JPH06233591A - Cum operation controller - Google Patents

Abstract

PURPOSE:To provide a simple cum operation controller using an electric actuator by getting the speed command data by the multiplication which uses speed pattern data a multiplicand and the rotational angle speed of machine device as a multiplier. CONSTITUTION:An angle transmitter 11 transmits an angle pulse signal A proportionate to the rotational angle of a machine device 1, and an electric actuator 12 performs the cum operation. Moreover in a speed pattern memory 2, basic speed data are stored at each rotational angle being gotten by differentiating, with rotational angle, the position of the electric actuator 12 to the rotational angle of a machine device 1. A rotational angle detecting circuit 3 is one to get the rotational angle B of the machine device 1, receiving an angle pulse signal A, and the rotational angle B is given as address information to the speed pattern memory 2. Moreover, a rotational angle speed detecting circuit 4 is one to get the rotational speed D of the machine device 1, receiving an angle pulse signal A, and the rotational angle speed D is given as a multiplier signal to the speed computing circuit 5. As a result, a simple constitution of cum mechanism can be gotten.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for controlling a position corresponding to a rotation angle of a mechanical device having a rotating mechanism, and more particularly, to a cylinder mounting / dismounting operation of a printing machine, a feeder operation of a press, and operations equivalent thereto. The present invention relates to a cam operation control device that achieves operation by using an electric actuator.

[0002]

2. Description of the Related Art A cylinder mounting and dismounting operation of a printing machine is performed by a mechanical system in which a mechanical cam is used to control an arbitrary position by the mechanical cam. That is, the mechanical cam has a shape such that a mechanical device having a rotating mechanism operates in an interlocking manner, and the driven portion is brought into contact with the outer peripheral rotating surface of this shape to perform a mechanical operation, and a fixed periodic It can be operated.

[0003]

In such a prior art, the operation by the mechanical cam causes noises associated with the mechanism and has the following problems. (B) Due to wear of the cam, timing and movement deviations will inevitably occur. (B) Since only one pattern operates, if there is a change in cam operation, it takes time to replace it. (C) It is difficult to achieve accuracy in the cam manufacturing process. It is an object of the present invention to provide a cam operation control device that performs exceptional position control of a mechanical device that has a rotating mechanism that uses an electric actuator that can solve these problems.

[0004]

Next, a description will be given with reference to FIG. 1 shown for facilitating the understanding of the technical idea of the present invention. In FIG. 1, 1 is a mechanical device having a rotating mechanism, 2
Is a speed pattern memory, 3 is a rotation angle detection circuit, 4 is a rotation angular velocity detection circuit, 5 is a speed calculation circuit, and 6 is a drive pulse generation circuit. In the mechanical device 1, 11 is an angle transmitter and 12 is an electric actuator. Here, the drive pulse generation circuit 6 and the electric actuator are shown as an example of a pulse motor for convenience of description.

That is, the angle transmitter 11 is attached to the mechanical device 1 to transmit the angle pulse signal A proportional to the rotation angle of the mechanical device 1, and the electric actuator 12 is provided to perform the cam operation. The speed pattern memory 2 stores basic speed data for each rotation angle obtained by differentiating the position of the electric actuator 12 with respect to the rotation angle of the mechanical device 1 by the rotation angle of the mechanical device 1.

The rotation angle detection circuit 3 inputs the angle pulse signal A to obtain the rotation angle B of the mechanical device 1, and is connected so that the rotation angle B is given to the speed pattern memory 2 as address information. . Rotational angular velocity detection circuit 4
Is for inputting the angle pulse signal A to obtain the rotational angular velocity D of the mechanical device 1, and the rotational angular velocity D is given to the velocity calculation circuit 5 as a multiplier signal.

Due to the structure of the speed pattern memory 2, the rotation angle detection circuit 3, the rotation angular speed detection circuit 4 and the speed calculation circuit 5, the speed pattern memory 2 corresponds to each time the rotation angle B of the machine device 1 changes. The speed pattern data C corresponding to the rotation angle B is read from the address, and the speed command data E is obtained by multiplication using the speed pattern data C as a multiplicand and the rotation angular speed D of the machine device 1 as a multiplier. The drive pulse generation circuit 6 generates a drive pulse signal F based on the speed command data E,
It is provided so as to drive the electric actuator 12.

