JPH0464513A - Synchronous operating device - Google Patents

Abstract

PURPOSE:To synchronize both devices even if in a case of connecting a new device or providing the same device to the device by making it so as to perform control correction of a motor in accordance with discrepancy of delivery position after revolution speed of the motor in the device is adjusted to a motor of a target device. CONSTITUTION:A motor control voltage V1 is given to a motor driver 2 for rotating a motor Mb in the same speed as a motor Ma in a device (a). Next, output numerical value from an absolute position encoder 1a of the target device (a), and output numerical value from an absolute position encoder 1b of a device of (b) side are input to a deviation counter 3. On the counter 3, output values from the absolute position encoder 1a are integrated, at the same time, subtracted by output numerical values from the absolute position encoder 1b, and a numerical value subtracted from the integrated values becomes a motor correcting signal S1. This signal S1 becomes a motor correcting signal V2 by a D/A convertor 7 to add to or subtract from the voltage V1, and the servomotor Mb is driven in a corrected condition of V1 by V2.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a synchronized operation device that matches the movement amount and movement position of objects to be processed, for example, in a plurality of devices that transport and deliver objects to be processed. The present invention relates to a synchronous operation device that can synchronize with a target device by simple control based on the motor speed of one target device.

[Prior art] An object to be processed such as a container is transported, delivered to another device located at the next stage to fill the container with contents, and then transferred to the next device for sealing processing, etc. When performing this, it is necessary to match the transport speed of the equipment in each process and the transport phase of the workpiece.

As these synchronous operation devices, for example, Japanese Patent Application Laid-Open No. 1-1999
There are 8 articles published in issue 896. In these conventional devices, for example, each motor of a first device and a second device that are connected to each other is controlled to control the transport speed of the first and second devices as well as the delivery position in each device. .

[Problem to be solved by the invention]

However, in manufacturing sites that handle objects to be processed such as containers, multiple devices installed in series are not necessarily manufactured by the same manufacturer, and the drive parts of each of the multiple devices installed in series are not necessarily detailed. For example, if a new processing device is installed in an existing device that has a drive section with a simple structure or a drive section that uses a motor that cannot be precisely controlled, When these devices are installed in parallel, even if an attempt is made to control the processing speed of the new device and the existing device at the same time, a situation may arise that cannot be handled in reality.

The present invention solves the above-mentioned conventional problems, and makes it possible to easily match the processing speed, transport position, etc. of a device connected to the target device, such as an existing device. Moreover, it is an object of the present invention to provide a synchronous operation device in which the control is performed on a new device side so that mutual synchronization of devices can be achieved.

[Means to solve the problem]

The present invention is a synchronous operation device that matches the movement amount and movement position to a target device, and includes a motor drive means that sets a motor speed in accordance with the motor speed of the target device, and The present invention is characterized in that it is provided with means for detecting the amount of deviation of the moving position, and correction means for adding a speed correction amount based on the detected value of the amount of deviation to the motor driving means.

Further, in the above means, the correction means includes a deviation counter that calculates the amount of deviation of the movement position as a numerical value, and means that adds a drive voltage corresponding to the calculated numerical value to the motor drive means.

[Operation] In the above means, in a device connected to a target device, the motor speed of this device is first adjusted to the motor speed of the target device. Then, a means is provided to detect the difference in the amount of movement 1 between the target device and the devices installed in series, the difference in movement position is determined from this detected value, and the motor speed of the device in series is corrected based on this difference. Do this. Therefore, it is possible to synchronize with the target device by simply controlling the motor of the device that is connected in series.

[Example] Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is a block diagram showing a synchronous operation device according to a first embodiment of the present invention, and FIG. 2 shows a device operated synchronously.

In FIG. 2, reference numeral (al) indicates a target device, for example, an existing device at a manufacturing site.

(b) is a device that is controlled by the synchronous operation device of the present invention, and is, for example, one that is later connected to the existing device (al). This is a filling device, and the workpiece W is rotationally transferred by the fal device and delivered to the rb+ device.

Ma is a motor that drives the target device fa), and Mb is a motor that drives the device (bl) controlled by the present invention.Moreover, the motor M in the device (a)
At the output part of a, there is an absolute position encoder (absolute encoder) la, and a motor M in the device (bl)
Similarly, an absolute position encoder 1b is provided at the output section b.

