JPH07121478B2 - Crankshaft control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Object of the Invention] (Field of Industrial Application) The present invention relates to a crankshaft control device.

(Prior Art) Generally, a crankshaft control device for various machines is configured to detect the rotational position of the crankshaft with a plurality of limit switches and control various control members based on the signals detected by the limit switches. Has been done.

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 clutch brake operating position may shift or may not operate due to friction or failure of the limit switch. No, it is difficult to set the machine origin.

For example, when the mechanical origin is displaced from the top dead center by a predetermined amount, all limit switches must be displaced as a whole, and when the adjustment amount is large, the adjustment may fail.

Therefore, an object of the present invention is to provide a crankshaft control device capable of easily setting the mechanical origin at a predetermined position.

[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 mounted on a crankshaft and outputs a phase difference signal corresponding to a rotation angle with respect to a reference input signal. A resolver, a counter for measuring the time of signal deviation due to the phase difference in a predetermined clock cycle, and an angle calculation unit for calculating the current rotation angle based on the measured value of the counter, and the angle calculation unit for calculation. When the main control unit that controls various control members at predetermined timing based on the rotation angle and the crankshaft are located at desired positions,
Mechanical origin setting means for setting a predetermined count initial value in the counter and setting a mechanical origin in the crankshaft.

(Operation) In the present invention, a resolver as an absolute position detector provided on the crankshaft outputs a phase difference signal according to the rotation angle.

In addition, the time of signal deviation due to this phase difference is measured by a counter in a predetermined clock cycle, and the rotation angle is calculated.

On the other hand, when the crankshaft is located at a desired position, the counter is given a predetermined count initial value to set this position as the mechanical origin.

(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 load terminal (LOAD) 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.
The data transfer path DL connected to the MPU35 is the rotation angle θ or MPU35.
It is for outputting the various data and the like created in 1. 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 27 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 inputs the signal Esin (ωt−θ) that changes according to the rotation θ of the crankshaft 5 with respect to the signals Esin ωt and Ecos ωt input to the resolver 21 (third part).
(A) (b) (c)).

The P-edge detection circuit 57 and the N-edge detection circuit 53 detect the rising times t ₁ and t ₂ of the sine curve shown in FIGS. 3 (a) and 3 (c), respectively, and at the time t ₁ , a predetermined initial value is given to the counter 55. A value is set (normally zero-cleared) and a data read command is output to the angle data register 49 at time t ₂ .

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 angle θ of the crankshaft 5 shown in FIG. 1 is stored in the angle data register 49. The setting of a predetermined value to the load terminal (LOAD) of the counter 55 is for setting the mechanical origin. The mechanical origin setting method will be described in detail with reference to FIG.

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.
x ₁ and x ₂ , loader control data x ₃ , x ₄ and x ₅ , and clutch brake control data D ₁ and ₂ .

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 ₅ are data for starting the loader at the position x ₃ , loading at the position x ₄ , and unloading at the position x ₅ . Clutch brake 11,9
And a data for operating a plurality of values _{x 6, x 7, x 8} , x 9 to allow selecting the predetermined position depending on the speed of the crank 5 when the clutch braking 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 D ₁ (for example x ₆ ) and off-data D ₂ (for example x ₇ ) are registered in 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 .

On the other hand, the MPU 35 constantly inputs the data θ measured by the angle data register 49, and compares this data θ with other data x ₁ , x ₂ and x ₃ , x ₄ , x _{5 shown} in FIG. By
Performs various processes such as checking the stop position and outputting timing signals to related equipment.

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, which prevents runaway of the crankshaft 5 and ensures 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 °.

Next, the mechanical origin is set in the procedure shown in FIG.

In step 701, the operator sets the crankshaft to the desired position.

In step 702, the rotation angle θ at this time is detected by the angle data register 49.

In step 703, the MPU 35 calculates the count value C ₀ of the counter 55 corresponding to this angle θ.

In step 704, thereafter, this value C ₀ is set as the count initial value in the load terminal (LOAD) of the counter 55.

With the above processing, for example, when the operator wants to set a position with a rotation angle of 120 ° as the machine origin,
Position the crankshaft at the 0 ° position and then press the keyboard 4
By automatically giving a machine origin setting command from 1,
The 20 ° position is set to the machine origin, and the crankshaft can be stopped at this position, for example. Memory Mx
Since the data of 1 is left as it is, the control position is displaced relative to the adjusted origin.

In the crankshaft control device having the above configuration, the machine origin setting work is extremely easy.

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 angle data is calculated by integrating the number of clocks of the clock signal CLK input to the counter 55.
The detection accuracy can be arbitrarily determined by the frequency of the clock signal CLK.

Since the resolver 21 is an absolute position detector, it is not necessary to perform origin adjustment work each time the work is started.

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.

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

As described above, the present invention includes the resolver on the crankshaft,
Since it is a crankshaft control device configured to detect the time of the phase shift of the phase difference signal with respect to the reference signal output from the resolver by a counter that can freely set an initial value,
The machine origin can be easily set by giving the sign inversion value of the count shaft when the crankshaft is located at a desired position to the initial value.

[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 clutch brake operation control, and FIG. 7 is a flowchart of machine origin setting processing. 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 (1)

[Claims] 1. A resolver mounted on a crankshaft for outputting a phase difference signal corresponding to a rotation angle with respect to a reference input signal, and a counter for measuring a signal deviation time due to the phase difference at a predetermined clock cycle. An angle calculation unit that calculates a current rotation angle based on a measured value of the counter, a main control unit that controls various control members at predetermined timing based on the rotation angle calculated by the calculation unit, and the crankshaft are desired. A crankshaft control device comprising: a machine origin setting unit that sets a predetermined count initial value to the counter and sets a machine origin to the crankshaft when positioned at the position.