JPS6341807B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a driving method for synchronously operating a parent conveyor and a child conveyor that are driven at a set speed.

This type of conventional drive method combines a celsyn and a synchronizer, and if a mistake is made in the gear ratio in the transmission system between the celsyn and the conveyor during the design or manufacturing stage, the hard number of gear teeth can be changed. It needs to be corrected and cannot be easily dealt with on site. In that case, the gear would have to be remade at the factory and sent to the site, making it difficult to deal with it in real time.

The present invention proposes a conveyor synchronous drive method that can eliminate the above-mentioned conventional drawbacks.

An embodiment of the present invention will be described below based on the attached illustrative drawings. 1 is a main conveyor, 2 is a child conveyor, 3 is a motor for driving the main conveyor, 4 is a motor for driving the child conveyor, and 5 is an object to be conveyed. This is a conveyance line, and objects to be conveyed are continuously conveyed in the direction of the arrow by a parent conveyor 1 and a child conveyor 2.

Reference numeral 6 denotes a pulse generating means operatively connected to the main conveyor 1, and numeral 7 denotes a pulse generating means operatively connected to the child conveyor 2. These pulse generating means 6 and 7 generate pulses at a pitch proportional to the speed of the conveyors 1 and 2 that are interlocked with each other, and when both conveyors 1 and 2 are driven at the same speed, they generate pulses at the same pitch. It is configured to generate a pulse at These pulse generating means 6, 7
The encoder may have any configuration as long as it can generate pulses under the above conditions, but generally a pulse encoder is suitable.

The main conveyor driving motor 3 and the child conveyor driving motor 4 each have a speed control means 8,
It is driven at a set speed by a speed setting signal 10 (voltage Vo) given to 9.

Reference numeral 12 denotes a control device using a microcomputer, which includes an arithmetic function 15 for calculating the difference in the number of pulses in the pulse signals 13 and 14 from the pulse generating means 6 and 7, and a digital signal outputted from this arithmetic function 15. a comparison function 20 that determines whether the value of 16 is smaller than a preset tolerance value;
The digital signal 16 checked to be less than the allowable value by the comparison function 20 is used as the speed control signal 1 which is input to the slave conveyor speed control means 9.
Control signal (voltage Vf) 1 added to 0a (Vo)
Digital-to-analog conversion function to convert 7 to 18
and a speed setting signal adjustment function 1 that adds the control signal (voltage Vf) 17 to the speed setting signal 10a (voltage Vo) and adjusts this speed setting signal 10a.
9 is programmed. The arithmetic function 15 can be programmed, for example, as an addition/subtraction counter function that counts up by the pulse signal 13 and counts down by the pulse signal 14.

Next, to explain the operation, the main conveyor 1 and the child conveyor 2 are driven by respective drive motors 3 and 4.
As a result, pulse signals 13 and 14 are outputted from the pulse generation means 6 and 7 which are interlocked with each other, but if the speeds of the main conveyor 1 and the child conveyor 2 are the same and the synchronization is consistent, Since the pulse numbers fo and f ₁ of the pulse signals 13 and 14 within a certain period of time are equal, the digital signal 16 (fα) output by the calculation function 15 is fo - f ₁ = 0, and the control signal 17 is not output. However, if the speed of the child conveyor 2 differs from the speed of the main conveyor 1 due to load or other reasons, a difference will occur in the number of pulses fo and _f1 of the pulse signals 13 and 14,
Digital signal 1 output by calculation function 15
6(fα) is the child conveyor 2 for the parent conveyor 1.
In the case of synchronous lag, in which the child conveyor 2 lags behind, fo−f ₁ = +fα (fo>f ₁ ), and in the case of synchronous advance, in which child conveyor 2 advances relative to parent conveyor 1, fo−f ₁ = −fα (fo < f ₁ ). The conversion function 18 outputs an analog control signal 17 (±Vf) corresponding to the magnitude of this digital signal 16 (±fα). Therefore, the speed setting signal 10a (Vo) input to the slave conveyor speed control means 9 by the speed setting signal adjustment function 19
The control signal 17 (±Vf) is added to the control signal 17 (Vo±Vf), and the adjusted speed setting signal 11 (Vo±Vf) is input to the child conveyor speed control means 9. As a result, the driving speed of the child conveyor 2 is changed to the pulse signal 14. number of pulses
f ₁ is the number of pulses of pulse signal 13 on the main conveyor 1 side
adjusted to be equal to fo.

