JPH07121477B2 - Crankshaft control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Object of the Invention] (Field of Industrial Application) [0001] The present invention relates to a crankshaft control device that is perfect for safety measures.

(Prior Art) Generally, a crankshaft control device for various machines detects the rotational position of the crankshaft with a plurality of limit switches and controls various controlled members based on the signals detected by the limit switches. It is configured.

For example, in a crankshaft control device for a crank press, a number of limit switches are provided for a dog member provided on the crankshaft, and a clutch brake is operated based on output signals from these limit switches.

(Problems to be solved by the invention) However, in the crankshaft control device using the limit switch as described above, the operating position of the clutch brake may be displaced or may not operate due to wear or failure of the limit switch. There is a problem above.

Therefore, an object of the present invention is to provide a crankshaft control device capable of safely and reliably stopping and controlling the crankshaft.

[Structure of the Invention] (Means for Solving the Problems) In order to achieve the above object, in the present invention, a crankshaft control device is provided with a crankshaft rotation angle detecting means and a clutch brake for the rotation angle of the crankshaft. A numerical value setting unit for setting a clutch brake operating position for performing timing control and a stop limit position of the crankshaft, a clutch brake operating position set in the setting unit, and a rotation angle detected by the rotation angle detecting means. By comparison, a control signal output unit that outputs a timing control signal for the clutch brake when the crankshaft reaches a predetermined position, and a sudden stop that suddenly stops the crankshaft when the actual stop position of the crankshaft exceeds the stop limit position. And a stop means.

(Operation) In the present invention, the rotation angle of the crankshaft is detected by the rotation angle detection means of the crankshaft such as an encoder or a resolver.

Further, a control signal for operating the clutch brake is output by comparing the position data programmable set by the numerical value setting unit with the rotation angle detected by the rotation angle detection means.

Further, when the actual stop position of the crankshaft exceeds the stop limit position set in the numerical value setting section, the crankshaft is suddenly stopped by the sudden stop means.

(Example) FIG. 1 is an explanatory view showing an example in which the present invention is applied to a crank press.

As illustrated, a crankshaft control device 3 is connected to the crank press 1.

The crank press 1 has a crankshaft 5 and a flywheel 7
And a brake 9, and the crankshaft 5 includes a clutch 11
It is adapted to be rotationally driven by the drive source 13 via.

A punch 17 is movably connected to the crankshaft 5 via a connecting rod 15 so that a predetermined press working is performed between the punch 17 and a die 19 fixedly arranged below the punch 17. There is.

The crankshaft 5 is rotatable in both forward and reverse (CW, CCW) directions by operating the drive source 13 in the forward and reverse directions.

A resolver 21 is provided on the crankshaft 5.
The internal structure of the resolver 21 is the same as that of a known one, and outputs a signal Esin (ωt−θ) according to the rotation angle θ of the crankshaft 5 for two inputs Esin ωt and Ecos ωt.

The crankshaft control device 3 has a main control unit 25 as a center, and is connected to a numerical value setting unit 27, an angle calculation unit 29, and a control signal output unit 31. A resolver signal input / output unit 33 is interposed between the angle calculation unit 29 and the resolver 21.

When the crankshaft 5 reaches the top dead center, the resolver 21 uses Esin
It is attached so as to output a signal of ωt (θ = 0).

FIG. 2 is a circuit diagram showing details of the crankshaft control device 3.

As shown in the figure, the crankshaft control device 3 includes the main control unit.
It is composed mainly of MPU35 equivalent to 25. MPU35
Includes a CW / CCW switch 37 for commanding a rotation direction, a sudden stop circuit 39, a keyboard 41 corresponding to the numerical value setting unit 27, an isolator 43, an on-data storage register 45, an off-data storage register 47, and an angle data register 49. It is connected. The operation of each member will be described later.

On the other hand, a phase detection circuit 51 is connected to the resolver 21, and the circuit 51 has an N edge detection circuit 53 and a counter 55.
In addition, a P edge detection circuit 57 is connected. counter
55 is connected to the angle data register 49. The output terminal of the P edge detection circuit 57 is connected to the clear terminal (CL) of the counter 55, and the output terminal of the edge detection circuit 53 is connected to the gate terminal G of the angle data register 49. MP
The data transfer path DL connected to the U35 is for outputting the rotation angle θ and various data created by the MPU 35 to each control device (not shown).

The phase detection circuit 51, the N edge detection circuit 53, the counter 5
5, the P edge detection circuit 57, and the angle data register 49 constitute the angle calculation unit 29 as a whole.

Comparators 59 and 61 are provided between the ON / OFF data storage registers 45 and 47 and the angle data register 49.
And the output terminals of both comparators 59 and 61 are
They are connected to the MPU 35 and the set and reset terminals of the flip-flop 63, respectively. The output terminal Q of the flip-flop 63 is connected to the clutch brake control signal output terminal Ts and the isolator 43.