This absolute position encoder (absolute encoder)
can determine the phase of the part driven by the motor, and in the example shown in the figure, a numerical value corresponding to the distance traveled is output each time the workpiece W moves one pitch. ing.

In FIG. 1, reference numeral 2 represents a motor driver. In the embodiment shown in FIG. 1, a servo motor is used as the motor M'b on the device fbl side. In this example, the device f
A device in which the rotational speed of motor Mb in b) is set to the target [
The rotation speed of the motor Ma in a) is adjusted. That is, the motor control voltage VI is applied to the motor driver 2 in order to rotate the motor Mb at the same speed as the rotational speed of the motor Ma of the device fa). This motor control voltage (1) may be a voltage obtained by transforming the control voltage of the motor Ma that drives the device fa) as necessary, or an encoder may be provided at the output section of the motor Ma, and this encoder may be The reference numeral 3 represents a deviation counter, which may be obtained by D/A converting the output. The deviation counter 3 is given the output value from the absolute position encoder 1a of the target device (al) via the input interface 4. The output value from the absolute position encoder lb of the device (bl) is also used for direction determination. It is input to the deviation counter 3 via means 5 and pulse correction means 6. In the deviation counter 3, the output value from the absolute position encoder 1a is integrated, and this is subtracted by the output value from the absolute position encoder 1b.

The value subtracted from this integrated value becomes the motor correction signal S1. This motor correction signal S1 is converted into a motor correction voltage v2 by the D/A converter 7, which is added to or subtracted from the motor control voltage (1), and the servo motor Mb is driven with v1 corrected by (2).

FIG. 3 shows the correction operation of the motor rotation speed by the deviation counter 3 and the D/A converter 7. In this embodiment, the speed of the motor on the device fbi side is matched to the speed of the motor on the device fal side, and the motor Mb is driven by the motor control voltage vI.

By this (1), the speed V5 of the transfer section of the workpiece in the device (bl) is adjusted to the target feed speed V of the workpiece W in the device (a).
If there is a deviation in the absolute value 1 of the transfer of the workpiece W between at and the device (bl), the value corresponding to the deviation amount (
For example, control is performed to accelerate the motor Mb by an amount (integrated value). When an error occurs in the delivery position of the workpieces W of the same apparatus (fat and tb+), which is indicated by #ila in FIG. , motor correction voltage■
2, the motor Mb is accelerated by the amount to correct the amount of deviation (portion α), and as the amount of deviation decreases, the integrated value is subtracted by the output numerical value from the absolute position encoder 1b. By this subtraction, the motor correction voltage V2 is calculated as shown by β.
decreases, and when the amount of deviation of the delivery section becomes zero, the motor correction voltage v2 becomes zero.

In other words, the feed speed Vゎ at the delivery position of the workpiece in the device (bl) is the same as the feed speed Vゎ of the target device (al).
, and only the amount of shift in the delivery position of the workpiece at this time is outputted from the deviation counter 3 as the motor correction voltage (2), and the motor control voltage (2) is corrected. In this way, set the target device (a) as a reference! Since only the motor Mb on the (b) side is controlled, the equipment (al side may be existing equipment, or the equipment fal
Even if the motor drive section on the side has a structure that does not allow fine control, the devices (a) and fb) can be easily and reliably operated synchronously.

Note that in the above explanation, it is assumed that the motor Ma and the motor Mb are set to the same rotational speed, but for example, if the device (al
If there is a difference in the reduction ratio of the motor between It is also possible to match the delivery position of the workpiece W of the device 0 For example, when setting ■1 so that the feed speeds V and V of the device fa) and device (bl) are the same, the actual There is always a slight difference between the pitch Pa and pb of the delivery position, for example, there is always Pb=
If there is a difference (δ) equal to Pa + δ, the value corresponding to this δ will always remain as the integrated value in the deviation counter without being subtracted, so the voltage corresponding to this integrated value is the motor correction voltage. Since the motor Mb is always driven faster by the control voltage V++v2, it is possible to synchronize the delivery position of the workpiece W in an apparatus where the pitches Pa and pb are slightly different. Become.

FIG. 4A is a block diagram of a synchronous operation device according to a second embodiment of the present invention.

