JPS6357332B2 - - Google Patents
Info
- Publication number
- JPS6357332B2 JPS6357332B2 JP10917482A JP10917482A JPS6357332B2 JP S6357332 B2 JPS6357332 B2 JP S6357332B2 JP 10917482 A JP10917482 A JP 10917482A JP 10917482 A JP10917482 A JP 10917482A JP S6357332 B2 JPS6357332 B2 JP S6357332B2
- Authority
- JP
- Japan
- Prior art keywords
- signal
- transfer means
- encoder
- transfer
- section
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
- 238000012546 transfer Methods 0.000 claims description 80
- 238000001514 detection method Methods 0.000 claims description 29
- 238000012937 correction Methods 0.000 claims description 25
- 230000001360 synchronised effect Effects 0.000 claims description 11
- 238000000034 method Methods 0.000 claims description 7
- 230000008602 contraction Effects 0.000 description 11
- 238000010586 diagram Methods 0.000 description 4
- 238000012545 processing Methods 0.000 description 2
- 238000007796 conventional method Methods 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/10—Sequence control of conveyors operating in combination
Description
【発明の詳細な説明】
(a) 発明の目的
（発明の技術分野）
本発明は、チエーンやベルトなどのように比較
的長い移送手段を直列に配置して、前段の移送手
段から後段の移送手段に物品を受け渡す際、その
受け渡しが円滑に行なわれるように制御する方法
に関する。Detailed Description of the Invention (a) Object of the Invention (Technical Field of the Invention) The present invention relates to a system in which comparatively long conveying means such as chains and belts are arranged in series, and transfer from the preceding conveying means to the succeeding conveying means is performed. The present invention relates to a method for controlling the delivery of goods to a means so that the delivery is carried out smoothly.
（発明の技術的な背景）
第１図は従来の移送手段の同期方法を示す図
で、例えばチエーンやベルトなどのような移送手
段１，２，３が直列に配設され、１つのラインを
構成している。このような構成は組み立て、製造
ラインなどでよく用いられるものであり、例えば
移送手段１で物品が矢印方向に移送されて来て、
受け渡し部T1で次の移送手段２に移し変えられ、
今度はその移送手段２で矢印方向に移送される。
そして受け渡し部T2で、次の移送手段３に移し
変えられる。(Technical Background of the Invention) Fig. 1 is a diagram showing a conventional method of synchronizing transport means, in which transport means 1, 2, and 3, such as chains and belts, are arranged in series and are connected to one line. It consists of Such a configuration is often used in assembly and manufacturing lines, etc. For example, when an article is transferred in the direction of the arrow by the transfer means 1,
Transferred to the next transfer means 2 at the transfer section T1 ,
This time, it is transported by the transport means 2 in the direction of the arrow.
Then, at the transfer section T2 , it is transferred to the next transfer means 3.
このような移し変えを要する移送手段では、各
移送手段１，２，３に例えばチヤツクやバケツト
などのような物品ホルダ４…を備えていて、前段
の移送手段のホルダ４から後段の移送手段のホル
ダ４に物品を移し変えることになる。そのため移
送手段１と２間の受け渡し部T1に見られるよう
に、移送手段１のホルダ４とその後段の移送手段
２のホルダ４とが丁度同期して対応するように制
御する必要がある。 In such a transfer means that requires transfer, each of the transfer means 1, 2, 3 is equipped with an article holder 4 such as a chuck or bucket, and the article is transferred from the holder 4 of the preceding transfer means to the article holder 4 of the subsequent transfer means. The article will be transferred to the holder 4. Therefore, as seen in the transfer section T1 between the transfer means 1 and 2, it is necessary to control the holder 4 of the transfer means 1 and the holder 4 of the subsequent transfer means 2 so that they correspond exactly in synchronization.