The operation of the crankshaft control device having the above configuration is as follows.

First, the phase difference detection circuit 51 responds to the signals Esin ωt and Ecos ωt input to the resolver 21 by rotating the rotation angle θ of the crankshaft 5.
A signal Esin (ωt−θ) that changes with is input (FIGS. 3 (a) (b) (c)).

The P edge detection circuit 57 and the N edge detection circuit 53 detect rising times t ₁ and t ₂ of the sine curve shown in FIGS. 3A and 3C, respectively, and clear the counter 55 at time t _1. , At time t ₂ , a data read command is output to the angle data register 49.

The counter 55 accumulates the number of clocks of the high-frequency clock signal CLK shown in FIG. 3 (d) from the clock input terminal CK from the time t ₁ , and the angle data register 49 stores the accumulated number of the counter 55 at the time t ₂ . Based on this, the rotation angle θ of the crankshaft 5 is obtained and replaced with past data θ.

As described above, the rotation θ of the crankshaft 5 shown in FIG. 1 is stored in the angle data register 49.

Next, the MPU 35 is provided with a memory Mx for storing various position data as shown in FIG.

The position control data shown in this example is the stop position confirmation data.
In the data x _5, and the data D _1, D ₂ of the control clutch-brake - x _1, x ₂ and (x2 indicates a stop limit position), a loader control data _{x 3, x 4, x 6} , Ahn is there.

As shown in FIG. 5, the stop position confirmation data x ₁ and x ₂ are data for confirming whether or not the crankshaft 5 has stopped in the section defined by both data x ₁ and x ₂ . The loader control data x ₃ , x ₄ , and x ₆ are data for starting the loader at the position x ₃ , loading at the position x ₄ , and unloading at the position x ₆ . Low-data x ₅ is data for area determination under the safe single rotation mode. Clutch brake control data D ₁ and D ₂ are clutch brake 11 and
It is data for operating 9 and a plurality of values x ₈ , x ₉ , x ₈ ′, x ₉ ′, x ₈ ″, so that predetermined data can be selected according to the speed of the crankshaft 5 when the clutch brake is actuated. x ₉ ″, is set. All of these data can be freely set from the keyboard 41.

FIG. 6 shows a flowchart of clutch brake operation control.

In step 601, the speed of the crankshaft 5 is dθ / dt in the MPU 35.
Is calculated.

In step 602, predetermined on-data D ₁ and off-data D ₂ are selected according to the speed, and the selected on-data ₁ (for example x ₈ ) and off-data D ₂ (for example x ₉ ) are registered in the registers 45, 47.
Set to.

In step 603, the comparators 59 and 61 compare the respective set values with the value θ appearing in the angle data register 49, and when θ = D ₁ or θ = D ₂ , the respective registers 59 are compared. , 61 from high-level coincidence signal S ₁ ,
Output S ₂ .

In step 604, the signals S ₁ and S ₂ are transferred to the flip-flop 63.
It is received by the set terminal S and the reset terminal R, and the signal S ₃ shown in FIG.

In step 605, in response to this signal S ₃ , the clutch 11 and the brake 9 are simultaneously operated, and the crankshaft 5 is moved to the above section.
Stop within x ₁ and x ₂ .

In step 606, it is monitored whether or not the current position x falls within the limit position x ₂ until the cranking speed becomes zero (0), that is, until the vehicle actually stops, and if x ≦ x ₂ . If there is, the process is finished, and if x> x ₂ , the process proceeds to step 607.

In step 607, in view of the fact that the crankshaft has exceeded the limit position x ₂ during the stop control, a sudden stop command is output as a danger prevention measure, and the clutch brakes 11 and 9 are continuously operated.

By the processing shown in FIG. 6, the crankshaft is stopped within the limit position x ₂ or in the vicinity thereof, so there is no risk of the crankshaft idling beyond the limit position x ₂ .

On the other hand, the MPU 35 constantly inputs the data θ measured by the angle data register 49, and this data θ and other data x ₁ , x ₂ and x ₃ , x ₄ , x ₆ , and x shown in FIG. By comparison of ₅ ,
Confirm stop position, output timing signal to related equipment,
Performs various processing such as area determination processing under the safety-rotation mode.

Further, the MPU 35 receives the signal S ₃ via the isolator 43, and based on the comparison between the signal S ₃ and the data D ₁ and D ₂ , the signal S ₃ , that is, the flip-flop has no abnormality. Is being determined. If the MPU35 determines that an abnormality has occurred in the flip-flop by this determination,
The clutch 11 and the brake 9 are directly operated via the sudden stop circuit 39 to suddenly stop the crankshaft 5, thereby preventing runaway of the crankshaft 5 and ensuring safety. In this case, the signal output from the MPU 35 as software is somewhat delayed from that from the flip-flop 63 as hardware,
This delay is very small and the crankshaft 5 stops at approximately the top dead center, so there is no safety problem.

