JPH0443965A - Stoppage detection sensor for rotary body - Google Patents

Abstract

PURPOSE:To accurately and safely proceed to sequence control by counting a pulse signal generated as the rotary body rotates and outputting a stoppage detection signal at the point of time of the specific-time ceasing of the pulse signal after a position arrival signal is outputted. CONSTITUTION:When the rotary body 5 rotates from a control start point O in one direction to reach a control target position T, a counter 3a for subtraction outputs an O output signal and an RSFF 3c is set to outputs the Q output of H level as the control target position arrival signal; and a retriggerable multivibrator 4a holds an F output 'L' as long as a count pulse is sent out within a time corresponding to a set time constant. When the control target position T is reached and attenuation vibration is caused and then stopped, the transmission of the pulse signal from a pulse encoder 2A to the multivibrator 4a is stopped, the multivibrator 4a inverts the F output to 'H' a set time taulater, and an AND gate 4b detects the stop of the rotary body 5.

Description

[Detailed Description of the Invention] [Industrial Field of Application] The present invention provides rotation in one direction until a predetermined rotation angle position is reached, and the rotation angle is adjusted to a true position at a predetermined rotation angle that is a control target position. The present invention relates to a stop detection sensor for a rotating body that is suitably used in a method for controlling the rotational position of a rotating body, in which the rotating body is decelerated and braked before reaching the rotational angle position, and then finally stopped while causing reduced vibration around the rotational angular position.

[! ! [Means for solving the problem] The present applicant previously proposed a rotation control mechanism and its control system that is mechanically robust and capable of performing forward and reverse intermittent drive with high precision when fishing for sea bream. The present invention provides a stop detection sensor that is suitably used when notifying the end of the rotational angle position control in the rotational drive control system according to the prior application and coordinating the control operation with another sequence control system. The purpose is to

[! ! Means for Solving the Problem] The present invention, which has been devised to achieve the above object, includes a pulse generating means that generates a pulse signal as a rotating body rotates, and a pulse signal that is generated by the pulse generating means and is counted. There is a counter holding circuit that holds and outputs a position arrival signal when a preset rotation angle position is reached, and a pulse that is output from the pulse generating means after the position arrival signal is output from this counting holding circuit. The present invention is characterized by comprising a logic circuit that outputs a stop detection signal when the signal is interrupted for a predetermined period of time.

[Function] According to the stop detection sensor of the present invention, when the rotating body reaches a preset rotation angle position, the count holding circuit outputs a position arrival signal, but the pulse generation means detects when the rotating body reaches the rotation angle position. After reaching the angular position, pulse signals are continuously generated as long as the rotation continues even if damped vibration begins.

However, when the rotary body stops as a result of damped vibration, the pulse signal from the pulse generating means is interrupted, and the stop detection signal is output only when the interruption of the pulse signal continues for a predetermined period of time.

Therefore, if such a sensor of the present invention is used,
When the position control of the rotating body is reliably completed, a detection signal can be outputted and the sequence control can be shifted to another sequence control, so that the sequence control can be shifted accurately and safely.

In addition, when using such a sensor of the present invention, the longer the time width for monitoring the discontinuation of the pulse signal, the more reliable the stop state can be detected, but in actual use, the load applied to the rotating body It is set to the optimal value taking into account the inertial force of.

[Example code] One embodiment will be described below with reference to the accompanying drawings.

FIG. 1 shows the configuration of the internal circuit of the stop detection sensor A of the present invention. 1 is a time chart showing the operation of each part.

In the embodiment shown in FIG. 1, the pulse generating means 2A is composed of a pulse encoder, and the count holding circuit 3A includes a subtraction counter 3a for counting pulse signals from the pulse encoder 2A, and a control target for the rotating body 5. Control I consisting of digital switches etc. that set the angular position
j Target position data setting 113b and subtraction counter 3a
An RS flip-flop that holds and outputs a [H] level signal as a target position arrival signal when the count value reaches the control target position previously set by this control target position data setter 3b and outputs a 0 output signal. 3c.

At the start of position control of the rotating body 6, the subtraction counter 3a receives an initial reset signal similar to the retriggerable multivibrator described later, and then adjusts the data setting t described above.
Count value data corresponding to the control target value set by ab is preset.