（従来技術とその問題点）
このような同期をとるために従来は、バイナリ
カウンタでパルス信号を発生させたり、エンコー
ダを回転させて信号を発生させるマスタ信号発生
器５でマスタ信号Ａを発生させ、一方各移送手段
には、エンコーダE1，E2，E3が装備され、それ
ぞれのエンコーダE1，E2，E3から発生する信号
が、前記のマスタ信号Ａと同期するように、各移
送手段の駆動手段を制御している。そして移送手
段１と２間の受け渡し部T1に見られるように、
移送手段１のホルダ４とその後段の移送手段２の
ホルダ４とが丁度同期して対向することにより、
物品の受け渡しが円滑に行なわれる。(Prior art and its problems) Conventionally, in order to achieve such synchronization, a binary counter generates a pulse signal, or a master signal generator 5 generates a signal by rotating an encoder to generate a master signal A. , while each transport means is equipped with an encoder E 1 , E 2 , E 3 , and the signals generated from each encoder E 1 , E 2 , E 3 are synchronized with the master signal A. It controls the driving means of the transport means. And as seen in the transfer section T 1 between the transport means 1 and 2,
By the holder 4 of the transfer means 1 and the holder 4 of the subsequent transfer means 2 facing each other in exactly synchronized manner,
Goods can be delivered smoothly.
ところで移送手段１，２，３がチエーンやベル
トなどのように比較的長いものの場合、温度変化
などで移送手段１，２，３が伸縮したりすること
がある。そのために、移送手段２と３間の受け渡
し部T2に見られらるように、移送手段２のホル
ダ４とその後段の移送手段３のホルダ４との間で
同期が崩れ正確に対応しなくなる。その結果物品
の受け渡しが円滑に行なわれず、落下したり損傷
したりする恐れがある。 By the way, if the transfer means 1, 2, 3 are relatively long, such as chains or belts, the transfer means 1, 2, 3 may expand or contract due to changes in temperature or the like. Therefore, as seen in the transfer section T2 between the transfer means 2 and 3, the holder 4 of the transfer means 2 and the holder 4 of the subsequent transfer means 3 are out of synchronization and do not correspond accurately. . As a result, the goods may not be delivered smoothly and may fall or be damaged.
（発明の技術的課題）
本発明の技術的課題は、複数の移送手段が前後
して配置され、周期的に発生するマスタ信号と各
移送手段に設置されたエンコーダからの信号とを
比較して、各移送手段の動きを制御し、前段の移
送手段の送出部と後段の移送手段の受け取り部と
を同期させる方法において、移送手段の伸縮など
で前後の移送手段間の受け渡し部の同期が狂うの
を解決することにある。(Technical Problem of the Invention) A technical problem of the present invention is to compare a periodically generated master signal with a signal from an encoder installed in each transport means when a plurality of transport means are arranged one after the other. In the method of controlling the movement of each transfer means and synchronizing the sending section of the preceding transfer means and the receiving section of the subsequent transfer means, the synchronization of the delivery section between the front and rear transfer means is lost due to expansion and contraction of the transfer means, etc. The aim is to solve the problem.
(b) 発明の構成
（本発明の技術的手段）
この技術的課題を解決するために本発明の技術
的手段は、上記従来の移送装置における前段の移
送手段に、基準信号を発生させる基準エンコーダ
と、後段の移送手段寄りの位置に配設された誤差
検出用のエンコーダとを備え、この誤差検出用の
エンコーダと該移送手段の基準エンコーダとの出
力を演算手段に入力して両エンコーダ間の位相差
を導出すると共に、演算手段の出力で前記のマス
タ信号を補正し、補正の結果得られた補正信号
に、後段の移送手段の基準エンコーダの信号が同
期するように制御し、その制御信号を後段の移送
手段の駆動手段に入力することにより、後段の移
送手段の基準エンコーダの信号が、マスタ信号が
補正されてなる補正信号と同期するように制御す
るような構成になつている。(b) Structure of the Invention (Technical Means of the Invention) In order to solve this technical problem, the technical means of the present invention is to provide a reference encoder for generating a reference signal in the preceding transfer means of the conventional transfer device. and an encoder for detecting an error disposed at a position near the transport means in the latter stage, and the outputs of the encoder for detecting errors and the reference encoder of the transport means are inputted to the calculation means, and the output between the two encoders is inputted to the calculation means. In addition to deriving the phase difference, the master signal is corrected using the output of the calculation means, and the reference encoder signal of the subsequent transfer means is controlled to be synchronized with the correction signal obtained as a result of the correction, and the control signal is By inputting the signal to the drive means of the subsequent transfer means, the signal of the reference encoder of the subsequent transfer means is controlled to be synchronized with the correction signal obtained by correcting the master signal.