[0008]

The operation of the conventionally used mechanical cam can be equivalently performed by the electric actuator by obtaining the speed at the position change for each rotation angle of the mechanical cam. Now, the position of the cam with respect to the rotation angle is represented by f (θ), and the velocity V (θ) can be represented by the following equation by the time derivative of the position f (θ).

V (θ) = df (θ) / dt = {df (θ) / dθ} · (dθ / dt) = {df (θ) / d (θ)} · ω ‥‥‥‥‥‥‥‥‥‥‥ (1)

From the equation (1), the velocity V (θ) of the point displaced by the mechanical cam can be expressed by the rotational angular velocity ω of the mechanical cam and the reference velocity pattern {df (θ) / dθ} of the angular rotational angle. . Further, these relationships are shown in FIGS. 2 and 3.

FIG. 2 shows the relationship between the control position and the rotation angle of the cam of the mechanical device having the rotation mechanism, and FIG. 3 shows an example of the relationship between the reference speed pattern and the rotation angle of the electric actuator. In FIG. 3, the reference speed pattern {d
The control speed for each rotation angle can be obtained by f (θ) / dθ}.

In this way, the rotation angle detection circuit 3 obtains the rotation angle data of the machinery by the angle pulse signal A from the angle transmitter 11 arranged in the machinery 1, and similarly the rotation angular velocity detection circuit 4 is obtained. The rotation angular velocity data is obtained at. The rotation angle of the mechanical device changes by inputting the above-mentioned rotation angle data to the address of the operation speed pattern memory from the operation speed pattern memory in which the reference speed pattern {df (θ) / dθ} is converted into data and stored in the memory. Each time, the operation speed pattern data for the rotation angle is read from the corresponding address of the operation speed pattern memory.

Speed command data can be obtained by multiplying the rotational angular speed data and the operating speed pattern data. The speed command data is converted into a drive pulse frequency for the electric actuator 12 by the drive pulse generation circuit 6. Therefore, the position operation of the mechanical cam can be specially realized by the cam operation control by the electric actuator. Hereinafter, the present invention will be described in more detail with reference to the accompanying drawings.

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 4 shows a main structure of an example of a cam operation control device to which the present invention is applied. Reference numeral 21 is a read only memory (ROM), 22 is a microcomputer (CPU),
23 is a cam operation setting device, 24 is an operation speed pattern memory (R
AM), 61 is a binary late multi, and 62 is a frequency divider. In the figure, the same reference numerals as those in FIG. 1 indicate parts having the same functions.

In FIG. 4, by selecting a cam operation operation by the cam operation setting device 23, the CPU 22 causes the cam operation pattern selected by the cam operation setting device 23 from the ROM 21 in which a plurality of reference speed patterns are stored in advance. The reference speed pattern data corresponding to is read. The read reference speed pattern data is sequentially stored in the RAM 24.

Angle transmitter 11 attached to the mechanical device 1
The angle pulse signal A and the angle origin signal A1 are obtained from.
The rotation angle detection circuit 3 counts the angle pulse signal A by a counter, and when detecting the angle origin signal A1, resets the counter to obtain rotation angle data of the mechanical device. The angular pulse signal A is also received by the angular velocity detection circuit 4, and the rotational angular velocity data is obtained by sampling for a fixed time.

Regarding the rotation angle data of the mechanical device obtained from the rotation angle detection circuit 3, the rotation angle data of the CPU 22 and the RAM 24 is sent to an address and treated as address information. CPU sends start signal A2 from machine 1
When 22 receives, the operating speed pattern data corresponding to each angle is calculated from the start angle of the operating speed pattern data by the CPU.
22 reads.

The CPU 22 multiplies the operating speed pattern data read from the RAM 24 as a multiplicand, and multiplies the rotational angular speed D obtained by the rotational angular speed detection circuit 4 as a multiplier to obtain the speed command data. Where CP
U22 receives an interrupt signal B1 for each rotation angle from the rotation angle detection circuit 3. The speed command data is as follows.

