JPH08852U - Synchronous positioning device - Google Patents

Abstract

(57) [Abstract] [PROBLEMS] To make the angular velocity of a driven shaft motor equal to the velocity of a driving shaft motor, which is the feed speed of the product material, during the period from when the driven load comes into contact with the product material until the driven load separates from the product material. SOLUTION: An output waveform control means 23 outputs a voltage determined by one rotation of a driving shaft motor 1, that is, a command pulse from an incremental encoder 2 to a frequency-voltage conversion means 22, and this frequency-voltage conversion means 22. Converts the command pulse frequency from the incremental encoder 2 into a voltage at a conversion ratio according to the voltage input from the output waveform control means 23, and supplies this voltage to the driven shaft motor 3 as a speed command voltage.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a synchronous positioning device that controls the rotation speed of various motors.

[0002]

[Prior art]

 As a synchronous positioning device of this type, it is known that the command pulse frequency fp is converted into the output voltage V0 at a constant ratio as V0 = n × fp (n is a conversion ratio). An application example and operation of this type of positioning device will be described with reference to FIGS. FIG. 2 is a block diagram of a traveling cutting device as an application example of this type of positioning device.

The product feed roller 11 is driven by the driving shaft motor 1 and sends out the product 21. The cutter 12 is driven by the driven shaft motor 3 to rotate. An incremental encoder 2 is connected to the driving shaft motor 1, and an F / V converter 13 as a positioning device is connected to the driving shaft motor 1 from the incremental encoder 2 depending on the rotation speed of the driving shaft motor 1. The command pulse is given at the frequency f. The F / V converter 13 converts the command pulse frequency f into V0 and rotates the driven shaft motor 3 by the output thereof. The driven shaft motor 3 rotates in synchronization with the driving shaft motor 1.

In the above configuration, the product cut dimension is L, the number of product cuts per unit time is M: the product feed roller radius is R1, the cutter blade tip operating radius is R2, and the number of incremental encoder pulses corresponding to the cut dimension L is Where N is the angular velocity of the driving shaft motor, ω2 is the angular velocity of the driven shaft motor, ω2 is the product feed speed, and v2 is the cutter blade operating speed, the command pulse frequency f of the F / V converter 13 and the output voltage V0. The following relation holds between and. However, it is assumed that the product feed roller 11 is directly connected to the driving shaft motor 1 and the cutter 12 is directly connected to the driven shaft motor 3.

The cycle T required to cut one product under the above conditions is

[0006]

## EQU1 ## 1 L N T =-= ---- =-M v1 f

[0007]

[Equation 2] v1 ML ω1 = ── ＝ ── R1 R1

[0008]

## EQU00003 ## From 2π ω2 =-T 1 equation, 3 equation,

[0009]

## EQU4 ## 2π × f ω2 = ────N N By the way, if the angular velocity of the driven motor 3 at the output voltage Vmax of the F / V converter 13 is ω2 max,

[0010]

## EQU00005 ## ω2max ω2 = ──── × V0 The relational expression of V0max is established, and from Equations 4 and 5,

[0011]

## EQU6 ## V0 = n × f V0max 2π = ------ × ---- × f ω2max N. From the equation 6, the conversion ratio n of the F / V converter 13 is

[0012]

[Formula 7] V0max 2π n = ──── × ── ω2max N.

[0013]

[Problems to be solved by the device]

 However, in the conventional system using only the F / V converter 13 as described above, the angular velocity ω1 of the driving shaft motor 1 is the number of cuts M per unit time, the cut size L and the product as shown in the equation 2. Although it depends on the radius of the feed roller 11, the angular velocity ω2 of the driven shaft motor 3 is determined only by the number M of cuts per unit time as obtained from Equations 1 and 3, and therefore is usually the angular velocity ω1 of the driving shaft motor 1. It does not become equal to the angular velocity ω 2 of the driven shaft motor 3.

Further, the product feed speed v1 and the cutter blade edge movement speed v2 are

[0015]

## EQU00008 ## v1 = R1.omega.1 = ML

[0016]

## EQU00009 ## v2 = R2.omega.2 = R2.times.2.pi.M, which are not usually equal as shown in FIG. 3, so that the product and the cutter have a drawback at the time of cutting. Alternatively, in order to eliminate the shock, there is a drawback that the radius of the product feed roller 11 or the operating radius of the cutter 12 must be replaced with an appropriate one each time the cutting size is changed, as shown in Equations 8 and 9. there were. Further, as shown in Equations 6 and 7, when the cut dimension L changes, the command pulse frequency f changes, but since the angular velocity ω 2 of the driven shaft motor 3 is influenced only by the number M of cuts, the angular velocity ω 2 is There is a drawback in that the conversion ratio n of the F / V converter 13 must be readjusted so that it does not change, that is, the output voltage V0 of the F / V converter 13 does not change.

Therefore, the object of the present invention is to eliminate the above-mentioned drawbacks of the conventional device, and the angular velocity of the driven shaft motor is the feed speed of the product material within the period from the contact of the driven load to the product material until the driven load is separated. The purpose of the present invention is to provide a synchronous positioning device that eliminates shocks that match the speed of the shaft motor and automatically determines the synchronization ratio by each set value.