One logic circuit 4A is retriggered by a count pulse output from a pulse encoder 2A, and includes a retriggerable multivibrator 4a whose time constant can be variably set by an external resistor VR, and this retriggerable multivibrator 4a. A: Manually adjusting the F output from the vibrator 4a and the Q output of the RS flip-flop 3c described above.
It is constructed by combining ND game) 4b.

Pulse generation means 2A, count holding circuit 3A, logic circuit i? i! It goes without saying that 14A can be implemented with various modifications other than the above embodiments.

According to such a configuration, the rotating body 5 is rotated as shown in FIGS.
As shown in b), when the control target position T is reached by rotating in one direction from the control amount starting point 0, the subtraction counter 3 g
! ! Since it outputs a 0 output signal, the RS flip-flop 3C is set by this 0 output signal and outputs an H level Q output as a control target position arrival signal, but the retriggerable multivibrator 4a has an external connection. The F output is held at [L] as long as the count pulse is sent out from the pulse generating means within a time corresponding to a time constant preset by the resistor VR.

Therefore, even if the rotating body 5 reaches the control target position, the output of the AND gate 4b will not be inverted to the [H] level and a stop detection signal will not be output unless the rotating body 5 has stopped. , when the rotating body 5 reaches the control target position T and stops after causing damped vibration as shown in FIGS. 3(c) to 3(d), the retriggerable multivibrator 4a from the two pulse encoders Since the sending of pulse signals to the retriggerable multivibrator 4a is stopped after the set time τ, the retriggerable multivibrator 4a enters the reset state and inverts the F output to [H], and the AND game) 4b When the [H] level stop signal is output for the first time, the rotating body 5
Detects stoppage.

A) to f) in FIG. 2 are time charts showing the operation of each part shown in FIG. C) is the 0 output pulse of the subtraction counter, d
) shows the Q output of the RS flip-flop, e) shows the F output of the retriggerable multivibrator, and f) shows the stop detection signal output from the AND gate.

In the above embodiment, a subtraction counter is used to detect the rotation angle position, and this counter is configured to detect the control target position. The position arrival signal may be held and output when the deceleration position of 11.2 is reached.
In this case, a second deceleration position data setter may be used instead of the control target position data setter, and a counter may count the count value set in this deceleration position data setter.

With such a device, the output shaft will not reach the control target position,
It can also be detected when the vehicle stops with damping braking applied.

The present invention is not limited to these examples, but is capable of setting a rotational angle position at which a holding signal is output by a counter circuit, and detecting a stopped state of a rotating body when the pulse signal counted by the counter circuit ceases for a predetermined period of time. That's fine.

Next, a usage example of the sensor of the present invention shown above will be explained.

Figures 4 (a) to (C) show the schematic configuration of a rotation control mechanism used when performing intermittent rotation control in which a rotating body is damped and vibrated and stopped at a control target position, along with its operation. be.

As shown in the figure, this rotation control mechanism B is provided with a main clutch mechanism 2a at one end of the input shaft 3, which is horizontally supported on a frame 9 and protrudes from the frame 9. The rotational force of 1d is transmitted to the human power shaft 3 or cut off, and the pulley 1
d is rotatably driven by an electric motor or the like, and is rotated freely by receiving the rotational force from a bell (c) passed between the rotary shaft 1a and the rotary shaft 1a.

First and second control clutch mechanisms 2b and 2c, each fixed to bevel gears 4a and 4b having the same number of teeth, are attached to a human power shaft 3 supported in a frame 9 so as to pass through this input shaft 3. The first and second control clutch mechanisms 2
The first .b and 2c are fixed to face each other. Another third bevel gear 4c fixed to the output shaft 6 via the brake mechanism 7 meshes with each of the second bevel gears 4, a, and 4b so as to intersect with each other at right angles.

Therefore, the output shaft 5 is structured to protrude from the frame 9 so as to be orthogonal to the input shaft 3 which is supported horizontally within the frame 9.

1st. The second control clutch mechanisms 2b and 2c are composed of a single-plate clutch or a powder clutch depending on the type and characteristics of the rotational drive source, and either of them can be connected or disconnected to cause v, 1. The second bevel gears 4a and 4b are connected to and disconnected from the input shaft 3. Further, when the brake mechanism 7 is activated, the output shaft 5 is compressed by a brake shoe to stop the rotation of the output shaft 5.