（技術的手段の作用）
この構成によれば、前段の移送手段に伸縮など
が発生していなければ、その基準エンコーダの検
出信号と誤差検出用エンコーダの検出信号とは同
期するので、演算部からは補正を与えるための信
号は発生せず、マスタ信号は何の補正も行なわれ
ることなしに、後段の移送手段の基準エンコーダ
との同期に供給される。前段の移送手段が伸縮な
どで、誤差検出用エンコーダの検出信号と基準エ
ンコーダの検出信号との間で位相差のずれが発生
すると、演算部でその位相差が導出されて補正部
に入力され、マスタ信号の補正が行なわれる。そ
してこの補正された信号と、後段の移送手段の基
準エンコーダの検出信号とが比較されて、後段の
移送手段の位相を制御すべき値が制御部に入力さ
れる。制御部からの出力信号によつて、後段の移
送手段の駆動用モータは、その基準エンコーダの
検出信号が前記の補正後のマスタ信号と同期する
ように回転角が制御される。その結果、後段の移
送手段の受け取り部は常に、前段の移送手段の送
出部と対応するように制御され、物品を円滑に受
け渡し可能となる。(Operation of technical means) According to this configuration, if no expansion or contraction occurs in the preceding transport means, the detection signal of the reference encoder and the detection signal of the error detection encoder are synchronized, so that No signal is generated to provide the correction, and the master signal is fed to the downstream transport means for synchronization with the reference encoder without any correction being made. When a shift in phase difference occurs between the detection signal of the error detection encoder and the detection signal of the reference encoder due to expansion or contraction of the transport means in the previous stage, the phase difference is derived in the calculation section and input to the correction section, Correction of the master signal is performed. This corrected signal is then compared with the detection signal of the reference encoder of the subsequent transport means, and a value for controlling the phase of the latter transport means is input to the control section. The rotation angle of the drive motor of the subsequent transfer means is controlled by the output signal from the control section so that the detection signal of its reference encoder is synchronized with the corrected master signal. As a result, the receiving section of the subsequent transfer means is always controlled to correspond to the delivery section of the preceding transfer means, allowing for smooth delivery of articles.
(c) 発明の実施例
次に本発明による移送装置の同期方法が実際上
どのように具体化されるかを実施例で説明する。
第２図は本発明による移送装置を、第１図と対応
して示した模式的な側面図で、第１図と対応する
部分には同一符号が付されている。即ちチエーン
やベルトなどのような移送手段１，２，３が直列
に配設され、かつ矢印方向に動作すると共に、受
け渡し部T1，T2において、前段の移送手段のホ
ルダ４から後段の移送手段のホルダ４に物品を受
け渡すような構成になつている。また各移送手段
に基準信号用のエンコーダE1，E2，E3を備え、
その出力信号がマスタ信号発生器５から出力され
るマスタ信号Ａと同期するように制御される。(c) Embodiments of the Invention Next, examples will be used to explain how the method for synchronizing transfer devices according to the present invention is actually implemented.