[0018]

[Means for Solving the Problems]

 In order to achieve the above-mentioned object, the present invention provides a first motor for feeding a product material, and a driven device for cyclically contacting the product material fed by the first motor with a rotary motion to process the product material. A second motor for driving a load, wherein the number of processings of the driven material by the driven load per unit time is determined by the angular velocity of the first motor, and the driven load moves away from the contact with the product material. A synchronous positioning device for synchronizing the peripheral speed of the driven load with the feed speed of the product material within a period up to, an encoder for outputting a pulse having a frequency proportional to the rotation speed of the first motor, and the first motor The processed dimension of the product material to be processed by the driven load, the radius of the first motor, and the error per revolution of the first motor. Based on the number of pulses from the coder, calculate the number of pulses from the encoder that occurs when sending only the processing size of the product material, and use the driven load to change the product material to the product material within a cycle with the calculated number of pulses as the maximum value. The output waveform control means for determining the voltage in response to the operation pattern in which the peripheral speed of the driven load is synchronized with the feed speed of the product material so that the processing is performed, and the operation pattern output from the output waveform control means. Frequency-voltage converting means for dividing the voltage responsive to the voltage depending on the ratio of the pulse frequency from the encoder to the maximum value and outputting the voltage as a speed command voltage, wherein the second motor has the frequency-voltage conversion means. The rotation speed is controlled in response to the speed command voltage output from the conversion means.

In the present invention, by changing the conversion ratio of the frequency-voltage conversion means, the synchronous speed of the driven shaft motor is changed to the speed of the driven shaft motor within the period from the time when the driven load comes into contact with the product material to the time when the driven load is separated from the product material. Will match.

[0020]

[Embodiment of device]

 FIG. 1 is a functional block diagram according to the configuration of the present invention. A command pulse is input from the incremental encoder 2 connected to the drive shaft motor to the frequency-voltage conversion means 22 at a frequency corresponding to the rotation speed of the drive shaft motor 1. At the same time, the command pulse is also input to the output waveform control means 23. The output waveform control means 23 inputs to the frequency-voltage conversion means 22 a voltage determined by the rotational position of the driving shaft motor 1, that is, the number of command pulses from the incremental encoder 2. The frequency-voltage conversion means 22 converts the command pulse frequency from the incremental encoder 2 into a voltage, and the conversion ratio is set according to the input voltage value from the output waveform means 23.

[0021]

【Example】

 FIG. 4 shows an embodiment of this invention. The pulse from the incremental encoder 2 connected to the drive shaft motor 1 is input to the frequency / digital converter 32 and the presettable counter 34 as a command pulse. The frequency / digital converter 32 outputs a digital signal having a value according to the frequency of the input command pulse. The count output of the pre-settable counter 34 is input to the address line of the random access memory (RAM) 36 via the data selector 35. The data output of the RAM 36 is converted into an analog voltage by the first D / A converter 37 and input to the REF input of the second D / A converter 33. The second D / A converter 33 converts the digital signal from the frequency / digital converter 32 into an analog voltage proportional to the analog voltage input to the REF input terminal and inputs it to the driven shaft motor 3. The microcomputer 31 has a CPU 41, a ROM 42 storing a control procedure as shown in FIG. 7, and a RAM 43 used for temporary storage of data and the like. The microcomputer 31 sets a preset value in the presettable counter 34 and switches the data selector 35 to set an output pattern in the RAM 36.

The driving shaft motor 1 is directly connected to the product feed roller 11 shown in FIG. 2, and the driven shaft motor 3 is directly connected to the cutter 12 shown in FIG. Next, the running disconnection operation of the product in the present invention will be described with reference to the flowchart of FIG. Note that P1 to P7 in FIG. 7 are steps in the flowchart. First, the microcomputer 31 sends a command equivalent to sending the product by the cut size L from P2 with the cut size L, the radius R1 of the product feed roller 11 and the number of command pulses from the incremental encoder 2 per revolution of the drive shaft motor 1. The number of pulses N is calculated and the number of command pulses is set in P3 as a preset value in the preset counter 34. Next, the microcomputer 31 calculates the output pattern of the RAM 36 corresponding to the count output of the preset counter 34 at P4, switches the data selector 35 to the microcomputer 31 side at P5, and sets the calculated output pattern in the RAM 36. Examples of the output pattern (cutter blade edge movement speed) include the trapezoidal waveform shown in FIG. 5 and the sine waveform shown in FIG. The microcomputer 31 switches the data selector 35 to the preset counter 34 side at P6 and ends the processing.

