TWM469577U - Stroke end timer setting device - Google Patents

Stroke end timer setting device Download PDF

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Publication number
TWM469577U
TWM469577U TW102204675U TW102204675U TWM469577U TW M469577 U TWM469577 U TW M469577U TW 102204675 U TW102204675 U TW 102204675U TW 102204675 U TW102204675 U TW 102204675U TW M469577 U TWM469577 U TW M469577U
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Taiwan
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delay time
time
mode
moving body
control device
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TW102204675U
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Chinese (zh)
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Takanori Shinohara
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Citizen Holdings Co Ltd
Citizen Machinery Miyano Co
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Publication of TWM469577U publication Critical patent/TWM469577U/en

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Description

行程終端計時器設定裝置Travel terminal timer setting device

本新型是關於行程終端計時器設定裝置。The present invention relates to a travel terminal timer setting device.

以往是藉由各種感應器來檢測汽缸等的致動器的動作部分(以下稱為移動體)到達到預定的前進端部位置。Conventionally, an operation portion (hereinafter referred to as a moving body) of an actuator such as a cylinder is detected by various sensors until a predetermined forward end position is reached.

同樣是藉由各種感應器來檢測移動體到達預定的後退端部位置。It is also detected by various sensors that the moving body reaches a predetermined retracted end position.

例如雖然上述的感應器檢測到移動體前進而接觸到端部位置,而由於感應器有個別差異,所以在移動體實際接觸的瞬間,也會有感應器未檢測到移動體的情形。For example, although the above-described sensor detects that the moving body is moving forward and comes into contact with the end position, and there are individual differences in the sensor, there is a case where the moving body is not detected by the sensor at the moment when the moving body actually contacts.

因此通常將感應器設置成在移動體實際接觸之前感應器進行檢測,並且從感應器進行檢測後經過預定時間後,則判斷移動體實際接觸。Therefore, the sensor is usually set to detect the sensor before the moving body actually contacts, and after a predetermined time elapses from the detection by the sensor, it is judged that the moving body actually contacts.

該預定時間為所謂的延遲時間,該延遲時間,是對應於感應器持續檢測移動體這樣些許的移位,是不滿一秒的非常短的時間(專利文獻1)。The predetermined time is a so-called delay time which is a very short time which is less than one second in response to the sensor continuously detecting a slight displacement of the moving body (Patent Document 1).

[先前技術文獻][Previous Technical Literature] [專利文獻][Patent Literature]

[專利文獻1][Patent Document 1]

日本特開昭63-219884號公報Japanese Patent Publication No. 63-219884

可是,如果將延遲時間設定成短到超過需要,則在移動體實際接觸以前,可能會進行錯誤判斷為接觸,在根據該判斷進到下次步驟的情況,可能會因為錯誤判斷導致步驟混亂等的問題。However, if the delay time is set to be short enough to exceed the need, the erroneous determination may be made to the contact before the actual contact of the mobile body, and in the case of proceeding to the next step according to the judgment, the step may be confused due to the erroneous judgment. The problem.

因此,傾向將延遲時間設定成長到超過需要。Therefore, it is inclined to set the delay time to be longer than necessary.

這裡即使延遲時間為例如極短時間,該時間的積分會成為很大的時間,往往結果會影響到製造成本。Here, even if the delay time is, for example, a very short time, the integration of the time becomes a large time, and the result often affects the manufacturing cost.

上述問題,並不是只有在移動體停止的端部位置為移動體物理性接觸的位置會產生的問題。The above problem is not only a problem that occurs when the end position where the moving body stops is a position where the moving body physically contacts.

也就是說,例如移動體是於汽缸內部往復移動的活塞,在活塞的往復移動範圍小於汽缸的物理性的兩端部之間的情況。That is to say, for example, the moving body is a piston that reciprocates inside the cylinder, and the range in which the reciprocating movement of the piston is smaller than the physical two ends of the cylinder.

也就是說,在汽缸的端部更前側設置用來限制活塞的移動範圍的擋塊等,將活塞的往復移動範圍的端部作為擋塊,藉由擋塊讓活塞停止。That is, a stopper or the like for restricting the range of movement of the piston is provided on the front side of the end portion of the cylinder, and the end portion of the reciprocating range of the piston is used as a stopper, and the piston is stopped by the stopper.

於是在該情況,活塞的移動路線的端部位置,不是在汽缸的端部,為藉由擋塊停止的活塞的位置。Thus, in this case, the end position of the movement path of the piston, not at the end of the cylinder, is the position of the piston stopped by the stopper.

該情形與該空間與工作機械的卡盤裝置相連的情況相 同。This situation is related to the situation where the space is connected to the chuck device of the working machine. with.

也就是說,例如工作機械的卡盤裝置,從外周將工件抓住保持,該抓住的卡盤構件的開閉動作,以與卡盤構件相連的油壓缸或汽缸等來進行。That is to say, for example, the chuck device of the working machine grasps and holds the workpiece from the outer circumference, and the opening and closing operation of the grasped chuck member is performed by a hydraulic cylinder or a cylinder connected to the chuck member.

在汽缸內部,雖然活塞往復移動,而活塞不限於在汽缸的內部空間的端部間往復移動,例如也有在較汽缸的端部更前側停止。Inside the cylinder, although the piston reciprocates, and the piston is not limited to reciprocate between the ends of the internal space of the cylinder, for example, it is stopped at the front side of the end of the cylinder.

卡盤構件由於在保持工件的位置停止,所以在該情況卡盤構件停止時的活塞的停止位置相當於上述的端部位置(前進端部位置、後退端部位置)。Since the chuck member is stopped at the position where the workpiece is held, the stop position of the piston when the chuck member is stopped in this case corresponds to the above-described end position (the forward end position and the reverse end position).

本新型鑑於上述情形,其目的要提供一種行程終端計時器設定裝置,來儘可能較短地適當設定:來自分別與前進端部位置及後退端部位置對應的檢測裝置的檢測之延遲時間,該前進端部位置及後退端部位置是設置在使移動體往復移動的路線。The present invention has been made in view of the above circumstances, and an object thereof is to provide a stroke end timer setting device which is appropriately set as short as possible: a delay time from detection of a detecting device corresponding to a position of a forward end portion and a position of a retracted end portion, The forward end position and the reverse end position are routes provided to reciprocate the moving body.

本新型的行程終端計時器設定裝置,具備有:兩個檢測裝置、第1時間計測裝置、第2時間計測裝置、以及運算裝置;該兩個檢測裝置,分別對應於移動體往復移動的移動路線的兩端部位置(移動體分別停止的位置),設置成在各端部位置的前側檢測上述移動體的通過;該第1時間計測裝置,當上述移動體從其中一方的端 部位置朝向另一方的端部位置移動時,計測上述移動體從開始移動起至被上述檢測裝置檢測到的經過時間;該第2時間計測裝置,計測上述移動體從被其中一方的上述檢測裝置檢測到起至被另一方的上述檢測裝置檢測到為止的時間;該運算裝置,根據當上述移動體往復移動於上述移動路線的兩端部位置間時,在去路被上述第1時間計測裝置及第2時間計測裝置分別計測的時間、與在回路被上述第1時間計測裝置及第2時間計測裝置分別計測的時間,來計算出在上述去路及回路從上述移動體通過與移動方向下游側的端部位置對應的上述檢測裝置起,至到達上述移動方向下游側的端部位置為止的延遲時間。The stroke end timer setting device of the present invention includes: two detecting devices, a first time measuring device, a second time measuring device, and an arithmetic device; the two detecting devices respectively correspond to a moving route of the moving body reciprocating The position of both end portions (the position at which the moving bodies are stopped) is set to detect the passage of the moving body at the front side of each end position; the first time measuring device is the one end of the moving body When the position of the part moves toward the other end position, the elapsed time from the start of movement of the moving body to the detection by the detecting means is measured; and the second time measuring means measures the detecting means of the moving body from the other side. Detecting a time until it is detected by the other detecting device; the computing device is configured to be used by the first time measuring device when the moving body reciprocates between the two end positions of the moving path The time measured by the second time measuring device and the time measured by the first time measuring device and the second time measuring device in the circuit are calculated, and the outward path and the return from the moving body to the downstream side in the moving direction are calculated. The delay time from the detection device corresponding to the end position to the end position on the downstream side in the moving direction.

藉由本新型的行程終端計時器設定裝置,藉由分別設置在使移動體往復移動的移動路線的兩端部位置的前側之檢測裝置,來檢測移動體,所以能將實際到達端部位置為止所需要的延遲時間儘可能適當設定得較短。According to the stroke end timer setting device of the present invention, the moving body is detected by the detecting means provided on the front side of the both end positions of the moving path for reciprocating the moving body, so that the actual end position can be obtained. The required delay time is set as short as possible.

