JPS6144629A - Apparatus for controlling positional determination of tire molding machine - Google Patents

Abstract

PURPOSE:To allow load such as a stitcher to stop at a predetermined position with high accuracy, by mounting an absolute value type encoder, an actual measuring position input means, a stop position input means and a conversion rate setting means. CONSTITUTION:The position addresses of loads (stitchers) 10, 11 are detected by an absolute value type encoder 16 and the offset amount being the shift amount of the encoder 16 with a reference position is calculated from said position addresses and the actual measuring distance from the reference position. Then, an objective address is calculated from said offset amount and the distance of each stop position to the reference position. By this method, the objective address can be allowed to coincide with the position with the encoder and the positional adjustment of the encoder at the time of connection can be simplified more and the accuracy of positional determination is enhanced still more.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a positioning control device that performs positioning control based on absolute position information of a load to be positioned.

(Prior art) In a tire molding machine, plies are stacked around the outer circumference of a rotating drum, and a stitcher is pressed on top of the plies to push out the air between each ply and ensure bonding between each ply. , it is required to accurately position the stitcher and accurately drive it to each stop position.

Conventionally, as a positioning control device for a stitcher, there is a control method in which a rotary encoder is connected to a rotary shaft for driving the stitcher, and output pulses from the rotary encoder are counted to determine the amount of deviation of the stitcher to perform positioning control. This method of controlling positioning using a rotary encoder can automatically and accurately detect the amount of movement of the stitcher, and has many advantages in automating tire building machines.

However, in the conventional positioning control method using a rotary encoder, the positioning control is performed based on the amount of deviation of the object to be measured, so the amount of movement of the stitcher can be accurately detected, but in order to prevent the occurrence of offset amount, The moving distance of the stitcher and the phase of the coordinates of the rotary human encoder must be precisely adjusted to mechanically connect the rotary encoder, which has the disadvantage that it takes a long time to adjust the phase. In addition, because the stitcher has inertia, the stitcher does not stop exactly at the set stop position, resulting in variations in the product. In addition, mutual errors occur between each tire molding machine, which is a big problem when trying to automate the stitcher. 0 that is an obstacle
Furthermore, with the conventional positioning control device, it is not possible to confirm whether the stitcher has stopped within the permissible accuracy range, which is a major obstacle in improving the quality of tires.

, (Problems to be Solved by the Invention) As described above, in the conventional positioning control device that uses a rotary encoder output, since control is performed by detecting the amount of deviation of the load to be positioned, the phase adjustment during setting is difficult. Not only is this complicated and reduces work efficiency, but the set stopping position and the actual stopping position do not match, and it is not possible to judge whether the load has stopped within the allowable accuracy range, making it difficult to automate tire manufacturing. This is a major obstacle in achieving higher quality.

(Means for solving the problem) The present invention performs positioning control based on absolute position information with respect to a reference position of a positioning load, and uses an absolute value type encoder to detect the position address of a load to be stopped at a predetermined position. a measured position input means for inputting an actual measured distance from a reference position to a load at an arbitrary position; a stop position input means for inputting a distance from the reference position to a predetermined stop position of the load; and a moving distance of the load. means for setting and storing a conversion rate representing the relationship of the difference between the position address of the encoder and the position address of the encoder corresponding to the moving distance; and an offset amount that is the amount of deviation of the reference point of the encoder from the reference position from the actual measured distance and the encoder output. means for calculating a target address using the conversion rate from the offset amount and the distance from the reference position input from the stop position input means to the stop position, and the target address and the load position address. and means for generating a stop output when the comparison results in a match.

(Operation) The control device according to the present invention detects the position address of the load using an absolute value encoder, and calculates the amount of deviation between the reference position and the reference point of the encoder based on this position address and the actually measured distance from the reference position of the load. Since the offset amount is determined and the target address is determined from this offset amount and the distance of each stop position from the reference position, the target address can be matched with the phase of the encoder. As a result, the phase adjustment of the encoder during connection can be simplified, and the positioning accuracy is further improved.

