JPS61187015A - Carrying and positioning device of card or the like - Google Patents

Abstract

PURPOSE:To make high-speed sure positioning possible by driving a body to be driven, which has plural guide grooves, with a wheel with a pin having the pin with a cam which feeds back the position of a driving pin to an operating part. CONSTITUTION:A driving gear 1 having a pin 2 is rotated around a rotation axis by a driving motor 12. Since a part 3 to be driven has a groove 4 engaged with the pun 2, the part 3 is rotated around a rotation axis 6. The rotation position of the driving gear 1 is detected with a sensor by a cam 11 and is fed back to an operating part 15 through a line 14. The position of the part 3 to be driven is transmitted to the operating part 15 from a sensor 10 of a stopper 7, which consists of a ball 9 and a spring 8, through a line 13. The operating part 15 controls the motor 12 through a line 17 in accordance with these feedback signals 13 and 14 and a command signal 16 to drive or brake the motor 12.

Description

[Detailed Description of the Invention] +II Technical Field of the Invention The present invention relates to the driving of a conveying and positioning device for cards □, etc.
In particular, the present invention relates to a transport positioning device that enables high-speed, accurate positioning at low cost.

(2) Prior Art and Problems One of the following three types is used in the conventional card conveying and positioning device.

(2-j)? - Positioning conveyance device using a motor A system that uses a command unit, a servo amplifier, and a servo motor, feeds back a signal from the position centimeter for positioning to the command unit, and drives a DC or AC servo motor using an error signal. When starting or stopping the motor, the torque of the servo motor is set to a low value to maintain control stability.

However, the characteristics of the driven parts that are moved generally tend to cause errors in the side legs when there is friction. In addition, length-bore motors are generally expensive as well as servo angles, and stable IJlgM is troublesome and the braking force at the stop/start position is weak. In the ON-OFF type positioning using a relay or the like, hunting will occur if the signal from the position is applied back as it is, so positioning is generally performed using a small error signal that decelerates the motor. As with the servo system, this is likely to cause a 0-0 error due to friction in the a drive section. However, although this control system is generally inexpensive, the braking force at the stop/start position is weak, and if this is strengthened, stability tends to be insufficient, making it unsuitable for high-speed positioning (V-0 (2-3)). , <Positioning transport using a pulse motor Positioning using a command unit, a pulse generation drive unit, and a pulse motor does not require a position sensor, and the position is determined by the number of command pulses, so it is a simple system. is generally more expensive. Since the braking force at startup and stop is large, control errors due to friction in the drive section may occur. However, in general, commercially available pulse motors have only a small drive displacement per pulse, and increasing the displacement will increase the drive time. It is not suitable for high-speed driving.

(3) Purpose of the Invention The present invention provides the above-mentioned conventional card conveyance device IC2V.
To provide an inexpensive drive device that operates at high speed with VC and has a reliable positioning function. Or, a drive motor with a number of pins with a cam that feeds back the position of the drive pin to the calculation unit during idle rotation, and a driven body having a plurality of guides 114 for each required displacement pitch so as to be driven by the number of pins. It consists of a position indexing and stopping mechanism section that accurately positions the driven object, a section that feedbacks completion of positioning to a calculation section, and a calculation section that controls the motor by determining the difference between the command signal and the feedback signal,
The present invention is configured such that the driven body is reliably positioned at a high speed at an arbitrary pitch according to the command signal, and cards are held, conveyed, and positioned within the driven body.

+51 Effect 2 and effect J of the invention: Effect 2 and effect of the above structure are as described above (2-2)K
By adding the length of the pin gear drive system used in the present invention to the O N -OF' W@IJ@Manshiki O Anzuki 17 speed shown, the ninth design is constructed so that half the drive cycle is no-load. , since the motor uses inertia from the eye to drive the driven object in the next half cycle, it has the feature that it easily overcomes the friction of starting and is driven, and the next half cycle is 7-
Fully prepared for the evening slowdown. In other words, since it is only necessary to decelerate and stop during a half cycle, control becomes easy. An even better point is that during the drive pulse, the movement is theoretically trigonometric, so the force F that moves the driven body at any position is given by the rotational force F of the pin gear assuming that the pin diameter and friction are small. Any of the inside.

If the angle is a, 'I! =f/sln a
Theoretically, this force is 10 infinity at an angle of 0 with respect to the rotation angle of the pin, and 1 infinity at an angle of 901f and f1 of 180 degrees, and: When the gear starts turning and stops, It becomes a great force. In other words, the braking force at the beginning and end of driving is thick/14? It's long.

and l/) point is the servo type ff1lj of (2-1) above.
X! The device is significantly different from the ON-OFF device (2-2). Furthermore, since the present invention is equipped with a locking mechanism for the driven body after stopping, it is possible to forcefully position the driven body in the correct position. The system functions of the present invention include a calculation unit that freely transmits ON-OFF commands, a unit that feeds back a position signal of the stopped position of the driven body to the calculation unit, and a unit that feeds back the stopped position signal of the driven body to the calculation unit.
The driven body is controlled by a drive unit consisting of a moving pin gear and a unit attached to the drive unit that determines whether the drive pin is driving or idling and feeds back the position of the pin to the calculation unit to determine the ON-OFF ratio and timing of control. Control can be performed quickly, accurately, and stably by the arithmetic unit.C'6.