10‧‧‧計時器(第1時間計測裝置、第2時間計測裝置)10‧‧‧Timer (1st time measuring device, 2nd time measuring device)

20‧‧‧前進端部感應器(檢測裝置)20‧‧‧Advance end sensor (detection device)

30‧‧‧後退端部感應器(檢測裝置)30‧‧‧Retracting end sensor (detection device)

40‧‧‧運算部(運算裝置)40‧‧‧ Computing Department (Operation Unit)

100‧‧‧行程終端計時器設定裝置100‧‧‧Travel terminal timer setting device

110‧‧‧前進端部到達判斷部110‧‧‧Advance end arrival judgment department

120‧‧‧後退端部到達判斷部120‧‧‧Retracted end arrival judgment department

L1、L2、L3‧‧‧距離L1, L2, L3‧‧‧ distance

P1‧‧‧前進端部距離P1‧‧‧Advance end distance

P2‧‧‧後退端部距離P2‧‧‧Retracted end distance

P3‧‧‧前進端部感應器的位置P3‧‧‧ Position of the forward end sensor

P4‧‧‧後退端部感應器的位置P4‧‧‧Retracted end sensor position

S、S’‧‧‧出發訊號S, S’‧‧‧ departure signal

t1、t2、t4、t5‧‧‧經過時間T1, t2, t4, t5‧‧‧ elapsed time

t3‧‧‧第1延遲時間T3‧‧‧1st delay time

t6‧‧‧第2延遲時間T6‧‧‧2nd delay time

v1、v2‧‧‧速度V1, v2‧‧‧ speed

第1圖是顯示本新型的一種實施方式(實施方式1)的行程終端計時器設定裝置的方塊圖。Fig. 1 is a block diagram showing a travel terminal timer setting device according to an embodiment (Embodiment 1) of the present invention.

第2圖是用來說明第1圖所示的行程終端計時器設定裝置的在移動路線上的前進端部位置、後退端部位置、前 進端部感應器、後退端部感應器的位置等的示意圖,(a)顯示前進端部感應器的輸出,(b)顯示後退端部感應器的輸出,(c)顯示前進時的經過時間,(d)顯示後退時的經過時間。Fig. 2 is a view for explaining the forward end position, the rear end position, and the front of the travel route on the travel terminal timer setting device shown in Fig. 1. A schematic diagram of the position of the end sensor, the position of the rear end sensor, etc., (a) shows the output of the forward end sensor, (b) shows the output of the retracted end sensor, and (c) shows the elapsed time during advancement. (d) shows the elapsed time when the back is reversed.

第3圖是移動路線的具體型態的一個例子(之一)的顯示圖。Fig. 3 is a view showing an example (one) of a specific form of the movement route.

第4圖是用來說明行程終端計時器設定裝置的作用的流程圖(之一)。Fig. 4 is a flow chart (1) for explaining the action of the travel terminal timer setting means.

第5圖是用來說明行程終端計時器設定裝置的作用的流程圖(之二)。Fig. 5 is a flow chart (2) for explaining the action of the travel terminal timer setting means.

第6圖是用來說明將第4圖、第5圖所示的處理反覆複數次,來決定第1延遲時間及第2延遲時間的情況的作用的流程圖。Fig. 6 is a flowchart for explaining the action of determining the first delay time and the second delay time by repeating the processes shown in Figs. 4 and 5 repeatedly.

第7圖是顯示本新型的其他實施方式(實施方式2)的行程終端計時器設定裝置的方塊圖。Fig. 7 is a block diagram showing a travel terminal timer setting device according to another embodiment (Embodiment 2) of the present invention.

第8圖是設置有模式選擇開關的操作板的例子的顯示圖。Fig. 8 is a view showing an example of an operation panel provided with a mode selection switch.

以下針對本新型的行程終端計時器設定裝置的實施方式,參考圖面來說明。Hereinafter, an embodiment of the stroke end timer setting device of the present invention will be described with reference to the drawings.

(實施方式1)(Embodiment 1)

該實施方式的行程終端計時器設定裝置100,具備有 計時器10、前進端部感應器20(檢測裝置)、後退端部感應器30(檢測裝置)、及運算部40(運算裝置);該計時器10,用來計測時間,如第1圖、第2圖所示,於設定有讓前進的移動體接觸而停止的前進端部位置P1及讓後退的移動體接觸而停止的後退端部位置P2的移動路線上,對於讓移動體前進及後退的裝置設置;該前進端部感應器20(檢測裝置),設置於該移動路線上的位置P3;該後退端部感應器30(檢測裝置),設置於該移動路線上的位置P4;該運算部40(運算裝置),來計算出:從以前進端部感應器20檢測到前進的移動體起直到其實際到達前進端部位置P1為止的第1延遲時間t3、以及從以後退端部感應器30檢測到後退的移動體起直到其實際到達後退端部位置P2為止的第2延遲時間t6。The travel terminal timer setting device 100 of this embodiment is provided with a timer 10, a forward end sensor 20 (detection device), a reverse end sensor 30 (detection device), and a calculation unit 40 (calculation device); the timer 10 is used to measure time, as shown in FIG. As shown in Fig. 2, the moving body is moved forward and backward in a moving path in which the forward end position P1 in which the moving body is brought into contact and stopped, and the retreating end position P2 in which the moving body is moved in contact with each other is set. Device setting; the forward end sensor 20 (detecting device), a position P3 disposed on the moving path; the backward end sensor 30 (detecting device), a position P4 disposed on the moving route; the operation The portion 40 (computing device) calculates the first delay time t3 from the time when the forward end sensor 20 detects the moving body until it actually reaches the forward end position P1, and senses from the backward end portion. The device 30 detects the second delay time t6 until the backward moving body reaches the reverse end position P2.

所謂計時器10及運算部40,是與本新型的第1時間計測裝置、第2時間計測裝置相當的例子。The timer 10 and the calculation unit 40 are examples corresponding to the first time measurement device and the second time measurement device of the present invention.

第1圖的前進端部到達判斷部110,儲存著在上述運算部40設定的第1延遲時間t3,從藉由前進端部感應器20檢測到移動體經過第1延遲時間t3後,判斷移動體已到達前進端部位置P1;是當使用藉由本實施方式的行程終端計時器設定裝置100所設定的第1延遲時間t3時所使用。The forward end arrival determining unit 110 of Fig. 1 stores the first delay time t3 set by the computing unit 40, and determines that the moving body has passed the first delay time t3 after the forward end sensor 20 detects that the moving body has passed the first delay time t3. The body has reached the forward end position P1; it is used when the first delay time t3 set by the stroke terminal timer setting device 100 of the present embodiment is used.

後退端部到達判斷部120也同樣,儲存著在上述運算 部40設定的第2延遲時間t6,從藉由後退端部感應器30檢測到移動體經過第2延遲時間t6後,判斷移動體已到達後退端部位置P2;是當使用藉由本實施方式的行程終端計時器設定裝置100所設定的第2延遲時間t6時所使用。Similarly, the backward end arrival determining unit 120 stores the above operation. The second delay time t6 set by the unit 40 determines that the moving body has reached the retreating end position P2 after detecting that the moving body has passed the second delay time t6 by the retreating end sensor 30; The second delay time t6 set by the travel terminal timer setting device 100 is used.

移動路線,例如如第3圖所示,在藉由汽缸81來進行:固定工件的卡盤的開閉之加工裝置,為在汽缸81的內部作為直線往復移動的移動體的活塞82的往復移動的路線R1等。For example, as shown in FIG. 3, the machining device for opening and closing the chuck for fixing the workpiece by the cylinder 81 is a reciprocating movement of the piston 82 of the moving body that reciprocates linearly inside the cylinder 81. Route R1 and so on.

作為移動體,並不限定於該舉例的構造。移動路線也可因應於移動體的具體適用方式,而適用各種方式,並不限定於上述舉例的構造。The moving body is not limited to the configuration of this example. The movement route may be applied to various modes depending on the specific application mode of the mobile body, and is not limited to the configuration of the above-described example.

計時器10,可適用習知的各種構造,例如也可是使脈衝的計數值對應於時間的脈衝計數器等。The timer 10 can be applied to various conventional configurations, and may be, for example, a pulse counter that makes the count value of the pulse correspond to time.

前進端部感應器20或後退端部感應器30,可以適用例如利用磁性或光等的非接觸式的感應器、具有機械式的移位部的開關也就是限位開關或接近開關、簧片開關等。The forward end sensor 20 or the retracted end sensor 30 can be applied, for example, to a non-contact type sensor using magnetic or light, a switch having a mechanical shifting portion, that is, a limit switch or a proximity switch, and a reed Switch, etc.

設置有前進端部感應器20的位置P3,是在前進的活塞82接觸到前進端部位置P1而停止的之前的位置,設置成在前進端部位置P1的前側用來檢測活塞82的通過。The position P3 at which the forward end sensor 20 is provided is a position before the forward piston 82 comes into contact with the forward end position P1, and is provided to detect the passage of the piston 82 at the front side of the forward end position P1.

前進端部感應器20的輸出如第2圖(a)所示,在前進的活塞82到達位置P3以前為L(低)位階,當活塞82通過位置P3時切換為H(高)位階,之後在活塞82到達前進端部位置P1之前維持H位階。As shown in Fig. 2(a), the output of the forward end sensor 20 is an L (low) step before the advancing piston 82 reaches the position P3, and is switched to the H (high) level when the piston 82 passes the position P3. The H level is maintained until the piston 82 reaches the forward end position P1.