(Example) FIG. 1 is a sectional view of a main part showing the configuration of an example of a tire molding machine equipped with a positioning control device according to the present invention. Drive motor 2 attached to frame 1 to belt 8
The driving force is transmitted to the rotating shaft 4 via the pulley 5 attached to the rotating shaft 4. The rotating shaft 4 is rotatably attached to the frame 1 via a boss, and a lead screw with a reverse thread is formed on the surface of the rotating shaft 4 with the central portion as the boundary, and the first and second stitcher frames 6 and Screw 7 together. These stitcher frames 6 and 7 each have 2
The first stitcher frame 6 is slidably supported by book stays 8 and 9, and is reciprocated in the directions of arrows a and b by the forward and reverse rotation of the motor 2 via the lead screw of the rotating shaft 4. Second stitch, frame 7 is arrow C
and reciprocate in the d direction. A @1 stitcher 10 and a second stitcher 11 are rotatably mounted on the first and second stitcher frames 6 and 7, respectively, and an arm 12 and an arm 12 are attached to the first and second stitchers 10 and 11, respectively. 18 and the air cylinders 14 and 15 to move the first stitcher 10 in the directions of arrows e and f and the second stitcher 10 in the direction of arrows e and f.
The stitcher 11 is rotated in the directions of arrows g and h. Further, an absolute value type rotary encoder 16 is attached to the side end of the frame l, and a pulley 17 is connected to a rotating disk (not shown) of this rotary encoder 16.
is connected to a pulley 19 mounted on the rotating shaft 4 via a timing belt 18. With this configuration, motor 2
The rotational driving force is transmitted to the rotating shaft 4 via the belt 3,
This rotational driving force is converted into a linear driving force by the action of the lead screw, and when the motor 2 rotates forward, the first and @2 stitcher frames 6 and 7 move in directions a and C, respectively, and when driven in the reverse direction, they move in directions b, respectively. and move in the d direction. Furthermore, the rotating disk of the rotary encoder 16 rotates in conjunction with the rotation of the rotating shaft 4. Since the rotary encoder 16 is an absolute encoder, the first and second stitchers 10 and 11 are
Absolute position information with respect to the reference position of the stitcher is detected, and absolute position information of the first and second stitchers with respect to the reference position is detected in accordance with the rotational drive of the motor 2. Therefore, if the operating position of each stitcher 10 and 11 with respect to the reference position is set in advance and the position information from the rotary encoder 16 is compared with the set value, the stitcher 1
0 and 11 can be accurately positioned.

FIG. 2 is a partial sectional view showing a state in which the stitcher is driven using the positioning control device according to the present invention.

A drum 20 is disposed facing the first and second stitchers 10 and 11, and a ply 2 is disposed on the outer peripheral surface of the drum 20.
1, and sidewalls 22 and 28 to be bonded are stacked at both ends of this ply 21. When a drive signal is input to the motor 2, the moxibustion stitchers 10 and 11 start moving in the directions of arrows a and b, and when they reach position p, the arms 12 and 18 and the air cylinders 14 and 15 are activated to move the stitchers 10 and 11. arrows e and c respectively
direction, and its side ends are pressed against the surfaces of side walls /l/22 and 28.

Then, the stitchers 10 and 11 are moved in directions a and C, respectively, with the drum 20 being rotated and pressed together to push out the air interposed between the ply 21 and the sidewalls 22 and 23, and the ply 21 and the sidewalls z2
and 23 are brought into complete contact with each other. Stitcher 1
0 and 11 move while their positions are constantly detected by the rotary encoder 16, and the detected position signals indicate the preset positions Q of the outer edges of the side walls 22 and 23.
When the position signal matches the position signal, the movement is temporarily stopped and the pressure contact with the sidewall is released.