Such a first. The second clutch mechanisms 2b, 2C, the main clutch mechanism 2a, and the brake mechanism 7 are preferably of the rapid excitation type that operates instantaneously in response to an electric signal. Control is performed by a clutch control circuit and a brake control circuit that operate.

According to such a rotation control mechanism B, the following control is possible while the rotational drive source is continuously rotated in one direction.

(Forward rotation operation) The main clutch mechanism 2alt is turned on, the first control clutch mechanism 2b1t is turned on, and the second control clutch mechanism 2c is turned on.
Make it FF.

Then, the rotational force of the drive source 1 transmitted via the pulley 1d is transmitted to the human power shaft 3 via the main clutch mechanism 2a,
The rotational force of the input shaft 3 is transmitted to the first gear mechanism 4a via the control clutch mechanism 2b 'a1, but since the second control clutch mechanism 2c is OFF, the rotational force is transmitted to the second gear mechanism 4b.
Therefore, the rotational force of the human power shaft 30 is transmitted only to the first gear mechanism 4a, and this rotational force is further transmitted to the third gear mechanism 4C meshing with the first gear mechanism 4, a. The output shaft 5 is rotated in the normal rotation direction. Also, at this time, the second
The gear mechanism 4b receives and follows the rotational force of the third gear mechanism 4c (see above, 4th Q!1(a) Il+).

(Reverse operation) The main clutch mechanism 2a is turned on, the first control clutch mechanism 2b is turned off, and the second control clutch mechanism 2c is turned on.
Set it to N.

Then, the rotational force of the drive fil transmitted via the pulley ld is transmitted to the input shaft 3 via the main clutch mechanism 2a, and the rotational force of the input shaft 3 is transmitted to the second clutch mechanism 2C via the second control clutch mechanism 2C. However, since the first control clutch mechanism 2b is OFF, the transmission is transmitted to the first gear mechanism 4a.
Therefore, the rotational force of the human power shaft 3 is transmitted only to the second gear mechanism 4b, and this rotational force is further transmitted to the third gear mechanism 4c connected to the second gear mechanism 4b, and output. Rotate the shaft 5 in the reverse direction. Further, at this time, the first gear mechanism 4a is driven by receiving the rotational force of the third gear mechanism 4c (#N in FIG. 4(b)).

(Stopping operation) The main clutch mechanism 2a is turned on, the first control clutch mechanism 2b is turned on, and the second control clutch mechanism 2c is turned off.
To explain the case where the engine is stopped from normal rotation by setting F, the main clutch mechanism 2a is turned off, and at the same time, the second control clutch mechanism 2C is also turned on.

In the second state, the transmission of the rotational force of the drive source transmitted via the pulley ld to the human power shaft is interrupted by the main clutch mechanism 2a, so the human power shaft 3 continues to rotate due to inertia, but the second control Since the clutch mechanism 2c was turned on, the second
The gear mechanism 4b meshes with the third gear mechanism 4c, which was rotating in one direction.

As a result, the third gear mechanism 4cLiil! It is restrained by receiving rotational forces in opposite directions from both the first gear mechanism 4a and the second gear mechanism 4b, and stops instantly without causing backlash (see M in FIG. 4(C)).

According to such a rotating side l1lII structure B, the main clutch mechanism and the first clutch mechanism can be connected while the rotary drive source is being rotated in one direction. By controlling the second control clutch mechanism and brake mechanism, the output shaft to which the load is connected is damped and vibrated around the control target position like a servo motor, and is quickly stopped with high precision at any rotational angle position. be able to.

That is, in such a control system, the rotational angular position of the output shaft 50 is detected by counting pulse signals output from a pulse encoder or the like using a counter circuit section, and the 5th rM, 71st! As shown in l,
After the output shaft 5 performs the first deceleration at a predetermined rotational angle position Tl to gradually reduce the speed, and after reaching the second deceleration position T2, the control target is The output shaft 5 is damped and oscillated around the position T to be stopped in the vicinity of the control target position 11T with high precision.After the output shaft 5 starts rotating in either direction, the first Rotary drive source 1 until the deceleration position TI is reached.
is connected to the human power shaft 3 to continue rotation, and when the first deceleration position T1 is reached, the rotational drive fi1 is disconnected from the input shaft 3 and the first control clutch mechanism 2b and the second control clutch mechanism 2c are connected. Turn on and start braking.