另一方面,設置有後退端部感應器30的位置P4,是後退的活塞82接觸後退端部位置P2而停止之前的位置,設置成在後退端部位置P2的前側用來檢測活塞82的通過。後退端部感應器30的輸出,如第2圖(b)所示,在後退的活塞82到達位置P4以前為L位階,當活塞82通過位置P4時切換成H位階,之後在活塞82到達後退端部位置P2之前維持H位階。On the other hand, the position P4 at which the retracted end portion sensor 30 is provided is a position before the retreating piston 82 comes into contact with the retreating end portion position P2, and is disposed at the front side of the retreating end portion position P2 for detecting the passage of the piston 82. . The output of the receding end sensor 30, as shown in Fig. 2(b), is the L level before the retracted piston 82 reaches the position P4, and is switched to the H level when the piston 82 passes the position P4, and then the piston 82 reaches the retreat. The H level is maintained before the end position P2.

前進端部感應器20及後退端部感應器30,具有預定的檢測寬度,檢測端部成為位置P3及位置P4,配置成讓前進端部位置P1或後退端部位置P2位於檢測範圍內。The forward end sensor 20 and the reverse end sensor 30 have a predetermined detection width, and the detection end is at the position P3 and the position P4, and is disposed such that the forward end position P1 or the retreating end position P2 is within the detection range.

活塞82被驅動成,於該移動路線,如第2圖(c)所示,從後退端部位置P2朝向前進端部位置P1以大致一定速度v1前進,如第2圖(d)所示,從前進端部位置P1朝向後退端部位置P2以大致一定速度v2後退。The piston 82 is driven to advance at a substantially constant speed v1 from the backward end position P2 toward the forward end position P1 as shown in FIG. 2(d), as shown in FIG. 2(d). The forward end position P1 is retracted toward the retracted end position P2 at a substantially constant speed v2.

作為用來驅動活塞82的構造,可適用:使用電磁線圈閥的驅動裝置等。As a configuration for driving the piston 82, a driving device using a solenoid valve or the like can be applied.

前進端部到達判斷部110,藉由監測藉由計時器10所計測的時間來檢測出,從前進端部感應器20檢測到前進的活塞82起算的經過時間,當該經過時間成為預先設定的第1延遲時間t3時,則判斷活塞82到達前進端部位置P1。The forward end arrival determining unit 110 detects the elapsed time from the forward end sensor 20 detecting the forward piston 82 by monitoring the time measured by the timer 10, and the elapsed time is set in advance. At the first delay time t3, it is determined that the piston 82 reaches the forward end position P1.

此時預先設定的第1延遲時間t3,藉由後述的運算處理,藉由運算部40所求出,儲存在前進端部到達判斷部110的內部具備的記憶部。At this time, the first delay time t3 set in advance is calculated by the calculation unit 40, and is stored in the memory unit provided in the forward end arrival determination unit 110 by the arithmetic processing described later.

後退端部到達判斷部120,藉由監測藉由計時器10所計測的時間來檢測出,從後退端部感應器30檢測到後退的活塞82起算的經過時間,當該經過時間成為預先設定的第2延遲時間t6時,則判斷活塞82到達後退端部位置P2。The receding end arrival determining unit 120 detects the elapsed time from the backward end sensor 30 detecting the retreating piston 82 by monitoring the time measured by the timer 10, and the elapsed time is set in advance. At the second delay time t6, it is determined that the piston 82 reaches the retreating end position P2.

預先設定的第2延遲時間t6,藉由後述的運算處理,藉由運算部40所求出,儲存在後退端部到達判斷部120的內部具備的記憶部。The second delay time t6 set in advance is calculated by the calculation unit 40 and is stored in the memory unit provided inside the backward end arrival determination unit 120 by the arithmetic processing described later.

運算部40根據:當使活塞82從後退端部位置P2起至前進端部位置P1以大致一定速度v1前進時,藉由計時器10所計測的,活塞82於後退端部位置P2出發起至藉由後退端部感應器30檢測為止的經過時間t1、活塞82從藉由後退端部感應器30檢測起至藉由前進端部感應器20檢測為止的經過時間t2;當使活塞82從前進端部位置P1起至後退端部位置P2以大致一定速度v2後退時,藉由計時器10所計測的,活塞82於前進端部位置P1出發起至藉由前進端部感應器20檢測為止的經過時間t4、及活塞82從藉由前進端部感應器20檢測起至藉由後退端部感應器30檢測為止的經過時間t5;來計算出第1延遲時間t3及第2延遲時間t6。The calculation unit 40 is based on the fact that when the piston 82 is advanced from the retracted end position P2 to the forward end position P1 at a substantially constant speed v1, the piston 82 is started at the retracted end position P2 by the timer 10 The elapsed time t1 detected by the receding end sensor 30, the elapsed time t2 when the piston 82 is detected by the receding end sensor 30, and detected by the forward end sensor 20; when the piston 82 is advanced When the end position P1 and the retreating end position P2 are retracted at a substantially constant speed v2, the piston 82 is initiated at the forward end position P1 to be detected by the forward end sensor 20 as measured by the timer 10. The elapsed time t4 and the elapsed time t5 from the detection of the forward end sensor 20 to the detection of the reverse end sensor 30 by the piston 82 calculate the first delay time t3 and the second delay time t6.

具體的計算方法,是依照下述式子(1)來計算出第1延遲時間t3,依照下述式子(2)來計算出第2延遲時間t6。In the specific calculation method, the first delay time t3 is calculated according to the following equation (1), and the second delay time t6 is calculated according to the following equation (2).

t3=t2×t4/t5 (1)T3=t2×t4/t5 (1)

t6=t1×t5/t2 (2)T6=t1×t5/t2 (2)

這裡使活塞82從後退端部位置P2前進時的出發訊號S(與移動體的開始移動對應的時機),例如在採用以前進電磁線圈閥(驅動裝置)使活塞82前進的構造的情況,能適用在該前進電磁線圈閥作動的時機,前進電磁線圈閥產生的作動訊號。Here, the start signal S (the timing corresponding to the start of movement of the moving body) when the piston 82 is advanced from the retracted end position P2, for example, can be configured such that the piston 82 is advanced by the forward electromagnetic coil valve (drive device) Applicable to the timing of the advancement of the solenoid valve, the action signal generated by the solenoid valve is advanced.

於是在該情況,前進電磁線圈閥,相當於產生出發訊號S的出發訊號產生裝置。In this case, the forward solenoid valve is equivalent to the start signal generating device that generates the start signal S.

藉由將使前進電磁線圈閥作動的指示(起動訊號等)輸入,來使前進電磁線圈閥作動,也可將該起動訊號等的指示適用作為出發訊號S。The forward solenoid valve is actuated by inputting an instruction (start signal, etc.) for actuating the forward solenoid valve, and the command of the start signal or the like may be applied as the start signal S.

在該情況,在輸入該指示的時機,前進電磁線圈閥作動,同時活塞82從後退端部位置P2前進。In this case, at the timing of inputting the instruction, the forward solenoid valve is actuated while the piston 82 is advanced from the retracted end position P2.

在第1圖,將藉由該前進電磁線圈閥作動所產生的出發訊號S輸入到運算部40,而也可將作為出發訊號產生裝置的前進電磁線圈閥,具備作為行程終端計時器設定裝置100的一部分。In the first diagram, the start signal S generated by the operation of the forward electromagnetic coil valve is input to the calculation unit 40, and the forward electromagnetic coil valve as the start signal generation device may be provided as the stroke end timer setting device 100. a part of.

於是經過時間t1,從將出發訊號S輸入之後,成為後退端部感應器30的訊號從H切換到L為止的時間。Then, after the elapse of time t1, the signal from the back end sensor 30 is switched from H to L after the start signal S is input.

同樣地使活塞82從前進端部位置P1後退時的出發訊號S,(與移動體的開始移動對應的時機),例如在採用以後退電磁線圈閥(驅動裝置)使活塞82後退的構造的情況,能適用在該後退電磁線圈閥作動的時機,後退電磁線圈閥產生的作動訊號。In the same manner, the start signal S when the piston 82 is retracted from the forward end position P1 (the timing corresponding to the start of movement of the moving body), for example, a structure in which the piston 82 is retracted by the solenoid valve (drive device) is used. It can be applied to the timing of the action of the backward solenoid valve, and the action signal generated by the solenoid valve is retracted.

於是在該情況,後退電磁線圈閥,相當於產生出發訊號S’的出發訊號產生裝置。Therefore, in this case, the reverse solenoid valve corresponds to the start signal generating means for generating the start signal S'.

藉由將使後退電磁線圈閥作動的指示(起動訊號等)輸入,來使後退電磁線圈閥作動,也可將該起動訊號等的指示適用作為出發訊號S’。The instruction to activate the reverse solenoid valve (start signal, etc.) to activate the reverse solenoid valve may be applied to the start signal S'.

在該情況,在輸入該指示的時機,後退電磁線圈閥作動,同時活塞82從前進端部位置P1後退。In this case, at the timing of inputting the instruction, the reverse solenoid valve is actuated, and the piston 82 is retracted from the forward end position P1.

在第1圖,將藉由該後退電磁線圈閥作動所產生的出發訊號S’輸入到運算部40,而也可將作為出發訊號產生裝置的後退電磁線圈閥,具備作為行程終端計時器設定裝置100的一部分。In the first diagram, the start signal S' generated by the operation of the reverse solenoid valve is input to the calculation unit 40, and the reverse solenoid valve as the start signal generation device may be provided as the travel terminal timer setting device. Part of 100.