FIG. 3 is a block diagram showing the configuration of an example of a positioning control device according to the present invention. From the drive device 30 to the transmission mechanism 8
1 through the load 32 to be positioned by a positive or negative driving force
The load 32 moves in the positive or negative direction. The position address of the load 32 relative to the reference position is detected by the position detector a8 via the transmission mechanism 81 and output to the control circuit 84. The control circuit 84 is provided with the actual measured distance of the load 82 with respect to the reference position before driving, the distance of each stop position with respect to the reference position, and the load 8 through the setting device 85 in order to calculate the offset amount.
The allowable range that determines the coasting distance and stopping accuracy at the time of stopping in Step 2 is input in advance. The control circuit 34 calculates the offset amount of the position detector 33 with respect to the reference position, and creates a target address based on this offset amount and the distance from the reference position input in advance to the stop position. And load 32
The position address of the load 82 detected as the load 82 moves is compared with the target address, and when one address matches, a stop output is sent to the drive device 80 to stop driving the load 82,
Further, the configuration is such that the position address where the load 82 actually stops is detected and it is confirmed whether or not it has stopped within the allowable range of the target address.

FIG. 4 is a block diagram for explaining the functions of the positioning control device according to the present invention. The positioning control process according to the present invention will be explained based on FIG.

(1) Set the absolute reference position that is the reference for determining the address arbitrarily (for example, at the center of the drum 20 shown in FIG. 2), roughly adjust the phase of the output signal of the position detector 88, and then a8 is connected to the transmission mechanism 81. In this case,
The amount of deviation between the reference point of the encoder and the absolute reference position is defined as the amount of offset.

(2) Move the load 82 to a certain arbitrary distance by manual operation.
The address difference B detected by the position detector 8a by this movement is determined, and SB/A is determined as the conversion rate C, and is input to the control circuit 34 via the setter 85 and stored.

(8) Measure the distance from the reference position to the position where the load 32 actually stops, and set this distance as the measured position.

(4) From the distance of the actual measured position and the address E0 output from the position detector 88 at this time, calculate the offset iMF (1
) is calculated using the formula.

F - position detector output E0 - actual measured distance D x conversion rate C...
(1) This offset amount represents the shift in the position of the load at the reference point of the encoder with respect to the absolute reference position, and is positive or negative depending on the direction of the shift.

(5) The distance G from the reference position of each stop position required for automatic operation is input to the control circuit 84 via the setting device 86, converted into an address, and stored. These respective stop positions are appropriately selected and used by the sequence control circuit.

(6) Find the average value of the coasting distance H of the load 32 when stopped,
It is input to the control circuit 34 via the setter 85 and stored as an address amount.

(7) The tolerance range K required as stopping accuracy is input to the control circuit 84 via the setter 85 and stored as an address amount.

After completing the above effective condition settings, start automatic operation according to the following steps.

(When the stop position is selected by the Q sequence control circuit (
2) Create first processing data L according to the formula.

L - Stop position set value x Conversion rate - Offset amount...
(2) Since the first processing data L is a value obtained by subtracting the offset amount, it is obtained by converting the stop position address into the address of the position detector 33. 1 This first processing data L becomes the target address at the time of stopping.

(b) From the first machining data L and the coasting distance H of the load, calculate the second machining data M that will be the target address during movement (8)
Obtain from the formula.

M-first machining data operator coasting distance x conversion rate...(
8) Here, the minus sign indicates movement in the positive direction (normal rotation), and the ten sign indicates movement in the negative direction (reverse rotation).

(C) The second processing data λ( is sent to a comparison circuit provided in the control circuit 84, and compared with the address E2 of the load detected by the position detector 33. When they match, a stop output is generated and the drive device Send to 80.

(In order to confirm whether the address E at which the Φ load 32 actually stopped is within the allowable range, the target address range at the time of stopping is determined based on the allowable range that determines the stopping accuracy and the first machining data L. Check whether the position address E8 is within the target address range when the load 3z actually stops, and if it is within the range, move the address outside the range in preparation for the next operation. When this occurs, an alarm output is generated.

FIG. 5 is a diagram showing signal states when the positioning control device according to the present invention is stopped. (The slope represents the drive signal when moving in the positive direction, and the drive signal turns OFF when the target address is reached in consideration of the coasting distance.On the other hand, the drive signal for the positioning object is OFF.

