JPS588320A - Positioning device - Google Patents

Abstract

PURPOSE:To make various settings at positioning easy by controlling the start point of deceleration of a mobile body through the operation and control of an operation controlling means. CONSTITUTION:A microcomputer 1 inputs a signal 3 from a position detecting section 5 outputting a pulse signal 3 according to the movement of a mobile body and supplies a signal controlling the drive of a motor 7 moving the mobile body to a motor driver 9. The computer 1 calculates the movement and speed of the mobile body with the number of period of pulses of the signal 3 and supplies a signal controlling the number of revolutions of the motor 7 based on the result of operation. Through the constitution like this, first a tentative deceleration start point is set to obtain the optimum deceleration start point at the positioning. When the positioning is finished through this setting, the computer 1 obtains the time to set the optimum deceleration start point for the reduction of the positioning time. Thus, the optimal positioning can always be made by performing the correction of the deceleration start point at all times.

Description

DETAILED DESCRIPTION OF THE INVENTION This invention relates to a device for moving a movable body and positioning it at a fixed position, and relates to a positioning device that facilitates various settings when the position is low and improves the positioning of the movable body. .

Conventionally, there have been nine positioning devices using a servo system, a stepped reduction method, and a multi-stage reduction method for rounding the positioning of moving objects such as machine tables, materials, workers, and gauges.

A positioning device using a servo system has the advantage of being able to perform accurate positioning.

On the other hand, it has the problem that the device configuration is complicated and expensive.

Nine positioning devices using a stepped reduction method can achieve accurate positioning relatively cheaply, but it is difficult to set the low speed starting point and select the low speed, and it is necessary to allow a margin for the distance traveled at a completely low speed. Therefore, there is a problem that the positioning time is long.

A positioning device using a multi-stage reduction method is a device that improves the drawbacks of the above-mentioned step reduction method, but it has the problem that the speed switching point and appropriate setting are unfavorable.

The present invention has been made in view of the above, and its purpose is to provide a positioning device that facilitates various settings during positioning and improves the positioning performance of a moving body. Ninthly, a device for positioning a movable object coupled with the above object includes a position detection unit that outputs a signal corresponding to the movement 116 of the movable body, and a position detection unit that outputs a signal according to the movement 116 of the movable body, and a position detection unit that outputs a signal according to the movement 116 of the movable body, and a The gist of the present invention is to provide an arithmetic control means for outputting a signal for controlling the deceleration and start point of the body.

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

No. 111#i shows an embodiment of the present invention, in which the speed change control of the rotational speed of the motor and the motor is set in two stages, and the micro combiator 1 is moved according to the movement of the moving object (rIA not shown). The motor driver inputs the pulse signal 3 from a position detection SS such as a rotary encoder that outputs the pulse signal 3, performs calculations based on the cough pulse signal 3, and sends a signal to the motor driver to control the drive of the motor 7 that moves the moving object. 9.

The microcomputer 1 constitutes an arithmetic control means, and performs arithmetic operations to calculate the moving amount and speed of the moving object based on the pulse #IL and the pulse period of the pulse signal g3 from the position detecting section 5, and performs the calculation of the seven operations. Motor driver based on results! A signal for controlling the rotation speed of the motor 7 is supplied to the motor 19.

@2 Zusha, In the operation shown in ts1 diagram to obtain various setting values for positioning in the configuration shown in Figure 1,
This figure shows an example of the relationship between speed and time of a moving object and its tie-building chart. (4) and (I
II) ti microphone a High speed rotation command and low speed rotation command of the motor 7 applied from the computer 1 to the motor driver section 9, 0 is the pulse signal 3 from the position detection section 5
, (q is the result of the moving speed of the I[jl9 mobile body by the microcomputer 1 based on the pulse signal 3, where HIQH indicates high speed and LOW indicates low speed. Reference symbols L- and Ls are , are a provisional deceleration start point and a stop point for driving the motor 7, respectively.

FIG. 3 is a circle showing the relationship between the speed of the moving object and time in the positioning operations from the second 9m operation, in which various setting values are determined based on the results of the first JII operation.

Next, with reference to the diagrams explained above, this (#l'f) motion is calculated by 1 m.