於是經過時間t4,從將出發訊號S’輸入之後,成為前進端部感應器20的訊號從H切換到L為止的時間。Then, after the elapse of time t4, the signal from the forward end sensor 20 is switched from H to L after the start signal S' is input.

接著針對本實施方式的行程終端計時器設定裝置100的作用,參考第4圖、第5圖來說明。Next, the operation of the stroke terminal timer setting device 100 of the present embodiment will be described with reference to FIGS. 4 and 5.

活塞82在初期狀態在接觸於後退端部位置P2的狀態停止,首先,計時器10所進行的計時起動(S1),然後接受前進指令,使活塞82以一定速度v1前進的前進電磁線圈閥動作(S2),將其動作訊號也就是出發訊號S輸入到運算部40,記錄此時的計時器10的值T0(S3)。The piston 82 is stopped in the initial state in contact with the retreating end position P2. First, the timer 10 is started (S1), and then the forward command is received to move the piston 82 at a constant speed v1. (S2), the operation signal, that is, the start signal S, is input to the calculation unit 40, and the value T0 of the timer 10 at this time is recorded (S3).

運算部40,等待開始前進的活塞82通過後退端部感應器30的位置P4,用後退端部感應器30的輸出從H切換到L時(S4)來檢測活塞82的通過,運算部40,記錄當其輸出切換時的計時器10的值T1(S5)。The calculation unit 40 waits for the start of the forward movement of the piston 82 by the position P4 of the retracted end sensor 30, and detects the passage of the piston 82 when the output of the retracted end sensor 30 is switched from H to L (S4), and the calculation unit 40 The value T1 of the timer 10 when its output is switched is recorded (S5).

運算部40,根據所記錄的值T1與值T0,計算出經過時間t1(=T1-T0)(S6),並且等待活塞82通過前進端部感應器20的位置P3,以前進端部感應器20的輸出從L切換到H時(S7)來檢測活塞82的通過,運算部40記錄其輸出切換時的計時器10的值T2(S8)。The calculation unit 40 calculates the elapsed time t1 (= T1 - T0) based on the recorded value T1 and the value T0 (S6), and waits for the piston 82 to pass the position P3 of the forward end sensor 20 to advance the end sensor. When the output of 20 is switched from L to H (S7), the passage of the piston 82 is detected, and the arithmetic unit 40 records the value T2 of the timer 10 at the time of output switching (S8).

運算部40,根據所記錄的值T2與值T1,計算出經過時間t2(=T2-T1)(S9),並且等待活塞82到達前進端部位置P1經過充分的時間(S10)。The calculation unit 40 calculates the elapsed time t2 (= T2 - T1) based on the recorded value T2 and the value T1 (S9), and waits for the piston 82 to reach the forward end position P1 for a sufficient time (S10).

所謂該活塞82到達前進端部位置P1充分的時間,是從活塞82通過前進端部感應器20的位置P3時的計時器10的值T2起,經過以預設值預先儲存於運算部40的充分長的時間td3,以計時器10的值成為T3(=T2+td3)來判斷(S10)。The time when the piston 82 reaches the forward end position P1 is sufficient from the value T2 of the timer 10 when the piston 82 passes the position P3 of the forward end sensor 20, and is stored in advance in the calculation unit 40 by a preset value. The sufficiently long time td3 is judged by the value of the timer 10 being T3 (= T2 + td3) (S10).

運算部40,當計時器10的值成為T3,則判斷活塞82到達前進端部位置P1,將前進電磁線圈閥的動作停止(S11)。When the value of the timer 10 is T3, the calculation unit 40 determines that the piston 82 has reached the forward end position P1 and stops the operation of the forward solenoid valve (S11).

活塞82在接觸於前進端部位置P1的狀態停止,接著接受後退指令,讓使活塞82以一定速度v2後退的後退電磁線圈閥動作(S12),將其動作訊號也就是出發訊號S’輸入到運算部40,記錄此時的計時器10的值T4(S13)。The piston 82 is stopped in a state of coming into contact with the forward end position P1, and then receives a retreat command to operate the reverse solenoid valve that retracts the piston 82 at a constant speed v2 (S12), and inputs the operation signal, that is, the start signal S'. The calculation unit 40 records the value T4 of the timer 10 at this time (S13).

運算部40,等待開始前進的活塞82通過前進端部感應器20的位置P3,用前進端部感應器20的輸出從H切換到L時(S14)來檢測活塞82的通過,運算部40,記 錄當其輸出切換時的計時器10的值T5(S15)。The calculation unit 40 waits for the start of the forward movement of the piston 82 by the position P3 of the forward end sensor 20, and when the output of the forward end inductor 20 is switched from H to L (S14), the passage of the piston 82 is detected, and the calculation unit 40 Remember The value T5 of the timer 10 at the time of output switching is recorded (S15).

運算部40,根據所記錄的值T5與值T4,計算出經過時間t4(=T5-T4)(S16),並且等待活塞82通過後退端部感應器30的位置P4,以後退端部感應器30的輸出從L切換到H時(S17)來檢測活塞82的通過,運算部40記錄其輸出切換時的計時器10的值T6(S18)。The calculation unit 40 calculates the elapsed time t4 (= T5 - T4) based on the recorded value T5 and the value T4 (S16), and waits for the piston 82 to pass the position P4 of the retracted end sensor 30, and the rear end sensor is retracted. When the output of 30 is switched from L to H (S17), the passage of the piston 82 is detected, and the calculation unit 40 records the value T6 of the timer 10 at the time of output switching (S18).

運算部40,根據所記錄的值T6與值T5,計算出經過時間t5(=T6-T5)(S19),並且等待活塞82到達後退端部位置P2經過充分的時間(S20)。The calculation unit 40 calculates the elapsed time t5 (= T6 - T5) based on the recorded value T6 and the value T5 (S19), and waits for the piston 82 to reach the retracted end position P2 for a sufficient time (S20).

所謂該活塞82到達後退端部位置P2充分的時間,是從活塞82通過後退端部感應器30的位置P4時的計時器10的值T6起,經過以預設值預先儲存於運算部40的充分長的時間td6,以計時器10的值成為T7(=T6+td6)來判斷(S20)。The time when the piston 82 reaches the retracted end position P2 is sufficient from the value T6 of the timer 10 when the piston 82 passes the position P4 of the retracting end sensor 30, and is stored in the calculation unit 40 in advance by a predetermined value. The sufficiently long time td6 is judged by the value of the timer 10 being T7 (= T6 + td6) (S20).

運算部40,當計時器10的值成為T3,則判斷活塞82到達後退端部位置P2,將後退電磁線圈閥的動作停止(S21)。When the value of the timer 10 is T3, the calculation unit 40 determines that the piston 82 has reached the reverse end position P2 and stops the operation of the reverse solenoid valve (S21).

而且運算部40,使用計算出的經過時間t1、t2、t4、t5,用上述式子(1)、(2),計算出第1延遲時間t3及第2延遲時間t6,將所得到的第1延遲時間t3儲存在前進端部到達判斷部110的記憶部,將所得到的第2延遲時間t6儲存在後退端部到達判斷部120的記憶部(S22),而完成處理。Further, the calculation unit 40 calculates the first delay time t3 and the second delay time t6 using the calculated elapsed times t1, t2, t4, and t5 using the above equations (1) and (2), and obtains the obtained The delay time t3 is stored in the memory unit of the forward end arrival determining unit 110, and the obtained second delay time t6 is stored in the memory unit of the backward end arrival determining unit 120 (S22), and the processing is completed.

這裡針對上述式子(1)、(2)的意義來說明。Here, the meanings of the above formulas (1) and (2) will be described.

將後退端部感應器30與前進端部感應器20之間的距離L2,除以當前進時從後退端部感應器30到達至前進端部感應器20為止的經過時間t2之值L2/t2,由於等於活塞82的前進的速度v1,所以下述式子(3)成立。The distance L2 between the reverse end sensor 30 and the forward end sensor 20 is divided by the value L2/t2 of the elapsed time t2 from the backward end sensor 30 to the forward end sensor 20 at the current advance. Since the speed v1 is equal to the advancement of the piston 82, the following expression (3) holds.

v1=L2/t2 (3)V1=L2/t2 (3)

應設定作為第1延遲時間t3的值,為於從前進端部感應器20的位置P3起到前進端部位置P1的距離L3,以速度v1移動時所需要的時間,所以是藉由下述式子(4)所求出。Therefore, the value as the first delay time t3 is set to a time required to move from the position P3 of the forward end portion sensor 20 to the distance L3 of the forward end position P1 at the speed v1. Determined by equation (4).

t3=L3/v1 (4)T3=L3/v1 (4)

這裡的距離L3,是使用活塞82後退時的經過時間t4與後退時的速度v2,藉由下述式子(5)所算出。Here, the distance L3 is calculated by the following equation (5) using the elapsed time t4 when the piston 82 is retracted and the speed v2 at the time of retreating.