The CW / CCW changeover switch 37 is for specifying the rotation direction of the crankshaft 5. When the reverse rotation is commanded by the switch 37, each data shown in FIG. 4 is replaced with a value obtained by subtracting the value of each data from 360 °.

The mechanical origin x ₀ described above can be set at any position.
That is, the operator positions the crankshaft 5 at a position desired to be the machine origin, and then operates the machine origin setting key.

Then, the MPU 35 determines that the crankshaft rotation angle θ at this point is
Read and set this as the origin.

In the crankshaft control device having the above configuration, the angle calculation unit
29 can know the accurate current position of the crankshaft 5 based on the detection signal of the resolver 21. At this time, the calculation of the angle data is performed by integrating the number of clocks of the clock signal CLK input to the counter 55. Therefore, the detection accuracy can be obtained by making the frequency of the clock signal CLK appropriate. .

Since the resolver 21 is an absolute position detector, it is unnecessary to align the origin when starting the work.

Since the clutch brake control signal S ₃ is output from the flip-flop 63 that operates at high speed, it is possible to operate the clutch brake with high accuracy. Also, the output of the flip-flop 63 is confirmed by the MPU 35 via the isolator 43, and if the flip-flop 63 is abnormal, the sudden stop circuit 39 is activated. There is no.

Since each data shown in FIG. 4 is variable by the keyboard 41, the control timing can be easily adjusted.

Since the clutch brake control data D ₁ and D ₂ are variable according to the speed of the crankshaft 5, the crankshaft can be stopped accurately at all speeds.

Although not shown in the above example, the control data of the related equipment can also be made variable according to the speed of the crankshaft 5. Alternatively, it is possible to optimize the output timing of the control signal according to the speed of the crankshaft 5 without changing these data.

In the above embodiment, an example of application to a crank press is shown, but the same applies to other crank shafts such as a turret punch press.

Further, although the rotation angle is detected by the resolver in the above embodiment, the rotation angle may be detected by the encoder. That is, when an encoder is attached to the crankshaft, the detection amount of the encoder may be converted into a rotation angle, and when the encoder is attached to the connecting rod or slide, the reciprocating operation length is converted into a rotation angle. Just do it.

The present invention is not limited to the above embodiment,
It can be implemented in other aspects by making appropriate design changes.

[Advantages of the Invention] As described above, the present invention is provided with the rotation angle detection means for detecting the rotation angle of the crankshaft, and compares the rotation angle of the crankshaft detected by the means with preset position data. Since the crankshaft control device outputs the sudden stop command when the actual stop position of the crankshaft exceeds the stop limit position, the crankshaft can be safely and reliably stopped.

[Brief description of drawings]

Each of the drawings shows an embodiment, FIG. 1 is an explanatory view showing an example in which the present invention is applied to a crank press, FIG. 2 is a circuit diagram showing the details of the crank shaft control device, and FIG. A timing chart showing signal states, FIG. 4 is an explanatory view of set data, FIG. 5 is an explanatory view of a rotation angle of a crankshaft,
FIG. 6 is a flowchart of the operation control of the clutch brake. 1 ... Crank press, 3 ... Crankshaft control device 9 ... Brake, 11 ... Clutch 21 ... Resolver, 29 ... Angle calculation unit 35 ... MPU, 39 ... Sudden stop circuit 39 ... Isolator 45 ... … On data storage register 47 …… Off data storage register 49 …… Angle data register, 51 …… Phase detection circuit 53 …… N edge detection circuit, 55 …… Counter 57 …… P edge detection circuit 59,61 …… Comparator 63 …… flip-flop

Claims (2)

[Claims] 1. A crankshaft rotation angle detecting means, and a numerical value setting unit for setting a clutch brake operating position and a crankshaft stop limit position for performing clutch brake timing control with respect to the crankshaft rotation angle. A control signal output unit for outputting a timing control signal for the clutch brake when the crankshaft reaches a predetermined position by comparing the clutch brake operating position set in the setting unit and the rotation angle detected by the rotation angle detecting unit. And a sudden stop means for suddenly stopping the crankshaft when the actual stop position of the crankshaft exceeds the stop limit position. 2. The comparison is made between hardware as an output department of the timing control signal and software as a signal management department, and if there is an abnormality in an output signal from the hardware, the comparison is made. The crankshaft control device according to claim 1, wherein a fail-safe signal is output to the clutch brake via software.