resistor, and closes the contact 'JSl'.

Note that the other configurations are the same as the second factor and the conventional one shown in FIG. 8, except for the proximity sensor, so a description thereof will be omitted.

With this configuration, first, the electromagnetic relay is operated by the sequencer slide, and when the contact 241 is closed, the torque limiting operation of the servo motor 21 becomes effective due to the application of the servo amplifier.

The chucking operation is started, and the positioning stopper 9 is set to S.
When the servo amplifier hits the adjustment side plate 5 and generates an output in accordance with the torque adjustment value of the variable resistor, the electromagnetic relay 3 is activated and the contact 251 is closed. As a result, the sequencer 1 receives the torque limit signal, and a stop signal is immediately sent to the position command unit 19, which then passes through the servo amplifier I to the servo motor 2.
1 is stopped when a predetermined torque is maintained.

In this embodiment, the torque limiting resistor is a fixed type, but it may be a fixed type that meets the conditions.The same effect can be obtained even if the rotational direction of the servo motor is reversed.

〔Effect of the invention〕

As described above, the automatic position control device according to the present invention is configured to stop the servo motor when the output of the servo amplifier reaches a predetermined value, so that the driven object can be stopped quickly and accurately at the position where it contacts the target member. I can do it.

[Brief explanation of drawings]

FIG. 1 is a control circuit diagram showing an embodiment of the present invention, FIGS. 2 and 8 are diagrams showing conventional automatic position control devices of this kind, FIG. 2 is a configuration diagram of main parts, and FIG. It is a control circuit diagram. In the figure, l is a fixed side plate, 2 is a top plate, 3 is a bottom plate, 5 is an adjustment side plate, 9 is a positioning stopper, IO is an air cylinder, 11
is a connecting body, ν is a slide shaft, Ta is a suction cup, 14 is a compression coil spring, 17 is a moving frame, Nagi is a seat tensioner, 19 is a position command unit, Ta is a servo amplifier, 21 is a servo motor,
6 and 6 are electromagnetic relays, and 6 and 6 are contacts of the electromagnetic relay, respectively, and 2 is a torque gI@transformer resistor. □The same reference numerals in the drawings indicate the same or equivalent parts.

Claims (1)

[Claims] A servo motor that drives the driven object, a servo amplifier that controls the servo motor, and a device that operates to stop the servo motor when the output of the servo amplifier reaches a predetermined value, the driven object being brought into contact with the target member. An automatic position control device characterized by being configured to stop at a certain position.