FIG. 2 is a schematic side view showing a transfer device according to the present invention, corresponding to FIG. 1, and parts corresponding to those in FIG. 1 are given the same reference numerals. That is, transfer means 1, 2, and 3 such as chains and belts are arranged in series and move in the direction of the arrow, and at the transfer portions T1 and T2 , transfer from the holder 4 of the preceding transfer means to the subsequent transfer means is performed. The structure is such that articles are delivered to a holder 4 of the means. Each transport means is also equipped with encoders E 1 , E 2 , E 3 for reference signals,
The output signal is controlled so as to be synchronized with the master signal A output from the master signal generator 5.
このような装置において、本発明では、前段の
移送手段例えば２の、後段の移送手段３寄りの位
置に、誤差検出用のエンコーダErを配設し、該
誤差検出用エンコーダErによつて、移送手段２
の伸縮などに起因するホルダ４の位置のずれ量を
検出するようにしている。そしてこの検出信号を
利用して、次の段の移送手段３の動作が制御され
る。 In such a device, in the present invention, an encoder Er for detecting an error is disposed at a position close to the transporting means 3 at the rear stage of the transporting means 2 at the front stage, and the encoder Er for detecting the error detects the transport. Means 2
The amount of displacement in the position of the holder 4 due to expansion and contraction of the holder 4 is detected. Using this detection signal, the operation of the transfer means 3 in the next stage is controlled.
第３図は補正用エンコーダErの検出信号によ
る補正処理を示すブロツク図、第４図は各部の信
号の位相関係を示す図である。第３図のように補
正処理部は、演算部６、補正部７、比較部８およ
び制御部９から構成されている。そしてマスタ信
号発生器５から出力されたマスタ信号Ａは、第４
図に示されるように装置全体の速度などを制御す
る基準となる信号で、補正部７に入力される。一
方演算部６には、前段の移送手段２の基準エンコ
ーダE2からの検出信号Ｂと誤差検出用エンコー
ダErからの検出信号Ｃが入力されて、演算処理
される。即ち移送手段２の伸縮などがなく、誤差
検出用エンコーダErからの検出信号Ｃが、基準
エンコーダE2からの検出信号Ｂと同期しておれ
ば、演算部６からは補正を与えるための信号は発
生しないが、移送手段２が伸縮して誤差検出用エ
ンコーダErからの検出信号Ｃが基準エンコーダ
E2の検出信号Ｂに対し位相差φだけずれている
と、演算部６で位相差の変化分が導出されて、補
正部７に入力される。補正部７では、マスタ信号
Ａに、演算部６からの位相差信号が加えられて、
マスタ信号Ａが補正される。そして補正された信
号A′が比較部８に入力され、また後段の移送手
段３の基準エンコーダE3からの検出信号Ｄもこ
の比較部８に入力されて、両信号A′と検出信号
Ｄとの位相差を現す信号が制御部９に入力され
る。制御部９から出力される制御信号は、後段の
移送手段３の駆動用モータＭのドライブ回路１０
に供給されて、モータＭの回転角を制御する。 FIG. 3 is a block diagram showing the correction process using the detection signal of the correction encoder Er, and FIG. 4 is a diagram showing the phase relationship of the signals of each part. As shown in FIG. 3, the correction processing section includes a calculation section 6, a correction section 7, a comparison section 8, and a control section 9. The master signal A output from the master signal generator 5 is then
As shown in the figure, the signal is a reference signal for controlling the speed of the entire device, and is input to the correction unit 7. On the other hand, the detection signal B from the reference encoder E2 of the transport means 2 at the previous stage and the detection signal C from the error detection encoder Er are input to the calculation section 6 and are subjected to calculation processing. That is, if there is no expansion or contraction of the transport means 2 and the detection signal C from the error detection encoder Er is synchronized with the detection signal B from the reference encoder E2 , the signal for applying correction from the calculation unit 6 is Although it does not occur, the transfer means 2 expands and contracts and the detection signal C from the error detection encoder Er is transferred to the reference encoder.