As a result of the above-mentioned actions, when the child conveyor 2 is behind or ahead of synchronization with respect to the parent conveyor 1, the speed of the child conveyor 2 is automatically adjusted to eliminate the delay or advance of synchronization, and the speed of the child conveyor 2 is automatically adjusted to eliminate the synchronization delay or advance. Although the conveyors 1 and 2 can always be operated in a synchronized state, the digital signal 16 (±fα) outputted by the arithmetic function 15 has a synchronization delay of +55° or more, for example when using conventional cell synchronization. Or, the comparison function determines whether the magnitude corresponds to a synchronization lead of −55° or more, that is, whether the absolute value (fα) of the digital signal 16 is smaller than a preset value (fp). 20, if (fα)<(fp), out-of-sync signal 2
1 is output to the speed control means 8 and 9,
The driving of the main conveyor 1 and the child conveyor 2 by the motor 34 is stopped. Note that the digital signal 1
It is also possible to use a display means that displays 6(±fα) as a numerical value as it is, or after converting it into a numerical value corresponding to the synchronization deviation angle when using Sershin.

The present invention is capable of synchronous drive control of a conveyor in the same way as the conventional method of using celsyn as in the above-mentioned embodiments, but in particular, according to the method of the present invention,
Since program control by a microcomputer can be utilized, software (programs) and other
Any mistakes can be dealt with in real time by making simple changes to the program on site.

Furthermore, according to the method of the present invention, if the difference in the number of pulses from both the pulse generation means interlocked with each of the parent and child conveyors exceeds a set tolerance, an out-of-synchronization signal is output, and this out-of-synchronization signal causes the parent and child conveyors to Since both child conveyors are stopped, if the amount of out-of-synchronization is abnormal, it is possible to stop both conveyors without forcing them into synchronization control, check the cause of the abnormal out-of-synchronization, and take countermeasures immediately. This enables safe conveyor operation.

Note that the method of the present invention can be carried out regardless of the speed change method of the motors 3 and 4.

[Brief explanation of the drawing]

The figure is an explanatory diagram of one embodiment of the present invention. 1... Parent conveyor, 2... Child conveyor, 3, 4
... Conveyor drive motor, 6, 7 ... Pulse generating means, 8, 9 ... Speed control means, 10, 10
a... Speed setting signal (voltage Vo), 11... Adjusted speed setting signal (voltage Vo±Vf), 12... Control device using a microcomputer, 13, 1
4...Pulse signal, 15...Calculation function, 16...
Digital signal, 17... Control signal (voltage Vf), 1
8...Digital-analog conversion function, 19...Speed setting signal adjustment function.

Claims (1)

[Claims] 1. Pulse generating means for the main conveyor and child conveyor are provided which are linked to the main conveyor and the child conveyor respectively and generate pulses at a pitch proportional to the speed of each conveyor, and the number of pulses from both pulse generating means is adjusted. Compare, obtain a control signal with a magnitude corresponding to the difference, adjust the speed setting signal of the motor for driving the child conveyor using the control signal, and adjust the speed of the child conveyor so that the difference in the number of pulses becomes zero. At the same time, if the difference in the number of pulses from both pulse generating means exceeds a set tolerance value, an out-of-synchronization signal is output, and this out-of-synchronization signal causes both the parent conveyor and the child conveyor to stop. Conveyor synchronous drive method.