L3=v2×t4 (5)L3=v2×t4 (5)

活塞82後退時的速度v2,是將距離L2,藉由後退時從前進端部感應器20起到後退端部感應器30的經過時間t5,以下述式子(6)所算出。The speed v2 when the piston 82 is retracted is calculated by the following equation (6) by the elapsed time t5 from the forward end sensor 20 to the retracted end sensor 30 when the distance L2 is retracted.

v2=L2/t5 (3)V2=L2/t5 (3)

於是整理式子(3)~(6),第1延遲時間t3藉由上述式子(1)所算出。Then, the equations (3) to (6) are arranged, and the first delay time t3 is calculated by the above equation (1).

針對後退時的延遲時間t6、與從後退端部感應器30的位置P4到後退端部位置P2的距離L1,分別成立下述式子(7)、(8)。The following expressions (7) and (8) are established for the delay time t6 at the time of the backward movement and the distance L1 from the position P4 of the reverse end sensor 30 to the backward end position P2.

t6=L1/v2 (7)T6=L1/v2 (7)

L1=v1×t1 (8)L1=v1×t1 (8)

於是整理式子(3)、(6)~(8),第2延遲時間t6藉由上述式子(2)所算出。Then, the equations (3) and (6) to (8) are arranged, and the second delay time t6 is calculated by the above equation (2).

如以上說明,藉由本實施方式的行程終端計時器設定裝置100,能將在活塞82往復移動的移動路線上設置的與前進端部位置P1及後退端部位置P2分別對應的前進端部感應器20、後退端部感應器30的檢測之延遲時間t3、t6,儘可能適當地設定得較短。As described above, the stroke end timer setting device 100 of the present embodiment can provide the forward end sensor corresponding to the forward end position P1 and the retreat end position P2 provided on the movement path in which the piston 82 reciprocates. 20. The delay times t3 and t6 of the detection of the reverse end sensor 30 are set as short as possible.

本實施方式的行程終端計時器設定裝置100,當以式子(8)算出距離L1時,前提是活塞82前進時的速度,從後退端部位置P2到達後退端部感應器30的位置P4為一定速度v1,雖然使用計測的經過時間t1,而實際活塞82是從停止於後退端部位置P2的速度0的狀態開始前進,所以嚴格來說並不是一定速度v1,期間的經過時間t1,為較一定速度v1的情況的經過時間更長的時間。When the distance end timer setting device 100 of the present embodiment calculates the distance L1 by the equation (8), the premise is that the speed at which the piston 82 advances, and the position P4 from the retreating end position P2 to the retracted end portion sensor 30 are The constant speed v1, although the measured elapsed time t1 is used, and the actual piston 82 starts from the state of the speed 0 stopped at the retreating end position P2, so strictly speaking, it is not a certain speed v1, and the elapsed time t1 of the period is The elapsed time is longer than the case of a certain speed v1.

於是,使用該經過時間t1所得到的第2延遲時間t6,嚴格來說不是以最短的時間設定。針對第1延遲時間t3也是一樣。Therefore, the second delay time t6 obtained by using the elapsed time t1 is not strictly set in the shortest time. The same is true for the first delay time t3.

可是,該程度的時間長度的差異,是吸收設定環境的差異、或預期安全率,所以能預期該環境或安全率而儘可能適當地設定得較短。However, the difference in the length of time is the difference in the absorption setting environment or the expected safety rate, so the environment or safety rate can be expected to be set as short as possible.

在將前進端部感應器20或後退端部感應器30作為限位開關或接近開關、簧片開關等的情況,存在有滯後現象,所以也可以因應於滯後現象來修正延遲時間t3、t6的值。When the forward end sensor 20 or the reverse end sensor 30 is used as a limit switch, a proximity switch, a reed switch, or the like, there is a hysteresis, so the delay time t3 and t6 may be corrected in response to the hysteresis. value.

第1圖雖然記載,行程終端計時器設定裝置100的構成元件也就是計時器10,計測了行程終端計時器設定裝置100的構造外的前進端部到達判斷部110所進行的第1延遲時間t3的經過的判斷或後退端部到達判斷部120所進行的第1延遲時間t3的經過的判斷時的時間,前進端部到達判斷部110或後退端部到達判斷部120,是行程終端計時器設定裝置100的構造之外,所以有可藉由與計時器10另外準備的其他計時器,來計測其經過。In the first diagram, the component 10 of the stroke terminal timer setting device 100 is the timer 10, and the first delay time t3 by the forward end arrival determining unit 110 other than the structure of the stroke terminal timer setting device 100 is measured. The elapsed judgment or the time when the backward end arrival determination unit 120 determines the elapse of the first delay time t3, the forward end arrival determination unit 110 or the retreat end arrival determination unit 120 is the travel terminal timer setting. In addition to the configuration of the device 100, there are other timers that can be prepared separately from the timer 10 to measure its passage.

另一方面,前進端部到達判斷部110或後退端部到達判斷部120,作為行程終端計時器設定裝置100的局部的構造,也可具備於行程終端計時器設定裝置100。On the other hand, the forward end arrival determination unit 110 or the backward end arrival determination unit 120 may be provided in the travel terminal timer setting device 100 as a part of the travel terminal timer setting device 100.

本實施方式的行程終端計時器設定裝置100,是於設定作為移動體接觸而停止的位置之空間的端部也就是前進端部位置P1與後退端部位置P2之間的移動路線,讓移動體往復移動,相對的來求出延遲時間,而本新型的行程終端計時器設定裝置,讓移動體往復移動的移動路線的兩端部位置,並不限定於空間的端部。The stroke end timer setting device 100 of the present embodiment is a moving path between the forward end position P1 and the retreating end position P2 at the end of the space in which the position to be stopped by the moving body is set, and the moving body is moved. The reciprocating movement is performed to obtain the delay time in the opposite direction, and the stroke end timer setting device of the present invention is not limited to the end portion of the space at the both end portions of the movement path in which the moving body reciprocates.

也就是本新型的端部位置(前進端部位置、後退端部位置),藉由設置在較收容有移動體的空間的端部更前側的擋塊,讓移動體停止的位置也可以,藉由該擋塊所停止的移動體的位置,是相當於移動體往復移動的移動路線的端部位置。In other words, the end position (the forward end position and the retracted end position) of the present invention can be stopped by the stopper provided on the front side of the end of the space in which the moving body is accommodated. The position of the moving body stopped by the stopper is an end position corresponding to a moving path in which the moving body reciprocates.

例如工作機械的卡盤裝置,是從外周抓住保持工件,該抓住的卡盤構件的開閉動作,是以與卡盤構件相連的油 壓缸或汽缸等來進行。For example, the chuck device of the working machine grasps and holds the workpiece from the outer periphery, and the opening and closing action of the grasped chuck member is the oil connected to the chuck member. Press the cylinder or cylinder.

在缸體的內部,雖然讓活塞往復移動,而活塞並不限於在缸體的內部空間的端部間往復移動,例如也會在較缸體的端部更前側停止。In the interior of the cylinder, although the piston is reciprocated, the piston is not limited to reciprocating between the ends of the internal space of the cylinder, and for example, it is stopped at the front side of the end of the cylinder.

也就是說,由於卡盤構件在保持工件的位置停止,所以在該情況,卡盤構件停止時的活塞的停止位置相當於上述的端部位置(前進端部位置、後退端部位置)。That is, since the chuck member is stopped at the position where the workpiece is held, in this case, the stop position of the piston when the chuck member is stopped corresponds to the above-described end position (the forward end position and the reverse end position).

本實施方式的行程終端計時器設定裝置100,只進行一次第4圖、第5圖所示的處理S1~S22,來求出第1延遲時間t3及第2延遲時間t6,而本新型的行程終端計時器設定裝置,也可反覆進行複數次處理S1~S22,根據所得到的複數的第1延遲時間t3及複數的第2延遲時間t6,來計算出最終輸出的第1延遲時間t3及第2延遲時間t6。In the travel terminal timer setting device 100 of the present embodiment, the first delay time t3 and the second delay time t6 are obtained by performing only the processes S1 to S22 shown in FIGS. 4 and 5, and the stroke of the present invention is obtained. The terminal timer setting means may repeatedly perform the plurality of processings S1 to S22, and calculate the first delay time t3 and the final output based on the obtained plural first delay time t3 and the plural second delay time t6. 2 delay time t6.

也就是說,例如如第6圖所示,反覆進行三次處理S1~S22,運算部40,將該反覆動作每次得到的去路的三個第1延遲時間t3及回路的三個第二延遲時間t6分別儲存,將所得到的三個第1延遲時間t3之中最長的延遲時間t3輸出作為去路的第1延遲時間t3(S27),將所得到的三個第2延遲時間t6之中最長的延遲時間t6輸出作為回路的第2延遲時間t6(S27)。That is, for example, as shown in FIG. 6, the processing S1 to S22 are repeated three times, and the arithmetic unit 40 performs three first delay times t3 of the outward path obtained by the repeated operation and three second delay times of the loop. T6 is stored separately, and the longest delay time t3 among the three first delay times t3 obtained is output as the first delay time t3 of the outward path (S27), and the longest one of the obtained three second delay times t6 is obtained. The delay time t6 is output as the second delay time t6 of the loop (S27).

藉由反覆進行複數次的處理,則能提高第1延遲時間t3及複數的第2延遲時間t6的精度。By repeating the processing a plurality of times, the accuracy of the first delay time t3 and the complex second delay time t6 can be improved.