First, in order to find the optimal deceleration start point to shorten the positioning time, a temporary deceleration start point Lde is set at a certain time after the moving body starts moving. And microcomputer 1, Sho, motor driver section 9
Then, a high-speed rotation command is issued to the Yamahato 2 (Figure 2) to drive the motor 7, thereby starting the movement of the moving body. After the moving object starts moving, the motor 7 reaches the rotation speed indicated by the bird speed rotation finger 4rtc with a time delay of 11, and the speed of the moving object also reaches the Vm state. Combiator 1 also determines (by calculation) that the speed of the moving object has reached the Vm state (Fig. 2 0)
Low-speed rotation command (211th @) for switching the speed of the moving object to the L state at time t2 after the moving object starts moving.
t Microcomputer l is a motor driver section 1i1
By supplying the voltage to Then, the microcomputer 1 also determines that the speed of the moving body is in the VL state (Fig. 2q).

Then, at time ta, the micro combinator 1 stops supplying the control signal to the motor driver section 9, thereby causing the motor 7 to operate with a time delay of "@-" 4.
The rotation of the moving body stops, and the moving body also stops, completing the positioning.

Then, based on the first JI operation, the micro combinator l determines the optimal deceleration 1 for rounding to shorten the positioning time.
1#11 Calculate the time ti for setting the 11th point Lm.

According to the calculation result of 1- above, in the positioning operations after the 211th position, as shown in FIG. (->*s') By constantly performing the deceleration start point correction described above, optimal positioning can be achieved, and in the event of overflow, correction can be performed to correct positioning. It is possible.

Therefore, according to this implementation lIl', the deceleration R starting point is set and corrected by calculation and control of the miter combinator 1, so it is more accurate than the conventional device and can reduce the time required for starting work and positioning. can.

In this embodiment, the friend control of the Fi-e-evening speed is set to 2nd speed, but the invention is not limited to this, and the same effect can be obtained with the same configuration even in the case of 3rd speed or higher.

jI4 Figure 1 shows another embodiment of the present invention/ In the case where the motor drive is controlled on-off,
Micro combinator l' is a ζ moving body (not shown in figure 1)
A pulse signal 3 from a position detection unit 5 such as a tally emulator that outputs a pulse signal 3 according to the movement of the armpit is input, and calculations are performed based on the armpit pulse signal 3 to control the drive of a motor 7 that moves the moving body. This configuration supplies signals to the motor dosing section.

! The IkuP Combiator 1 constitutes an arithmetic control means, and calculates the total movement amount and appropriate amount based on the pulse number and pulse period of the pulse signal 3 from the position detection section 5, and calculates the -! Based on the result of the noise, an on or off signal for controlling the drive of the motor 7 is supplied to the motor driver section.

The aSS and jIG diagrams are shown in FIG.
An example of the relationship between the speed of the moving body and time in positioning operations after the l-th and lK2@th positions is shown.

Next, the operation of this 18- will be explained with reference to the JIIS diagram and FIG.

First, for the purpose of finding the optimal drive signal cutoff point (hereinafter referred to as the rate K "cutoff point") to reduce the number of intensification feeds, a temporary cutoff point C is set after the moving object starts moving.
Set the time to 〒t.

Then, an ON signal for instructing the drive of the motor 7 is supplied from the microconvenience store 1' to the roller taper section 9' to drive the roller 7, thereby stopping the movement of the movable body. Mobile objects are mobile after the WIA theory! The velocity of the moving object reaches the predetermined velocity Vc indicated by the off signal with a time delay of 1. The velocity of the moving object also becomes VC in the micro combiator 1 due to the pulse signal 3 from the position detection section 5. , In order to stop the moving body at time Te 3 after the moving body's II movement begins,! The computer 1' supplies an off signal to the -11 driver section 9', thereby
With a time delay of 'rs-7, the drive of the motor 7 stops and the moving body also stops, and the micro combinator 1
' determines whether the moving body has stopped after a time delay of T--'rs.

Next, the microcomputer 1' calculates the distance to the remaining 9 target positions, and in order to move the movable body to the target position by the intender feed, the microcomputer 1' generates a pulsed signal that drives the motor 7 for a predetermined time by the motor driver section dvc. The positioning of the movable body is completed by supplying an on signal such as , for example, by inching repeatedly.

Based on the first positioning operation, the microconvenience store 1' calculates (by calculation) the time W for setting the optimum cutoff point C to reduce the number of inching paper feeds.

According to the above calculation results, in the second and subsequent positions and positioning operations, as shown in Figure 6, the number of inching feeds is smaller than in the first operation. By constantly performing point correction, optimal positioning can be achieved at all times, and in the event of an overrun, it is also possible to correct the positioning by performing correction.

Therefore, according to this embodiment, the micro;ambiator 1
Since the cut-off point is set and corrected by calculation and control of ', it is more accurate than conventional devices and the time required for starting work and positioning can be reduced.