V (θ) = {df (θ) / dθ} · ω · K1 (2) where θ is the rotation angle, V (θ) is the control speed, and {df
(Θ) / dθ} is operating speed pattern data, ω is rotational angular velocity data, and K1 is a coefficient.

The binary rate multi 61 and the frequency divider 62 are used as a drive pulse generating circuit. The output frequency F2 of the binary rate multi 61 is given by the following equation. F2 = {V (θ) · F1} / (2 to the nth power) (3) where V (θ) is speed command data, F1 is the binary late multi 61 clock frequency, and n is the binary late. It is the number of bits of multi 61.

The binary rate multi 61 provides a pulse frequency output proportional to the speed command data V (θ). Since the output frequency F2 is composed of a thinning circuit as is well known, it causes jitter in the output. Here, a (1 / N) frequency divider 62 is used for the purpose of improving this jitter and bringing the duty ratio close to 50%.

The drive pulse signal F passed through the frequency divider 62 is given by the following equation. F = {V (θ) · F1} / (2 to the nth power · N) V (θ) = F · (2 to the nth power · N) / F1 (4) where F = It must be {df (θ) / dθ} · ω.

Therefore, V (θ) = {df (θ) / d (θ)} ωK2 (5), and the speed command data V (θ) is the operating speed pattern data {df (θ) ) / Dθ}, the rotational angular velocity data ω, and the coefficient K2.

The coefficient K1 is related to the conversion of the speed command data into the drive pulse signal F, and the coefficient K2 is related to the coefficient K1 from the drive pulse signal F in the final position control. Including must be considered. Of course, the calculation of this coefficient can be performed by the CPU 22. Further, it goes without saying that the open loop control of the present description can achieve the same high speed as the mechanical cam of the conventional device.

[0025]

As described above, according to the present invention, the reference angular velocity pattern is multiplied by the angular velocity of the mechanical device for each rotational angle of the mechanical device in synchronism with the rotational angular velocity of the mechanical device having the rotating mechanism, and the electric actuator It is possible to provide a device having a simple structure in which the speed is controlled.

The cam operation control device as described above can perform the same operation as the mechanical cam of the conventional device, and has the following advantages by eliminating the disadvantages of the mechanical cam. (B) Even if the cam operation pattern changes, it is only necessary to change the speed pattern in the memory. (B) Mechanical cams can perform complicated operations that are difficult.

[Brief description of drawings]

FIG. 1 is a simplified block diagram shown to facilitate understanding of a technical idea of the present invention.

FIG. 2 is a diagram showing a relationship between a rotation angle and a control position shown for explaining the operation of the present invention.

3 is a diagram showing an example of a relationship between a rotation angle and a reference speed pattern shown in FIG.

FIG. 4 is a system diagram showing a main part configuration of an embodiment to which the present invention is applied.

[Explanation of symbols] 1 Mechanical device 11 Angle transmitter 12 Electric actuator 2 Speed pattern memory 21 Read only memory (ROM) 22 Microcomputer (CPU) 23 Cam operation setting device 24 Operation speed pattern memory (RAM) 3 Rotation angle detection circuit 4 Rotational angular velocity detection circuit 5 Speed calculation circuit 6 Drive pulse generation circuit 61 Binary late multi 62 Frequency divider A Angle pulse signal A1 Angle origin signal A2 Start signal B Rotation angle B1 Interrupt signal C Speed pattern data D Rotation angular speed E Speed command data F drive pulse signal F1 clock frequency F2 output frequency

Claims (1)

[Claims] 1. A velocity pattern memory for storing reference velocity pattern data for each angular rotation angle obtained by differentiating the position of an electric actuator with respect to the rotation angle of the mechanical device by the rotation angle, and attached to the mechanical device. Rotation angle detection circuit for inputting the output of the angle transmitter to obtain the rotation angle of the mechanical device, and rotation angular velocity detection circuit for inputting the output of the angle transmitter to obtain the rotation angular velocity of the mechanical device Whenever the rotation angle of the machine changes, the speed pattern data for the rotation angle is read from the corresponding address of the speed pattern memory, and multiplication is performed by using the speed pattern memory as a multiplicand and the rotation angular speed of the machine as a multiplier. A speed calculation circuit that obtains speed command data, and an electric actuator is driven based on the speed command data. A cam operation control device, comprising: