JPH03297720A - Synchronized operation control unit for carrying device - Google Patents

Abstract

PURPOSE:To automate a unit by determining an adjusted speed from the standard carrying speed of a standard carrier machine and the phase difference of the speeds between the standard carrier machine and a follow-up carrier machine to have the speed of the follow-up carrier machine at every given time, and synchronizing the follow-up machine, in a synchronized operation control unit for standard and follow-up carrier machines for carrying small pipes. CONSTITUTION:In the rotation angle operation circuit 51A and 51B of a sequencer 5, signals of the synchro transmitters 1A and 1B of upstream and downstream carrier machines are taken in respectively at a measuring time outputted from a timing signal generation circuit 55 to operate a rotation angle, and angle deviation is determined with a rotation angle deviation operation circuit 52. The rotation angular velocity of each carrier machine and moreover the target speed of a follow-up carrier machine are determined based on the angle deviation with a speed operation circuit 53. Then the speed of the follow-up machine is determined from the target speed and the rotation angle of a standard carrier machine to control the follow-up machine by the set timing in the timing signal generation circuit 55. Thus automation can be realized.

Description

Detailed Description of the Invention [Field of Industrial Application] The present invention relates to a synchronous operation control device for a conveying device using a plurality of conveyors, and in particular a single item such as a small pipe can be controlled by a plurality of conveyors. The present invention relates to a synchronous operation control device for a transport device for transferring and transporting machines.

[Prior Art] Conventionally, in this type of conveyance device, there is generally a large mechanical clearance between the drive deceleration mechanism and the drive transmission mechanism, making it difficult to improve the detection accuracy of the detector. If left unaddressed, a relative delay or advance would occur between the respective conveyance machines.

Therefore, even after synchronizing the drive of each transport machine at startup, the operator visually monitors the transport machine while it is running, and if any synchronization between the transport machines occurs, adjust the phase to eliminate it. and speed adjustment.

For this reason, it is considered that a control device that can automatically adjust the phase and speed between the transport machines may be applied to the transport machines.

For example, the present applicant has developed a system that automatically monitors and automatically adjusts the synchronization of a reference reversing machine and a following reversing machine, which have different drive systems, and drives the reference and following reversing machines in synchronization. Patent application No. 2-3 was developed for a control system for a steel plate reversing machine that allows the tore to be used as a single reversing machine.
Although it has already been proposed as No. 223, it is being considered to apply this control method for a steel plate reversing machine to the synchronous operation control of the above-mentioned conveying device.

Due to the characteristics of the steel plate reversing machine, the control method for this steel plate reversing machine measures the motor rotational speed and phase at minute intervals and adjusts the speed based on these calculation results, which requires delicate adjustments. For this reason, it is necessary to use a direct current (DC) motor as the drive motor.

[Problem to be solved by the invention] However, the conveying device does not require the high-precision synchronous control required in the above-mentioned steel plate reversing machine, and also uses an inverter-controllable motor as the drive motor. If the apparatus includes a conveying machine that does not have the following characteristics, the control method for the steel sheet reversing machine proposed by the present applicant could not be applied to the synchronous drive control of the conveying apparatus.

3. Therefore, there has been a need to develop a control device that can perform synchronous drive using a simple control method.

The present invention has been made in view of these problems in the prior art, and its purpose is to automatically perform synchronous drive control of multiple conveyors with large clearances using a simple configuration. The purpose is to provide a synchronous operation control device that can perform the following functions.

[Means for Solving the Problems] In order to solve the above object, a synchronous drive control device for a conveyance device according to the present invention includes a synchronized transmitter provided on the mechanical axis of a reference conveyance machine and other follower conveyance machines, The speed and phase corresponding to each conveyor are calculated based on the rotation angle signal from the transmitter, and then the follower conveyor is driven for a predetermined time at a speed adjusted so that the obtained phase difference is reduced. , after that, the following conveyor is driven at a speed equal to the speed of the reference conveyor for a predetermined period of time, and this is repeated to control the driving speed and phase of the follower conveyor to match that of the reference conveyor. It is.

[Example] Examples will be described with reference to the drawings.

FIG. 1 shows an embodiment of the synchronous drive control device of the present invention, and in the figure, IAl 11] is the upstream conveyor (
Synchro transmitters 2A and 28, which are provided in the reference conveyor A) and the downstream conveyor (follower conveyor B) and generate angle signals synchronized with the article conveyance cycle, are synchro transmitters LA, 1. The converter is a synchro converter that converts the angle signal from the synchro transmitter, and the converter generates an output of 0 port when the output of the synchro transmitter corresponds to 00, and
To generate an output of 10 ports when corresponding to 0°,
Generates a voltage output proportional to the output of the synchro oscillator.

Reference numeral 38 denotes a drive motor for the follow-up conveyance machine, which is driven by speed control by the inverter circuit 4B.

Reference numeral 5 denotes a sequencer, which receives the outputs from the respective converters, calculates a predetermined angular deviation, and outputs a rotational speed adjustment signal for the drive motor of the follow-up conveyance machine to the inverter circuit 4B in accordance with the deviation.

The sequencer 5 includes a reference carrier rotation angle calculation circuit 51A% follow-up carrier rotation angle calculation circuit 51BS@turn angle deviation calculation circuit 5
2. Current speed and adjustment target speed calculation circuit 53, follow-up conveyor speed command circuit 54, and timing signal generation circuit 55
It consists of

The operation of the above embodiment will be explained below with reference to FIG. Although the explanation is omitted, the operation of each circuit in the sequencer 5 is controlled by a timing signal from a timing signal generation circuit.

■Measurement time (T o −T I ) The rotation angle calculation circuits 5tA, 5t detect the output of the synchro converter 2A1211 as shown in FIG. and the rotation angle signals YAos YBO, YAI, and YBI of the following conveyance machine are supplied to the rotation angle deviation calculation circuit 52.

In the arithmetic circuit 52, the angular deviation ΔY Alto = Y AOY BOΔYABl=
YAI −Yn+ △Y A = lY AI Y AllΔY s
=Yll+-Y, 11+1 are calculated, and each is supplied to the speed calculation circuit 53.

The speed calculation circuit 53 calculates the rotation angular velocity VA corresponding to the transport speed of each transport machine based on the angular deviation.
sVII VA"ΔYA/(Tl-T11) - ΔYA/ΔT vB-Δys/ΔT is calculated.

Furthermore, the speed calculation circuit 53 next calculates the integrated adjustment time (TI-T).
2) (however, T 2. = 2 T + T o, and the adjustment time and measurement time have the same time width), calculate the adjustment target speed necessary for the follow-up conveyor to move the angle ΔYA + ΔY ABl. . That is, if the adjustment target speed of the follow-up conveyor is vB', then vn'=(ΔYA+Δy
A, +)/△T Also, considering the upper limit speed is limited by the power of the drive motor of the conveyor, and the disadvantages of drastically changing the motor rotation speed, etc.
The adjustment speed vB'' between the adjustment target speed vB' set above and the reference speed of the reference conveying machine is determined.

The speed calculation circuit then supplies the obtained speeds vA and v8'' to the speed command circuit 54.

(2) Adjustment time (T1-T2) Adjustment speed vB is supplied from the speed command circuit 54 as a speed command signal to the inverter circuit 4B, and the drive motor 3B of the following conveyance machine is driven at the adjustment speed vB'' accordingly. Since the adjustment speed is equal to or higher than the reference speed VA, the adjustment drive is performed so that the angular deviation, that is, the phase difference between both conveyors is reduced.

During this time, no detection operation is performed, and therefore no feedback operation is performed based on it.

■6 Stabilization time (Tg~T,) The speed command circuit 54 outputs the reference speed vA as a speed command signal, controls the follower transporter to drive at the same speed as the reference transporter, and thereby stabilizes the drive system. control to prevent hunting. No feedback operation is performed during this period either.

The synchronization adjustment operation is repeated using the above steps 1 to 2 as one cycle, and after several cycles of adjustment, the transport speeds and phases of the reference and follower transport machines are finally matched.

Then, the above control is executed every time a predetermined time elapses (every time the synchro transmitter IA outputs an output corresponding to a predetermined number of rotations), and each time, the following conveyance machine is driven in synchronization with the reference conveyance machine. controlled.

Note that the calculation circuit requires a certain amount of time for each calculation operation, but in the above explanation, these times are not taken into account for convenience of explanation, and in reality, the adjustment time is calculated from the measurement time. A predetermined delay time is introduced at the time of transition to . Also, the adjustment target speed is calculated assuming that the adjustment time is equal to the measurement time, but
It goes without saying that the adjustment time for actually driving the follow-up conveyance machine at the adjustment speed does not need to have exactly the same time width as the measurement time, and can be set as appropriate and necessary.