However, due to inertia, the motor coasts and gradually decelerates from a constant speed as shown in b), and stops at a preset stop position.

(0) and (d) represent the drive signal and the speed change of the positioning object when moving in the negative direction. (e) represents a coincidence output, (phantom represents an alarm output.

For example, if the coasting distance becomes longer as shown by the dotted line in (b), the actual stopping position will be outside the allowable range, and an alarm will be output.

In the embodiment described above, the offset amount is actually measured and the target address is created based on the actually measured offset amount. It is also possible to create a target address using an offset amount.

(Effects of the Invention) As explained above, according to the present invention, since the address information of the load to be positioned is detected using the absolute value encoder, the encoder relative to the absolute reference position can be detected with one simple operation. The offset amount, which is the amount of deviation from the reference point, can be detected, and the position adjustment of the encoder at the time of connection can be further simplified. Further, since the target address is set in consideration of the coasting distance and compared with the output signal from the encoder, accurate positioning operation can be performed. Additionally, a tolerance range for stopping accuracy is set, and it is configured to check whether the machine has stopped within the target address range or not, and to issue an alarm if it is outside the range, thereby preventing product processing defects. . Furthermore, since the configuration is such that a conversion rate is determined for each encoder and the set value is converted using this conversion rate, positioning control can be easily and accurately performed even if variations occur between each encoder in addition to the coasting distance. be able to. As a result of the above action, stop position information can always be input as a distance from the absolute reference position, so in tire molding, for example, the exact same stop position information can be input to multiple machines. Handling becomes very easy.

[Brief explanation of the drawing]

FIG. 1 is a sectional view of essential parts showing the configuration of an example of a tire molding machine equipped with a positioning control device according to the present invention, and FIG. 2 shows a state when a stitcher is driven using the positioning control device according to the present invention. Part 2. . 8 is a block diagram showing the configuration of an example of the positioning control device according to the present invention. FIG. 4 is a block diagram showing the functions of the positioning control device according to the present invention. FIG. 3 is a diagram showing a signal state when the vehicle is stopped. 1...Frame 2...Motor 3...Belt 4...Rotating shaft 5.17, 19...Pulley 6...@1 stitcher 7 frame 7...Second stitcher 7 frame 8. 9... Stay 10... First stitcher 11... Second stitcher 12.13... Arm 14.15... Air cylinder 16... Rotary enhancer 18... Timing belt 20...・Drum 21・
... Ply 22, 28 ... Side wall 30 ... Drive device 81 ... Transmission mechanism 8
2... Positioning load 38... Position detector 34.
...Control circuit 35 river setting device. Figure 2 Figure 3 Figure 4 Figure 5 Crane πI stopped position l Procedural amendment October 11, 1980 1. Indication of the case 1988 Patent application No. 165577 2. Name of the invention Tire molding machine Relationship between positioning control device 3 and correction device 1 Patent applicant (527) Brideston B Co., Ltd. 6. Subject of amendment: “Detailed description of the invention” column 1 of the specification
, "in conjunction with" on page 15, line 18 of the specification is corrected to "and in conjunction with the offset amount."

Claims (1)

[Scope of Claims] 1. An absolute value type encoder that detects the position address of a load to be stopped at a predetermined position, and actually measured position input means that inputs an actually measured distance from a reference position to a load located at an arbitrary position; A stop position input means for inputting a distance from the reference position to a predetermined stop position of the load, and a conversion rate representing the relationship between the moving distance of the load and the position address of the encoder corresponding to this moving distance is set and stored. and a means for calculating an offset amount, which is a deviation amount of the reference point of the encoder from the reference position, from the measured distance and the encoder output, and calculating the offset amount and the distance from the reference position input from the stop position input means to the stop position. and means for calculating a target address using the conversion rate, and means for comparing the target address and a load position address and generating a stop output when they match. positioning control device. 2. The target address calculating means is configured to calculate a target address by correcting not only the offset amount but also the coasting distance of the load.
A positioning control device for a tire molding machine as described in 1.