Since this invention has a notification structure within the scope of the above-mentioned Patent No. 1, it is possible to make various settings during positioning and improve the positioning performance of a moving object.

It should be noted that the present invention is not limited to the above-described embodiments, and may be implemented in other embodiments by making appropriate changes.

[Brief explanation of the drawing]

1Ill is a configuration diagram of an embodiment of the present invention, FIG. 2 is a relationship between speed and time of the moving body in the first positioning operation in the configuration of 1111, and its tie bander chart, and FIG. 3 is a diagram similar to that shown in FIG. The relationship between the speed of the moving body and time in the second and subsequent positioning operations in the configuration, FIG. 4 is a configuration diagram of another embodiment of the present invention, and FIG.
The figure shows the relationship between the speed of the moving body and time in the 1st positioning operation in the configuration shown in Figure 4, and the figure 6 shows the relationship between the speed and time of the moving body in the second and subsequent positioning operations in the configuration shown in Figure 4. This is what is shown. (Explanation of symbols indicating main parts) 5...Position detecting section 1, 1'--My□Black computer patent applicant
A1 Co., Ltd. Figure 1 Figure 4 Procedural Amendment (Voluntary) August 24, 1980 Haruki Shimada, Commissioner of the Patent Office 1, Indication of Case Patent Application No. 104373-1982 2,
Title of the invention Positioning device 3, Relationship to the case of the person making the amendment Patent applicant address (residence) AMADA 4 Co., Ltd. 200 Ishida, Isehara City, Kanagawa Prefecture Agent Postal code 105 Address 1-1 Toranomon, Minato-ku, Tokyo No. 18 Knee - 8th floor of Toranomon Building (Shipping date: Showa 7, Pa 4 [; Father 1.6
, Subject of amendment (1) Mark A of "Detailed Description of the Invention" of the specification (2) Drawing 7, Contents of amendment (1) Change of "low speed start" on page 2, line 8 of the specification , is corrected as "start of deceleration". (2) The phrase "first time" on page 4, line 4 of the specification is amended to read "first time." (3) In the 4th line of page 5 of the specification, "LdO- is set at time t2 after the moving body starts moving" is corrected to "Ldo (distance Ado from the start of moving) is set". do. (4) In the 14th line of page 5 of the specification, "at time t2" is corrected to "at time B (state of position Ldo)". (5) In the second line of page 6 of the specification, the phrase "requires a state (Figure 2 (D))" should be replaced with "requires a state (Figure 2 (D))." .The remaining movement amount to the target position at this time is assumed to be jds.'' (6) The phrase "at time t4" in the third line of page 6 of the specification is corrected to "at time t4 (state of position Ls)." (7) “From line 10 to line 11 on page 6 of the specification”
The deceleration start point Ld is determined from an arithmetic expression obtained by calculating the time te to be set. ” he corrected. (8) In the 12th line of page 6 of the specification, "at the above t2'" is corrected to "at the above Jd (shape II of position Ld)". (9) In the 19th line of page 6 of the specification, the phrase “It is also possible.” has been changed to “It is also possible.
The deceleration start point Ld can also be determined in the same manner as the deceleration start point Ld. ” he corrected. (il. Page 8, line 12 of the specification: “The mobile body...
...Delete up to ``in time''. aυ In the first line of page 9 of the specification, "at time T2" is corrected to "at time Tz (state of position Co)". In the 4th line of page 9 of the O4 specification, the phrase [, with a time delay of T3-T2e] has been replaced with [, deceleration distance 5e (T3-'
The time delay l'2) is also corrected as '2'. (13 Specification, page 9, lines 17 to 18, ``The quick breaking point C should be set...'' is based on the target position of the r* breaking point C. Let the distance S' be S −
It is determined by the arithmetic expression Se+So. Note that Se is the distance determined by one inching feed. ” he corrected. I Correct the statement ``results of the calculations in step 5 above'' on page 9, line 19 of the specification to read ``results of calculations in the above S' (state of position C)''. O5 drawings Figures 1 and 4 are corrected as shown in the attached sheet. & List of attached documents (1) Drawings (Fig. 1, Fig. 4) 1 or more copies

Claims (1)

[Claims] (1) In a device for positioning a moving object, a position detection section outputs a good signal in response to movement of the moving object;
The movable object is interrupted based on the signal from the armpit position detection section.
1. A positioning device comprising: arithmetic control means for outputting a signal for controlling multiple points. (Powder) The arithmetic and control means is constituted by a microcomputer.