If the detection signal B of E 2 is shifted by the phase difference φ, the change in the phase difference is derived by the calculating section 6 and inputted to the correcting section 7 . In the correction section 7, the phase difference signal from the calculation section 6 is added to the master signal A.
Master signal A is corrected. Then, the corrected signal A' is input to the comparator 8, and the detection signal D from the reference encoder E3 of the transfer means 3 at the subsequent stage is also input to the comparator 8, and both the signals A' and the detection signal D are input to the comparator 8. A signal representing the phase difference is input to the control section 9. The control signal output from the control unit 9 is transmitted to the drive circuit 10 of the drive motor M of the transfer means 3 in the subsequent stage.
is supplied to control the rotation angle of motor M.
いま前段の移送手段２に伸縮がない場合は、演
算部６から補正を与えるべき信号は発生しないの
で、補正部７においては、マスタ信号Ａへの補正
は加えられない。また後段の移送手段３の基準エ
ンコーダE3から発生する信号Ｄがマスタ信号Ａ
と同期するように制御されることは先に述べた通
りであるから、比較部８では伸縮に伴う位相差の
信号は発生しない。つまり移送手段２に伸縮はな
く、マスタ信号発生器５からのマスタ信号Ａに同
期して各移送手段１，２，３が駆動されている状
態である。 If there is no expansion or contraction in the preceding transfer means 2, no signal to be corrected is generated from the calculation section 6, and therefore no correction is applied to the master signal A in the correction section 7. Also, the signal D generated from the reference encoder E3 of the transfer means 3 in the subsequent stage is the master signal A.
As described above, the comparator 8 does not generate a phase difference signal due to expansion and contraction. In other words, the transfer means 2 does not expand or contract, and each transfer means 1, 2, and 3 is driven in synchronization with the master signal A from the master signal generator 5.
ところがいま前段の移送手段２が伸縮している
とすると、誤差検出用エンコーダErで検出され
た信号Ｃは、位相差φだけ基準エンコーダE2か
らの検出信号Ｂに対しずれることになる。即ち移
送手段２の伸張または短縮によつて位相差φだけ
進むか遅れを生じる。演算部６ではこの位相差φ
の値が取り出されて補正部７に入力される。補正
部７では、この位相差φがマスタ信号Ａに加えら
れて位相差φだけ補正された信号A′が得られる。
つまり移送手段２の伸張か縮小かの方向によつ
て、位相差φだけマスタ信号Ａが進められ或いは
遅延される。 However, if the preceding transport means 2 is now expanding or contracting, the signal C detected by the error detection encoder Er will be shifted from the detection signal B from the reference encoder E2 by a phase difference φ. That is, by expanding or shortening the transfer means 2, the phase difference φ advances or lags. In the calculation unit 6, this phase difference φ
The value of is extracted and input to the correction section 7. In the correction section 7, this phase difference φ is added to the master signal A to obtain a signal A' corrected by the phase difference φ.
That is, depending on the direction of expansion or contraction of the transport means 2, the master signal A is advanced or delayed by the phase difference φ.
一方後段の移送手段３に補正が加えられていな
い状態では、その基準エンコーダE3の検出信号
Ｄは、第４図のD1で示されるように信号Ａ，Ｂ
と同期する位相にあるので、該検出信号D1と補
正部７で得られた補正信号A′が比較部８に入力
されると、位相差φに対応する値の信号が制御部
９に入力されて、モータドライバ１０に供給さ
れ、モータの回転角が位相差φだけ制御される。
つまり前段の移送手段２が伸張して、そのホルダ
４が通常より早目に移送手段３への受け渡し部
T2に到達する場合であれば、後段の移送手段３
の駆動モータの回転角を進めるように制御され、
移送手段２が縮小しておれば、後段の移送手段３
の移動量を遅らすように制御される。このような
制御が行なわれると、後段の移送手段３の基準エ
ンコーダE3の検出信号Ｄは、D2で示されるよう
に、補正信号A′と同期する状態となる。 On the other hand, when no correction is applied to the downstream transfer means 3, the detection signal D of the reference encoder E3 is different from the signals A and B as shown by D1 in FIG.