Furthermore, there is no need to limit the reference conveyance machine to the upstream conveyance machine, and a conveyance machine that does not use an inverter-controlled motor or a conveyance machine whose conveyance speed does not change much may be used as the reference conveyance machine.

FIG. 3 shows a conveying device to which the synchronous operation control device of the present invention is applied, and the conveying device uses a screw conveyor (skew) A as a reference conveying device on the upstream side, and a follow-up conveying device on the downstream side. A variable speed chain type conveyor B is used as the conveyor B, and the small diameter pipes P are sequentially conveyed from a chamfering machine (not shown) to a shipping line (a bundling and packing line).

The pipe p that has been chamfered by the chamfering machine is transferred to a screw conveyor A by a rotating arm transfer device C, and then transferred to a chain conveyor B that conveys the pipe p at a predetermined pitch.

Conveyor A has a synchro transmitter IA1 and a drive motor 3A1.
A speed reducer 6A is provided, and the conveyor B is equipped with a synchro transmitter IBx drive motor 3B% and an inno (-ta circuit 4B%).
A speed reducer 6B is provided. Each speed reducer is initially set so that conveyor B advances one pitch for every one revolution of conveyor A, and each synchro transmitter is set so that conveyor B advances one pitch for each revolution of conveyor A, and each synchro transmitter is set so that conveyor B advances one pitch for each revolution of conveyor A. is set to output an angle signal of 0 to 360° with a movement of l pitch.

The output of each synchro transmitter is supplied to the sequencer 5 shown in FIG. 1 via converters 2A and 2B, and the control described based on FIG. Controlled to synchronize with A.

In this conveying device, for example, the pipe conveying pitch is set to 2 seconds/piece, the measurement time and adjustment time are set to 1.5 seconds, and the stabilization time is set to 1.0 seconds.

In the conveyance device set in this way, conveyor A,
When the phase angles of H were 15 degrees apart at the time of T1, it was possible to control them to almost the same phase and speed after about 4 to 5 pin inches (8 to 9 seconds).

[Effect] Since the present invention is configured as described above, it is possible to automatically drive multiple conveyors in synchronization with a simple control device. There is no need to go around and make synchronization adjustments.

In addition, the reference transport machine does not need to have a drive motor that can be controlled in speed by an inverter, so it can be applied even if one of the transport machines cannot be controlled by an inverter in existing transport equipment. .

[Brief explanation of drawings]

Fig. 1 is a circuit diagram showing an embodiment of the present invention, Fig. 2 is a waveform diagram showing the synchronized converter output for explaining the control operation of the present invention, and Fig. 3 is a synchronous operation control device of the present invention. It is a schematic diagram showing an outline of an applied conveyance device. IAl 1B... Synchro transmitter 2A, 2B... Synchro converter 3A13B... Drive motor 4B... Inverter circuit 5... Sequencer 2 JP-A-3 297720 (6)

Claims (1)

[Scope of Claims] 1. In a synchronous operation control device for controlling the synchronous operation of a conveyance device that periodically conveys articles using a reference conveyance machine and a follow-up conveyance machine that operate in conjunction, the reference conveyance machine comprises: An angle signal generating means for a reference conveyor that generates an angle signal corresponding to the rotation of the machine axis; an angle signal generator for the follower conveyor that generates an angle signal corresponding to the rotation of the machine axis of the follower conveyor; and the reference conveyor. The angle signal from the angle signal generating means for the transfer and follow-up conveyance machines is input, and based on the angle signals, a reference conveyance speed signal of the reference conveyance machine and a phase difference signal between the reference conveyance machine and the follow-up conveyance machine are calculated. a calculation means for calculating and determining an adjustment speed signal for changing the transport speed of the follow-up transport machine in a direction in which the phase difference decreases based on the obtained speed signal and phase difference signal; a reference transport speed signal from the calculation means; and an adjusted speed signal are input, and command means outputs a speed command signal to the follow-up conveyance machine; and the calculation means causes the calculation means to calculate the reference conveyance speed signal, the phase difference signal, and the adjustment speed signal within a predetermined time. and controlling the commanding means to output the obtained adjusted speed signal during a subsequent predetermined time, and then controlling the commanding means to output the obtained reference transport speed signal during a predetermined time. and timing control means for instructing these operations to be repeated until the speed and phase of the follow-up conveyor match those of the reference conveyor.