This braking is performed until the output shaft 5 reaches the second deceleration value 1 [T2, and if the rotational speed of the output shaft 5 falls below the constant value RO during the braking period, the rotational drive ll]
is connected to the input shaft 3 again, and at the same time, the second control clutch mechanism 2c is intermittently released to prevent a sudden drop in rotational output (bumping braking), and in this way, While the rotational speed of the output shaft 5 is gradually decreasing, when it reaches the second deceleration position T2, the rotational speed of the first. The second control clutches 2b and 2c are turned on and off alternately to vibrate the output shaft 5 in forward and reverse directions centering on the control target position T, and stop it at the control target position T.

In such a control system, as shown in Figure 6,
After the rotational speed of the output shaft 5 gradually decreases and reaches the second deceleration position T2, when the control target position T is passed, a force in the opposite direction is applied to the output shaft 5 to reverse the rotation, and the same control is performed thereafter. By repeating this, the output shaft 5 is stopped at the control target position T, so after the output shaft 5 reaches the second deceleration position T2, the output shaft 50 is vibrated with the rotational speed gradually decreasing. It turns out. For this reason, like the control of a servo motor, self-braking by damped vibration centered on the control target position T acts, and the rotational drive source is stopped with high precision at a position close to the control target position T. Not only can the rotational intermittent drive mechanism, which can obtain a high torque output, be rotated in the forward direction or reverse direction, or be stopped quickly, while the motor is still rotating, but also the intermittent drive can be controlled with high accuracy and quickly.

In addition, such a control system turns on a clutch mechanism that controls the transmission of rotational force between the output shaft and the human-powered shaft.

Because it is turned off, even when a large load is applied, it is possible to prevent excess external force from being applied to the gear mechanism due to slipping of the clutch mechanism. Even when a large load is applied, the rotation of the rotary drive source can be stopped immediately, making it possible to stop the rotary drive source safely. It has advantages such as good sex.

According to the sensor of the present invention, it can be used in such a control system, and in that case, the output signal of the counter that performs the subtraction operation is processed by the counter circuit section that performs the counting operation by receiving the output pulses from the rotary encoder. It is considered to be a composition.

[Effects of the Invention] According to the present invention, since it has the above-mentioned structural features, if it is used for position control of a rotating body in which the rotating body is damped and vibrated and stopped at a predetermined rotation angle position, it can be easily achieved. Since the stop state can be detected accurately and accurately, a highly reliable and safe stop detection sensor can be obtained.

[Brief explanation of drawings]

Fig. 1 is a block diagram showing the configuration of the internal circuit in one embodiment of the sensor of the present invention, Fig. 2 is a time chart showing the operation of each part in Fig. 1, and Fig. 3 is an explanation of the control operation of the rotating body. Figures 4 (a) to (C) are mechanism explanatory diagrams explaining the operation of the rotating body control mechanism, Figure 5 is a time chart explaining the position control operation of the rotating body, and Figure 6 is control of damped vibration. A time chart illustrating the operation, and FIG. 7 are diagrams illustrating more specific operations of the rotating body. (Explanation of symbols) 2A ・ 3 A ・ 4 A ・ 5 Misery ・ ・Stop detection sensor・Pulse generation means・Count holding circuit・Logic circuit・Rotating body

Claims (1)

[Claims] 1) Rotation in which a rotating body rotated in one direction is decelerated before a preset control target rotation angle position, and then stopped while causing damped oscillations around the control target rotation angle position. A stop detection sensor used to control the rotational position of a body, which includes a pulse generating means that generates a pulse signal as the rotating body rotates, and a pulse generating means that counts the pulse signals generated by the pulse generating means to determine the rotation position set in advance. A counter holding circuit that holds and outputs a position arrival signal when the angular position is reached, and after the position arrival signal is output from this counting holding circuit,
A stop detection sensor for a rotating body, comprising a logic circuit configured to output a stop detection signal when the pulse signal output from the pulse generating means is interrupted for a predetermined period of time.