根據將處理S1~S22反覆複數次進行所得到的複數的 第1延遲時間t3,來決定最終輸出的第1延遲時間t3的運算部40所進行的處理、以及根據所得到的複數的第2延遲時間t3,來決定最終輸出的第2延遲時間t6的運算部40所進行的處理,並不限定於選擇上述最大值。According to the plurals obtained by processing S1~S22 repeatedly The first delay time t3 determines the processing performed by the calculation unit 40 of the first delay time t3 that is finally output, and the operation of determining the second delay time t6 of the final output based on the obtained second delay time t3 of the complex number. The processing performed by the unit 40 is not limited to the selection of the maximum value described above.

也就是說,運算部40,也可除了所得到的複數的第1延遲時間t3的最大值之外,計算出平均值或中央值(去路的延遲時間的基準值),將對該計算出的第1延遲時間t3的最大值、平均值、中央值乘以預定的安全率所得到的值,設定為最終的第1延遲時間t3來輸出,除了所得到的複數的第2延遲時間t6的最大值之外,計算出平均值或中央值(回路的延遲時間的基準值),將對該計算出的第2延遲時間t6的最大值、平均值、中央值乘以預定的安全率所得到的值,設定為最終的第2延遲時間t6來輸出。In other words, the calculation unit 40 may calculate an average value or a median value (a reference value of the delay time of the outward path) in addition to the maximum value of the obtained plural first delay time t3, and calculate the calculated value. The value obtained by multiplying the maximum value, the average value, and the median value of the first delay time t3 by a predetermined safety factor is set to be outputted as the final first delay time t3, except for the maximum of the obtained second complex delay time t6. In addition to the value, an average value or a central value (a reference value of the delay time of the loop) is calculated, and the maximum value, the average value, and the central value of the calculated second delay time t6 are multiplied by a predetermined safety factor. The value is set to be the final second delay time t6 and output.

也可不對基準值也就是第1延遲時間t3的最大值、平均值或中央值乘以安全率,將其基準值直接設定為最終的第1延遲時間t3來輸出。The reference value, that is, the maximum value, the average value, or the central value of the first delay time t3 may be multiplied by the safety factor, and the reference value may be directly set to the final first delay time t3 and output.

同樣地也可不對基準值也就是第2延遲時間t6的最大值、平均值或中央值乘以安全率,將其基準值直接設定為最終的第2延遲時間t6來輸出。Similarly, the reference value, that is, the maximum value, the average value, or the central value of the second delay time t6 may be multiplied by the safety factor, and the reference value may be directly set to the final second delay time t6 and output.

在將處理S1~S22反覆複數次的情況,運算部40,每次反覆都將各計時器值T0~T7重設為零(S24)。When the processes S1 to S22 are repeated a plurality of times, the calculation unit 40 resets each of the timer values T0 to T7 to zero every time (S24).

第6圖中的處理S23、S25、S26,是用來限定反覆進行處理S1~S22的次數。The processes S23, S25, and S26 in Fig. 6 are for limiting the number of times the processes S1 to S22 are repeatedly performed.

(實施方式2)(Embodiment 2)

第7圖所示的實施方式的行程終端計時器設定裝置200,是在實施方式1的行程終端計時器設定裝置100附加模式處理開關50及控制裝置60,將其使用於自動旋盤等的自動控制的工作機械。控制裝置60,能根據加工程式來自動控制自動旋盤等的工作機械。In the travel terminal timer setting device 200 of the embodiment shown in FIG. 7, the stroke terminal timer setting device 100 of the first embodiment adds the mode processing switch 50 and the control device 60, and uses it for automatic control such as an automatic dial. Work machine. The control device 60 can automatically control the work machine such as the automatic dial according to the machining program.

針對除了模式選擇開關50及控制裝置60之外的其他構造,與實施方式1的行程終端計時器設定裝置100相同,省略詳細說明。The configuration other than the mode selection switch 50 and the control device 60 is the same as that of the stroke terminal timer setting device 100 of the first embodiment, and detailed description thereof will be omitted.

模式選擇開關50,例如如第8圖所示,藉由設置在操作板70的一部份的按鈕所構成,該按鈕可擇一地選擇自動設定模式用開關、與學習模式用開關、與斷電開關的其中一個。The mode selection switch 50 is constituted, for example, by a button provided on a part of the operation panel 70 as shown in FIG. 8, which can selectively select an automatic setting mode switch, a learning mode switch, and a break. One of the electric switches.

藉由模式選擇開關50可選擇的自動設定模式,為了設定第1延遲時間t3及第2延遲時間t6,藉由以控制裝置60來控制前進電磁線圈閥及後退電磁線圈閥的驅動,來計算出第1延遲時間t3及第2延遲時間t6的動作模式。The automatic setting mode selectable by the mode selection switch 50 is used to control the driving of the forward solenoid valve and the reverse solenoid valve by the control device 60 in order to set the first delay time t3 and the second delay time t6. The operation mode of the first delay time t3 and the second delay time t6.

另一方面,藉由模式選擇開關50可選擇的學習模式,在根據藉由前進電磁線圈閥及後退電磁線圈閥的驅動讓移動體移動的加工程式,控制裝置60進行自動控制的實際的加工作業中,運算部40藉由計測其加工作業的各計時器值T0~T7,來計算出第1延遲時間t3及第2延遲 時間t6的動作模式。On the other hand, in the learning mode selectable by the mode selection switch 50, the control device 60 performs the actual machining operation of the automatic control based on the machining program for moving the moving body by the driving of the forward solenoid valve and the reverse solenoid valve. The calculation unit 40 calculates the first delay time t3 and the second delay by measuring the timer values T0 to T7 of the machining operation. The action mode at time t6.

該行程終端計時器設定裝置200,當藉由模式選擇開關50選擇自動設定模式時,在第4圖、第5圖所示的流程圖的處理之中,控制裝置60進行:步驟2(S2)的前進電磁線圈閥ON的指令及步驟12(S12)的後退電磁線圈閥ON的指令。When the automatic setting mode is selected by the mode selection switch 50, the stroke terminal timer setting device 200 performs the process of the flowcharts shown in FIGS. 4 and 5, and the control device 60 performs step 2 (S2). The forward solenoid valve ON command and the step 12 (S12) reverse solenoid valve ON command.

在實施方式1,前進電磁線圈閥及後退電磁線圈閥,不是以行程終端計時器設定裝置100而是藉由來自外部的指令而動作。In the first embodiment, the forward solenoid valve and the reverse solenoid valve are operated by a command from the outside instead of the stroke terminal timer setting device 100.

其他處理,與實施方式1的行程終端計時器設定裝置100的處理相同。The other processing is the same as the processing of the travel terminal timer setting device 100 of the first embodiment.

在該行程終端計時器設定裝置200,如第6圖所示,也可將處理S1~S22反覆複數次來求出第1延遲時間t3及第2延遲時間t6。In the travel terminal timer setting device 200, as shown in FIG. 6, the processes S1 to S22 may be repeated a plurality of times to obtain the first delay time t3 and the second delay time t6.

在存在有複數的第1延遲時間t3及第2延遲時間t6的計測對象的裝置(使移動體沿著移動路線以驅動裝置(例如前進電磁線圈閥及後退電磁線圈閥)往復移動)的情況,在操作板70除了模式選擇開關50之外,設置有從該複數的計測對象裝置選擇一個的對象選擇開關,針對藉由對象選擇開關所選擇的計測對象裝置,控制裝置60控制該驅動,並且藉由運算部40,求出針對其計測對象裝置的第1延遲時間t3及第2延遲時間t6。In the case where there is a plurality of devices for measuring the first delay time t3 and the second delay time t6 (the moving body reciprocates along the movement path by the driving device (for example, the forward electromagnetic coil valve and the reverse electromagnetic solenoid valve), In addition to the mode selection switch 50, the operation panel 70 is provided with an object selection switch that selects one of the plurality of measurement target devices, and the control device 60 controls the drive for the measurement target device selected by the object selection switch, and borrows The calculation unit 40 obtains the first delay time t3 and the second delay time t6 for the measurement target device.

當將對象選擇開關的選擇切換到其他的計測對象裝置時,針對其切換的計測對象裝置,同樣地控制裝置60控 制其驅動,並且藉由運算部40,求出針對其計測對象裝置的第1延遲時間t3及第2延遲時間t6。When the selection of the object selection switch is switched to another measurement target device, the measurement target device for which the switching is performed is similarly controlled by the device 60. By the calculation unit 40, the first delay time t3 and the second delay time t6 for the measurement target device are obtained by the calculation unit 40.

藉由本實施方式的行程終端計時器設定裝置200,當自動設定模式時,由於與行程終端計時器設定裝置連動來驅動計測對象裝置,所以不需要分別操作計測對象裝置與行程終端計時器設定裝置。According to the travel terminal timer setting device 200 of the present embodiment, since the measurement target device is driven in conjunction with the travel terminal timer setting device in the automatic setting mode, it is not necessary to separately operate the measurement target device and the travel terminal timer setting device.

於是,操作變得簡單,即使操作者並非熟練操作者也能處理。Thus, the operation becomes simple, and the operator can handle it even if the operator is not a skilled operator.