Therefore, when the detection signal D1 and the correction signal A' obtained by the correction section 7 are input to the comparison section 8, a signal with a value corresponding to the phase difference φ is input to the control section 9. is supplied to the motor driver 10, and the rotation angle of the motor is controlled by the phase difference φ.
In other words, the preceding transfer means 2 expands, and its holder 4 reaches the delivery section to the transfer means 3 earlier than usual.
If T 2 is reached, the subsequent transport means 3
is controlled to advance the rotation angle of the drive motor,
If the transfer means 2 is reduced, the subsequent transfer means 3
is controlled to delay the amount of movement. When such control is performed, the detection signal D of the reference encoder E 3 of the subsequent transport means 3 becomes synchronized with the correction signal A', as indicated by D 2 .
従つて後段の移送手段３は、前段の移送手段２
に伸縮がない場合であれば、他の移送手段１，２
と同様にマスタ信号Ａに追従するように制御され
るが、前段の移送手段２が伸縮していると、それ
に応じて補正された信号A′に同期するように制
御される。結局後段の移送手段３の移動量は、前
段の移送手段２の移動量に依存することになり、
常に受け渡し部T2における前段と後段のホルダ
４，４同士が正確に同期し位置合わせされる。 Therefore, the latter transfer means 3 is the same as the former transfer means 2.
If there is no expansion or contraction, use other transport means 1 and 2.
It is controlled to follow the master signal A in the same way as above, but if the preceding transport means 2 is expanding or contracting, it is controlled to synchronize with the signal A' which is corrected accordingly. In the end, the amount of movement of the transfer means 3 in the latter stage depends on the amount of movement of the transfer means 2 in the previous stage,
The front and rear holders 4, 4 in the transfer section T2 are always accurately synchronized and aligned.
なお各移送手段１，２，３の基準信号を発生し
たり移送手段２の後段側の移動量を検出するため
の手段は、移送手段の移動部の位置や角度を検出
できるものであればよく、通常のパルスエンコー
ダに限られるものでない。従つて本発明でエンコ
ーダとは、これらの位置ないしは角度検出手段を
も含むものとする。また後部２つの移送手段２と
３間の受け渡し部T2について述べたが、前方２
つの移送手段１と２間の受け渡し部T1について
も適用できることはいうまでもない。 Note that the means for generating the reference signals of each of the transfer means 1, 2, and 3 and for detecting the amount of movement of the latter stage of the transfer means 2 may be any means as long as it can detect the position and angle of the moving part of the transfer means. , but is not limited to ordinary pulse encoders. Therefore, in the present invention, the encoder includes these position or angle detection means. In addition, the transfer section T2 between the two rear transfer means 2 and 3 was described, but the front two
Needless to say, the present invention can also be applied to the transfer section T1 between the two transfer means 1 and 2.
(d) 発明の効果
以上のように本発明によれば、後段の移送手段
は、前段の移送手段の伸縮量に応じて制御され、
受け渡し部においては、前段の移送手段のホルダ
と後段の移送手段のホルダとが正確に対応し、前
段から後段への物品の受け渡しが確実に行なわれ
る。そのため移送手段がチエインやベルトのよう
に伸縮を伴うものであつても、確実に物品を受け
渡して各工程に送ることができる。また微小物品
などの受け渡しも確実に行なうことができ、かつ
移送手段の長さが充分長くなつても支障は生じな
い。(d) Effects of the Invention As described above, according to the present invention, the rear stage transport means is controlled according to the amount of expansion and contraction of the front stage transport means,
In the delivery section, the holder of the front-stage transfer means and the holder of the rear-stage transport means correspond accurately, and the delivery of articles from the front-stage to the rear-stage is reliably performed. Therefore, even if the conveying means involves expansion and contraction, such as a chain or a belt, the articles can be reliably delivered and sent to each process. In addition, it is possible to reliably transfer minute articles, etc., and no problem occurs even if the length of the transfer means is sufficiently long.