In this embodiment, the motor driver 2 is controlled by the control circuit 11 based on the output values from the absolute value l encoders 1a and 1b. This control is essentially the control shown in FIG. 4B. In this embodiment, first the motor M is
b to the target device (al) motor rotation speed (4th
The control shown in FIG. 4B (b)) further corrects the misalignment of the delivery position of the workpiece W between the apparatus of (a) and the apparatus of (bl) ((b) of FIG. 4B).

FIG. 5 is a flowchart showing the control operation by the control circuit 11 in FIG. 4A. The operation will be explained based on this flowchart.

In FIG. 4A, the motor Mb of the device (bl) is driven by a predetermined voltage (2). At this time, step (2) in FIG.
At step 2, the absolute positions of the workpiece transfer sections in the devices (a) and (bl) are detected based on the output values from the absolute position encoders 1a and 1b. The position is compared with the absolute position detected in step ①, and the device (al
The relative deviation amount of the transfer position of the processed object between the device (a) and the device (bl) is calculated (step ■). The respective feed speeds of are calculated. In step (2), if the speeds of the equipment (al) and (b) do not match, motor speed control correction is performed (step (2)). This correction signal S2 is the 4th A
In the figure, the signal is input to the motor control unit 12, and the motor Mb on the device fbl side is controlled to match the speeds of both devices.

In step ■, the feed rate V at the device (al and (bl)
, and Vゎ match, it is determined whether or not there is the amount of deviation calculated in step (3), and if there is an amount of deviation, the motor speed that should be corrected for that amount of deviation is performed. . With this correction, the motor Mb on the device fbl side
is controlled, and the phases of the processing section delivery sections of both devices match.

FIG. 6 shows a synchronous operation device according to a third embodiment of the present invention.

A rate multiplier 21 is used in this embodiment. The pulse PI is taken out from an encoder etc. installed on the motor output part of the target device (al.
At a predetermined rotational speed of 2000 (al to 40
Assume that a pulse number of 00 is output.

Assume that the device (bl) can obtain a rotation speed of 2000 with a pulse number of 2000.Rate multiplier 2
1, for example, when the number of pulses of 4000 is input from al, the number of pulses of 2000 is output to fb. If the number of rotations (rotational speed) of the device (at) is controlled, the feed speed v5 of the device (b) side can be matched to the target feed speed V of the device fal. (The output values from the absolute position encoders 1a and 1b of bl are frequency/voltage converted by 22a and 22b, the difference is determined by the comparator 23, and the correction amount proportional to the voltage of this difference is used as a numerical value to convert the rate multiplier.) If set to 21, the deviation of the delivery position on the device fbl side can be corrected to a position that matches the device (al).

[Effects] As described above, according to the present invention, the rotational speed of the motor of the device is first matched to the motor of the target device, and then morph control correction is performed in accordance with the amount of shift in the delivery position. Therefore, there is no need to control the motor on the target device side, and even if a new device is connected to existing equipment, or a new device is connected to a device that cannot be controlled in detail, This will ensure that both devices are synchronized.

[Brief explanation of drawings]

The drawings show embodiments of the present invention, and FIG.
Circuit block diagram showing the synchronous operation device according to the embodiment, second
The figure is a plan view showing an example of how the devices are connected, and Figure 3 is the first
4A is a circuit block diagram showing the synchronous operation device in the second embodiment; FIG. 4B is a block diagram showing the functions of the second embodiment;
The figure is an operation flowchart of the second embodiment, and FIG. 6 is a circuit block diagram showing a synchronous operation device in the third embodiment. 1a, 1b...absolute position encoder, 2...motor driver, 3...deviation counter, 11...control circuit, 21...rate multiplier. Figure 4A Figure 48 Figure 5

Claims (1)

[Claims] 1. A synchronous operation device that matches the amount of movement and movement position to the target device, including a motor drive means that sets the speed of the motor in accordance with the motor speed of the target device, and the movement position of the target device. means for detecting the amount of deviation of the
The synchronous operation device 2 is characterized in that it is provided with a correction means for adding a speed correction amount to the motor driving means based on the detected value of the deviation amount, the correction means calculates the deviation amount of the moving position as a numerical value. 2. The synchronous operation device according to claim 1, comprising: a deviation counter for calculating the calculated value; and means for adding a drive voltage corresponding to the calculated value to the motor drive means.