另一方面,該行程終端計時器設定裝置200,當藉由模式選擇開關50選擇學習模式時,成為與第4圖、第5圖所示的流程圖的處理1實質相同的處理。On the other hand, when the learning mode is selected by the mode selection switch 50, the stroke terminal timer setting device 200 is substantially the same as the process 1 of the flowcharts shown in FIGS. 4 and 5 .

可是實施方式1,為了使移動體自動往復移動,藉由控制裝置60使計測對象裝置動作,藉由行程終端計時器設定裝置100來設定第1延遲時間t3及第2延遲時間t6為目的來驅動,相對的與實施方式2,在藉由加工程式的自動運轉模式來使計測對象裝置動作的狀態,藉由行程終端計時器設定裝置200來求出在該計測對象裝置要設定的適當的第1延遲時間t3及第2延遲時間t6的方式不同。In the first embodiment, in order to automatically reciprocate the moving body, the control device 60 operates the measuring target device, and the travel terminal timer setting device 100 sets the first delay time t3 and the second delay time t6 for the purpose of driving. In the state in which the measurement target device is operated by the automatic operation mode of the machining program, the stroke terminal timer setting device 200 obtains the appropriate first to be set in the measurement target device. The manner of the delay time t3 and the second delay time t6 is different.

也就是說在實施方式2的學習模式,將計測對象裝置隨著加工程式的自動運轉動作的工件對主軸的供給、對卡盤及工件進行切削加工的動作,例如,一邊進行工件供給時的卡盤構件的開閉動作、加工的最終步驟也就是工件突切時的缸體作動的分隔動作等的缸體行程的機器類的實際動作,運算部40一邊記錄該實際動作狀態的計時器值T0 ~T7,且進行運算計算出各延遲時間t3、t6。In other words, in the learning mode of the second embodiment, the measurement target device supplies the spindle to the spindle in accordance with the automatic operation of the machining program, and performs the cutting operation on the chuck and the workpiece, for example, the card when the workpiece is supplied. The opening and closing operation of the disk member and the final step of the machining are the actual operation of the cylinder stroke of the cylinder stroke such as the separation operation of the cylinder during the cutting of the workpiece, and the calculation unit 40 records the timer value T0 of the actual operation state. ~T7, and calculate the delay time t3, t6.

於是,實施方式2的行程終端計時器設定裝置200,在學習模式,不使計測對象裝置的實際動作停止,而能求出適當的延遲時間t3、t6。Then, the travel terminal timer setting device 200 of the second embodiment can obtain the appropriate delay times t3 and t6 without stopping the actual operation of the measurement target device in the learning mode.

所得到的延遲時間t3、t6,在該計測對象裝置的下次的實際動作時使用。The obtained delay times t3 and t6 are used in the next actual operation of the measurement target device.

以上藉由本實施方式的行程終端計時器設定裝置200,當學習模式時,在計測對象裝置的實際動作狀態,可以求出各延遲時間t3、t6,為了求出延遲時間t3、t6,不需要使計測對象裝置的實際動作停止。As described above, the travel terminal timer setting device 200 of the present embodiment can obtain the respective delay times t3 and t6 in the actual operation state of the measurement target device in the learning mode, and does not need to make the delay times t3 and t6. The actual operation of the measuring target device is stopped.

於是可以防止計測對象裝置的作動時間縮短。Therefore, it is possible to prevent the operation time of the measuring target device from being shortened.

在需要進行行程終端計時器設定裝置的延遲時間t3、t6的計測的情況,考慮下述(1)~(4)的情況等。In the case where the measurement of the delay times t3 and t6 of the travel terminal timer setting device is required, the following cases (1) to (4) are considered.

(1)端部位置變化的情況(1) Change in position of the end

(i)例如,在以工作機械的卡盤裝置抓住工件的情況,因應於工件的直徑的大小,讓卡盤裝置的端部位置變化。(i) For example, in the case where the workpiece is gripped by the chuck device of the working machine, the position of the end portion of the chuck device is changed in accordance with the size of the diameter of the workpiece.

(ii)例如,在以改變程序等來變更工件的直徑的情況,需要對於端部位置進行行程終端感應器(檢測裝置)的調整或行程終端計時器的調整。(ii) For example, when the diameter of the workpiece is changed by changing the program or the like, it is necessary to adjust the stroke end sensor (detection device) or the stroke end timer for the end position.

(2)更換為新感應器的情況(2) Replacement with a new sensor

(i)例如,在將行程終端感應器裝卸更換的情況, 在更換前後的行程終端感應器的安裝位置會產生誤差。(i) for example, when loading and unloading the travel terminal sensor, There is an error in the mounting position of the stroke end sensor before and after the replacement.

(ii)即使減少行程終端感應器的安裝位置的誤差,也需要以行程終端計時器進行的調整。(ii) Even if the error in the mounting position of the stroke terminal sensor is reduced, adjustment by the travel terminal timer is required.

(3)移動體的速度變化的情況(3) The speed of the moving body changes

(i)在旋盤等的工作機械,保持工件的卡盤裝置,因應於其卡盤裝置的類型,在缸體內的活塞等移動體的速度具有差異,需要分別個別進行延遲時間t3、t6的調整。(i) In a working machine such as a rotary table, the chuck device for holding the workpiece has a difference in the speed of the moving body such as a piston in the cylinder in response to the type of the chuck device, and it is necessary to separately adjust the delay times t3 and t6. .

(ii)在改變程序來更換卡盤裝置的情況,藉由移動體的速度變化,而需要調整行程終端計時器。(ii) In the case where the program is changed to replace the chuck device, the travel terminal timer needs to be adjusted by the speed of the moving body.

(4)油壓溫度變化的情況(4) Change in oil pressure temperature

一般來說在計測對象裝置為油壓缸裝置的情況,因應於油溫,而缸體內的移動體的速度不同。In general, when the measurement target device is a hydraulic cylinder device, the speed of the moving body in the cylinder is different depending on the oil temperature.

尤其當冬天氣溫較低時,在油溫較低的狀態開始運轉,因應於運轉時間的經過而油溫上升,所以移動體的速度會因應於經過時間而變化。In particular, when the temperature in winter is low, the operation starts in a state where the oil temperature is low, and the oil temperature rises in response to the passage of the operation time, so the speed of the moving body changes depending on the elapsed time.

而在午休等讓對象裝置暫停之後,在運轉再度開始的情況等,移動體的速度會因應於經過時間而變化。In the case where the target device is suspended after a lunch break or the like, the speed of the moving body changes depending on the elapsed time when the operation is resumed.

於是,即使在一天之間,也需要調整延遲時間t3、t6。Thus, even between one day, it is necessary to adjust the delay times t3, t6.

在常溫環境下進行延遲溫度t3、t6的設定,在低溫環境下進行實際動作的情況,實際動作的延遲時間會較設定的延遲時間t3、t6更長,所以雖然無法設定適當的延遲時 間t3、t6,而藉由在低溫環境下設定延遲時間t3、t6,可以解決該問題。When the delay temperature t3 and t6 are set in a normal temperature environment and the actual operation is performed in a low temperature environment, the delay time of the actual operation is longer than the set delay time t3 and t6, so that an appropriate delay cannot be set. This problem can be solved by setting the delay times t3, t6 in a low temperature environment between t3 and t6.

L1、L2、L3‧‧‧距離L1, L2, L3‧‧‧ distance

P1‧‧‧前進端部距離P1‧‧‧Advance end distance

P2‧‧‧後退端部距離P2‧‧‧Retracted end distance

P3‧‧‧前進端部感應器的位置P3‧‧‧ Position of the forward end sensor

P4‧‧‧後退端部感應器的位置P4‧‧‧Retracted end sensor position

t1、t2、t4、t5‧‧‧經過時間T1, t2, t4, t5‧‧‧ elapsed time

t3‧‧‧第1延遲時間T3‧‧‧1st delay time

t6‧‧‧第2延遲時間T6‧‧‧2nd delay time

v1、v2‧‧‧速度V1, v2‧‧‧ speed

H‧‧‧高位階H‧‧‧High steps

td3‧‧‧時間Td3‧‧‧ time

Claims (18)