第１図は従来の移送装置を示す模式側面図、第
２図以下は本発明の実施例を示すもので、第２図
は模式側面図、第３図は補正処理回路を示すブロ
ツク図、第４図は各部の信号の位相関係を示す図
である。
図において、１，２，３は移送手段、T1，T2
は受け渡し部、４…はホルダ、５はマスタ信号発
生器、６は演算部、７は補正部、８は比較部、９
は制御部、Ｍはモータをそれぞれ示す。
Fig. 1 is a schematic side view showing a conventional transfer device, Fig. 2 and the following show embodiments of the present invention; FIG. 4 is a diagram showing the phase relationship of signals at each part. In the figure, 1, 2, 3 are transfer means, T 1 , T 2
is a transfer section, 4... is a holder, 5 is a master signal generator, 6 is a calculation section, 7 is a correction section, 8 is a comparison section, 9
indicates a control unit, and M indicates a motor.
Claims (1)
に発生するマスタ信号と各移送手段に設置された
基準エンコーダからの信号とを比較して、各移送
手段の動きを制御し、前段の移送手段の送出部と
後段の移送手段の受け取り部とを同期させる方法
において、 前段の移送手段に、基準信号を発生させる基準
エンコーダと、後段の移送手段寄りの位置に配設
された誤差検出用のエンコーダとを備え、 この誤差検出用のエンコーダと該移送手段の基
準エンコーダとの出力を演算手段に入力して両エ
ンコーダ間の位相差を導出すると共に、演算手段
の出力で前記のマスタ信号を補正し、 補正の結果得られた補正信号に、後段の移送手
段の基準エンコーダの信号が同期するように制御
し、その制御信号を後段の移送手段の駆動手段に
出力することを特徴とする移送装置の同期方法。[Claims] 1. A plurality of transfer means are arranged one after another, and the movement of each transfer means is determined by comparing a periodically generated master signal with a signal from a reference encoder installed in each transfer means. In a method for synchronizing a sending section of a forward-stage transport means and a receiving section of a rear-stage transport means, the former transport means includes a reference encoder for generating a reference signal, and a reference encoder is disposed at a position near the rear-stage transport means. and an encoder for error detection, the outputs of the encoder for error detection and the reference encoder of the transfer means are inputted to calculation means to derive the phase difference between both encoders, and the output of the output of the calculation means is input to the calculation means. Correcting the master signal, controlling the reference encoder signal of the downstream transport means to be synchronized with the correction signal obtained as a result of the correction, and outputting the control signal to the driving means of the downstream transport means. A method for synchronizing transport devices, characterized by:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10917482A JPS58224904A (en) | 1982-06-24 | 1982-06-24 | Synchronization method of transfer device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10917482A JPS58224904A (en) | 1982-06-24 | 1982-06-24 | Synchronization method of transfer device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS58224904A JPS58224904A (en) | 1983-12-27 |
| JPS6357332B2 true JPS6357332B2 (en) | 1988-11-10 |
Family
ID=14503525
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP10917482A Granted JPS58224904A (en) | 1982-06-24 | 1982-06-24 | Synchronization method of transfer device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS58224904A (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04133903A (en) * | 1990-09-21 | 1992-05-07 | Anritsu Corp | Conveying device |
| JP5019250B2 (en) | 2006-11-30 | 2012-09-05 | 株式会社Ｉｈｉ | Servo press equipment and control method |
| CN112110158B (en) * | 2020-07-29 | 2021-11-30 | 上海大学 | Multi-line automatic synchronous control method for suspension conveying line |
-
1982
- 1982-06-24 JP JP10917482A patent/JPS58224904A/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS58224904A (en) | 1983-12-27 |
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