(6) Embodiment of the invention FIGS. 1 and 2 show an embodiment of the invention. FIG. 1 shows an example of rotation of the disk, and FIG. 2 shows an example of horizontal movement. The explanation of Figure 2 is as shown in Figure 1.
Since the radius of the disk is made infinite, the numbers will be combined with Figure 1 and explained at the same time. The driving gear 1 has a pin 2 and is rotated together with the feedback cam 11 by a wh11JJ motor 12 at a rotation center 5 to be driven &lS! 1 to pin 2
The driven part is assembled so that it can rotate over the entire circumference by driving grooves with the same pitch as the diameter of the center of rotation (m4vc, hvh), which are equally distributed around the circumference. - 10,000, A stopper consisting of a ball 9 and a spring 8 is fixedly arranged on the circumference of the driven part at the position where the pin is finally ejected to the circumference of the driven disk 7
to accurately position the driven part. In the driving according to the present invention, the calculation unit 15 determines how many steps to drive.
The command signal 16 then drives the multiple drive motor or the drive motor with brake 12t. Completion of one step of driving is determined by a signal from the center t-10 attached to the stopper. Further, the timing of braking the motor is determined by a signal from a sensor 11 attached to the feedback cam. Feedback signals are on lines 13 and 14. Drive and play action are by line 17. FIG. 2ri shows an example of linear drive, but the control is the same as in FIG. 1, with the sensor and calculation unit omitted.

An approximate solution for these drives can be written as shown in FIG. 5 from the laws of mechanics, assuming that the diameter of the pin is sufficiently smaller than the diameter of the driven part. The driving torque applied to the driven part is applied from the pin 2 to the groove, and from the angle aK at the base, f to the driving wheel diameter, r driving torque ji f *sin (a))
F=f/sin (a) Therefore, the driven torque is fX
RX (1/5in(a) (r/R)) If r
(If R, then fxR/5in (a) The force at the time of linear driving force is f / 8 1 n (a), and the driving vehicle 1 is The motor accelerates briefly at low speed and then drives with force f at maximum speed, and then decelerates forcefully to a low speed and stops when stopped.Also, the stop position is accurately determined by a stopper.The motor is driven at maximum rated force. The machine is then stopped using the brake, allowing high-speed positioning.

(7) After a detailed explanation of the invention, the effects of the present invention are to obtain a sample film conveying device with a high 8-hook ratio using a general-purpose inexpensive motor and a higher speed than a simple 0N-OFF' suppressor control. I can do it. In addition, when this device combination is applied, the step size can be freely selected and designed depending on the driving vehicle and the driven vehicle, so the step size can be combined with a step size of 1 and a step size of 1/10, and 1 is a coarse step size. Control g, 1/10ilt[
Control toss allows cheaper and more accurate control than control in the United States.

[Brief explanation of the drawing]

FIG. 1 is an explanatory diagram of an embodiment of the rotating side of the present invention, FIG. 2 is an embodiment of linear drive, and FIG. 3 is a diagram of the principle of rotation. An overview of the main drawings of the present invention will be explained with reference to FIG. 1. 1... cam 110 rotation detection unit, 2... pin of driving wheel 5, 3... driven part, 7 and 8...・Positioning part of the driven part that meshes with the guide groove of the driven part, 10...Detecting part for positioning, 16...Command signal, 15...Calculating part, 12...The outline of the motor diagram is as follows. Figure 1: Example of rotation, Figure 2: Example of linear positioning Figure 6: Diagram showing the relationship of forces in Figure 1, F in Figure 1: Rotational force, R: Driven disk Radius, r...Radius of the driving wheel, a...Angle where pin 2 touches the groove of the driven part Patent applicant: Raikei Engineering Co., Ltd. Figure 1, Figure 173

Claims (1)

[Claims] A motor with a brake that drives and stops a pin wheel with a cam that is driven by a command signal to send an arbitrary number of cards and feeds back the position of the drive pin to the calculation unit while driving or idling, and a pin wheel that is driven by the pin of the pin wheel. A plurality of guide grooves in which the pins engage with each other with the same pitch as the pin rotation pitch are formed, a driven member capable of holding and conveying cards between the guide grooves, and an indexing claw member pressed against the guide groove by a spring force are used. a positioning unit after the driven member is moved;
a part that feeds back the completion of positioning to the calculation section; and a part that is activated by the command signal for turning on and off the required number of cards, and by feedback from the cam, the calculation part stops driving the motor, brake timing action, and command signals. An automatic transport positioning and feeding device characterized in that the driven part is automatically transported by a feedback action of the completion of the positioning necessary to continue executing the step and an accurate positioning action by the indexing claw member.