When the drive shaft motor 1 rotates to send the product, the command pulse signal from the incremental encoder 2 is input to the frequency / digital converter 32 and the preset counter 34. The frequency / digital converter 32 converts the frequency of the command pulse signal into a digital value. Further, the preset counter 34 counts the number of pulses of the command pulse signal. The count output of the preset counter 34 is input to the address of the RAM 36 via the data selector 35, and the data set by the microcomputer 31 corresponding to the count output, that is, the angular position of the driving shaft motor 1 is stored in the memory RAM 36 from the first D memory. / A Input to converter 37. The first D / A converter 37 converts the data from the RAM 36 into a voltage and inputs it to the REF input terminal of the second D / A converter 33. The second D / A converter 33 inputs the signal input to the REF input terminal. Voltage (REF input voltage) is divided by the data from the frequency / digital converter 32 and output to the driven shaft motor 3.

The relationship between the REF input voltage value and the digital input value (data from the frequency / digital converter 32) in the second D / A converter 33 is as follows: Vout is voltage output, Dinmax is digital input maximum value, and Din is When the digital input value, REFin, is the REF input voltage, it is expressed by the following equation.

[0025]

## EQU10 ## Din Vout = -------- × REFin Dinmax REF If the input voltage is, for example, a trapezoidal waveform in FIG. 5 or a sine waveform in FIG. 6, Vout also changes. As a result, the product speed and the movement speed of the cutter blade can be synchronized with each other at a certain point of one cycle, that is, when the cutter blade is in contact with the product, as shown in FIGS. Further, since the preset counter 34 presets each time when the pulse corresponding to the cut dimension L of the product is counted, the driven shaft motor 3 repeats the movement of the same pattern.

When the cut pitch is changed from L to L ′, the command pulse number N ′ from the incremental encoder 2 corresponding to L ′ is

[0027]

L'N '= --- × N L If the number M of cuts per unit time does not change, the cycle T does not change and the command pulse frequency f ′ is

[0028]

## EQU12 ## N'L 'NL'f' = --- = ---- x-= ---- xfTLTLL. The relationship between the command pulse frequency fp and the average output voltage V0 from the second D / A converter 33 is V0 = n × fp (n is the conversion ratio), so even if the cut dimension L is changed, the period T The driven shaft motor 3 does not change its operation of making one revolution, that is, Vo must not change. That is, the conversion ratio n '

[0029]

[Mathematical formula-see original document] L'v '=-L.

In the present embodiment, the conversion ratio n ′ is changed by changing the REF input voltage of the second D / A converter 33, that is, calculating and resetting the pattern of the RAM 36 by the microcomputer 31, as shown in the equation 10. Can be changed easily.

[0031]

[Effect of device]

 As described above, according to the present invention, the synchronization ratio of the first motor and the second motor can be sequentially changed, and the operation can be performed at the required and required synchronous speed at any time. Also, automatic control can be easily performed by changing the conversion ratio of the frequency-voltage conversion means.

[Brief description of drawings]

FIG. 1 is a functional block diagram showing the configuration of this invention.

FIG. 2 is a block diagram of an example system using a synchronous positioning device.

FIG. 3 is a diagram showing an example of a synchronization pattern in a conventional synchronous positioning device.

FIG. 4 is a block diagram showing an embodiment of the present invention.

FIG. 5 is a diagram showing an example of a synchronization pattern which is an embodiment of the present invention.

FIG. 6 is a diagram showing an example of different synchronization patterns according to an embodiment of the present invention.

FIG. 7 is a flowchart showing a control procedure in the embodiment of the present invention.

[Explanation of symbols]

 1 Drive shaft motor 2 Incremental encoder 3 Drive shaft motor 11 Product feed roller 12 Cutter 13 Positioning device 21 F / V converter 31 Microcomputer 32 Frequency / digital converter 33 D / A converter 34 Preset counter 35 Data selector 36 RAM 37 D / A converter 41 CPU 42 ROM 43 RAM

Claims (1)

[Scope of utility model registration request] 1. A first motor for feeding a product material, and a second motor for driving a driven load which is in contact with the product material fed by the first motor periodically by a rotary motion to process the product material. A driven load within a period from the time when the driven load contacts the product material to the time when the driven load is separated from the product material, the number of treatments to the product material by the driven load per unit time is determined by the angular velocity of the first motor. In a synchronous positioning device that synchronizes the peripheral speed with the feed speed of the product material, and an encoder that outputs a pulse having a frequency proportional to the rotation speed of the first motor; and the driven product material that is fed by the first motor. Based on the processing dimensions of the product material to be processed by the load, the radius of the first motor, the number of pulses from the encoder per revolution of the first motor In order to process the product material by the driven load within a cycle in which the pulse number from the encoder that occurs when the product material is sent by the processing dimension only is calculated, and the calculated pulse number is the maximum value. Output waveform control means for determining the voltage corresponding to the operation pattern in which the peripheral speed of the driven load is synchronized with the feed speed of the product material, and the voltage from the encoder for responding to the operation pattern output from the output waveform control means. Frequency-voltage converting means for dividing the voltage according to a ratio between the frequency and the maximum value and outputting it as a speed command voltage, wherein the second motor responds to the speed command voltage output from the frequency-voltage converting means. A synchronous positioning device characterized in that the rotation speed is controlled by means of a rotary positioning device.