一種行程終端計時器設定裝置,具備有:兩個檢測裝置、第1時間計測裝置、第2時間計測裝置、以及運算裝置;該兩個檢測裝置,分別對應於移動體往復移動的移動路線的兩端部位置,設置成在各端部位置的前側檢測上述移動體的通過;該第1時間計測裝置,當上述移動體從其中一方的端部位置朝向另一方的端部位置移動時,計測上述移動體從開始移動起至被上述檢測裝置檢測到的經過時間;該第2時間計測裝置,計測上述移動體從被其中一方的上述檢測裝置檢測到起至被另一方的上述檢測裝置檢測到為止的時間;該運算裝置,根據當上述移動體往復移動於上述移動路線的兩端部位置間時,在去路被上述第1時間計測裝置及第2時間計測裝置分別計測的時間、與在回路被上述第1時間計測裝置及第2時間計測裝置分別計測的時間,來計算出在上述去路及上述回路從上述移動體通過與移動方向下游側的端部位置對應的上述檢測裝置起,至到達上述移動方向下游側的端部位置為止的延遲時間。 A travel terminal timer setting device includes: two detecting devices, a first time measuring device, a second time measuring device, and an arithmetic device; and the two detecting devices respectively correspond to two moving paths of the moving body reciprocating The end position is set to detect the passage of the moving body at the front side of each end position; the first time measuring device measures the above when the moving body moves from one end position to the other end position The elapsed time from the start of movement of the moving body to the detection by the detecting device; the second time measuring device measures the moving body from being detected by the one of the detecting devices until being detected by the other detecting device When the moving body reciprocates between the positions of the both end portions of the movement path, the calculation device performs the time measured by the first time measuring device and the second time measuring device, and is in the circuit. The time measured by each of the first time measuring device and the second time measuring device is calculated as the above-mentioned way and above From the above-described detecting circuit it means by the moving body and the end portion position of the downstream side of the movement direction corresponding to the moving direction of the downstream side reaches the delay time until the end position. 如申請專利範圍第1項的行程終端計時器設定裝置,其中上述運算裝置,對於在上述去路及上述回路藉由上述第1時間計測裝置所計測的各時間,乘以在上述去路及上述回路藉由上述第2時間計測裝置所計測的各時間 比,來計算出上述延遲時間。 The travel terminal timer setting device according to claim 1, wherein the arithmetic unit multiplies the respective paths measured by the first time measuring device in the outward path and the circuit by the above-mentioned way and the circuit Each time measured by the second time measuring device To calculate the above delay time. 如申請專利範圍第2項的行程終端計時器設定裝置,其中當在上述去路藉由上述第1時間計測裝置所得到的時間為t1、在上述去路藉由上述第2時間計測裝置所得到的時間為t2、在上述回路藉由上述第1時間計測裝置所得到的時間為t4、及在上述回路藉由上述第2時間計測裝置所得到的時間為t5時,上述運算裝置,以式子(1)、(2)來計算出上述去路的延遲時間t3及上述回路的延遲時間t6,t3=t2×t4/t5 (1) t6=t1×t5/t2 (2)。 The travel terminal timer setting device of claim 2, wherein the time obtained by the first time measuring device in the outward path is t1, and the time obtained by the second time measuring device in the outward path is In the case of t2, the time obtained by the first time measuring device in the circuit is t4, and the time obtained by the second time measuring device in the circuit is t5, the arithmetic device is represented by And (2) calculate the delay time t3 of the above-mentioned outward path and the delay time t6 of the above-mentioned loop, t3 = t2 × t4 / t5 (1) t6 = t1 × t5 / t2 (2). 如申請專利範圍第3項的行程終端計時器設定裝置,其中上述移動體,沿著上述移動路線以大致一定的速度,移動於上述兩個端部位置之間。 A travel terminal timer setting device according to claim 3, wherein the moving body moves between the two end positions at a substantially constant speed along the moving path. 如申請專利範圍第1或2項的行程終端計時器設定裝置,其中上述移動體,沿著上述移動路線以大致一定的速度,移動於上述兩個端部位置之間。 A travel terminal timer setting device according to claim 1 or 2, wherein the moving body moves between the two end positions at a substantially constant speed along the moving path. 如申請專利範圍第1或2項的行程終端計時器設定裝置,其中上述移動體,沿著上述移動路線以大致一定的速度,移動於上述兩個端部位置之間;該行程終端計時器設定裝置,具備有:用來產生與對應於上述移動體開始移動的時機對應的出發訊號之出發訊號產生裝置。 The travel terminal timer setting device according to claim 1 or 2, wherein the moving body moves between the two end positions at a substantially constant speed along the moving path; the travel terminal timer setting The device includes: a start signal generating device for generating a departure signal corresponding to a timing corresponding to the start of movement of the mobile body. 如申請專利範圍第1至4項的其中任一項的行程 終端計時器設定裝置,其中具備有:用來產生與對應於上述移動體開始移動的時機對應的出發訊號之出發訊號產生裝置。 For example, the itinerary of any one of the patent scopes 1 to 4 The terminal timer setting device includes: a start signal generating device for generating a departure signal corresponding to a timing corresponding to the start of movement of the mobile body. 如申請專利範圍第1至4項的其中任一項的行程終端計時器設定裝置,其中上述運算裝置,使上述移動體沿著上述移動路線,往復移動於上述其中一方的端部位置與上述另一方的端部位置之間來計算出上述延遲時間的動作反覆進行複數次,根據藉由該反覆所得到的上述去路的複數的上述延遲時間,來設定上述去路的延遲時間,根據藉由上述反覆所得到的上述回路的複數的上述延遲時間,來設定上述回路的延遲時間。 The travel terminal timer setting device according to any one of claims 1 to 4, wherein the arithmetic unit reciprocates the end portion of the moving body along the moving path to the one end position and the other The operation of calculating the delay time between the end positions of one of the plurality of times is repeated a plurality of times, and the delay time of the outward path is set based on the delay time of the plurality of paths of the outward path obtained by the repetition, according to the repetition The delay time of the loop is set by the above-described delay time of the plurality of loops obtained. 如申請專利範圍第8項的行程終端計時器設定裝置,其中上述運算裝置,根據藉由上述反覆所得到的上述去路的複數的上述延遲時間,將其最大值、平均值、或中央值算出作為上述去路的延遲時間的基準值,根據上述去路的延遲時間的基準值,來設定上述去路的延遲時間,根據藉由上述反覆所得到的上述回路的複數的上述延遲時間,將其最大值、平均值、或中央值算出作為上述回路的延遲時間的基準值,根據上述回路的延遲時間的基準值,來設定上述回路的延遲時間。 The travel terminal timer setting device according to claim 8, wherein the arithmetic unit calculates the maximum value, the average value, or the median value based on the delay time of the plurality of the outward paths obtained by the reverse The reference value of the delay time of the outward path is set based on the reference value of the delay time of the outward path, and the delay time of the outward path is set, and the maximum value and the average value are obtained based on the delay time of the complex number of the loop obtained by the above-mentioned reverse The value or the central value is used as a reference value for the delay time of the loop, and the delay time of the loop is set based on the reference value of the delay time of the loop. 如申請專利範圍第8項的行程終端計時器設定裝置,其中具備有:輸入動作模式的模式選擇開關、以及用來將使上述移動體沿著上述移動路線往復移動的驅動裝置的驅動進行控制的控制裝置; 因應於上述模式選擇開關所輸入的動作模式,上述控制裝置控制上述驅動裝置。 The travel terminal timer setting device according to claim 8 is characterized in that: a mode selection switch for inputting an operation mode and a drive for controlling a drive device for reciprocating the movable body along the movement path are provided Control device The control device controls the drive device in response to the operation mode input by the mode selection switch. 如申請專利範圍第8項的行程終端計時器設定裝置,其中具備有:輸入動作模式的模式選擇開關、以及用來將使上述移動體沿著上述移動路線往復移動的驅動裝置的驅動進行控制的控制裝置;因應於上述模式選擇開關所輸入的動作模式,上述控制裝置控制上述驅動裝置;上述運算裝置,根據藉由上述反覆所得到的上述去路的複數的上述延遲時間,將其最大值、平均值、或中央值算出作為上述去路的延遲時間的基準值,根據上述去路的延遲時間的基準值,來設定上述去路的延遲時間,根據藉由上述反覆所得到的上述回路的複數的上述延遲時間,將其最大值、平均值、或中央值算出作為上述回路的延遲時間的基準值,根據上述回路的延遲時間的基準值,來設定上述回路的延遲時間。 The travel terminal timer setting device according to claim 8 is characterized in that: a mode selection switch for inputting an operation mode and a drive for controlling a drive device for reciprocating the movable body along the movement path are provided a control device that controls the drive device in response to an operation mode input by the mode selection switch; the calculation device sets a maximum value and an average value based on the plurality of delay times of the outward path obtained by the repeating The value or the central value is used as a reference value for the delay time of the outward path, and the delay time of the outward path is set based on the reference value of the delay time of the outward path, and the delay time of the plurality of circuits obtained by the repetition is determined. The maximum value, the average value, or the central value is calculated as a reference value of the delay time of the loop, and the delay time of the loop is set based on the reference value of the delay time of the loop. 如申請專利範圍第8項的行程終端計時器設定裝置,其中具備有:用來產生與對應於上述移動體開始移動的時機對應的出發訊號之出發訊號產生裝置、輸入動作模式的模式選擇開關、以及用來將使上述移動體沿著上述移動路線往復移動的驅動裝置的驅動進行控制的控制裝置;因應於上述模式選擇開關所輸入的動作模式,上述控制裝置控制上述驅動裝置。 The travel terminal timer setting device of claim 8 is characterized in that: a start signal generating device for generating a start signal corresponding to a timing at which the moving body starts moving, a mode selection switch for inputting an operation mode, and And a control device for controlling driving of the driving device that reciprocates the moving body along the movement path; the control device controls the driving device in response to an operation mode input by the mode selection switch. 如申請專利範圍第8項的行程終端計時器設定裝置,其中具備有:用來產生與對應於上述移動體開始移動的時機對應的出發訊號之出發訊號產生裝置、輸入動作模式的模式選擇開關、以及用來將使上述移動體沿著上述移動路線往復移動的驅動裝置的驅動進行控制的控制裝置;因應於上述模式選擇開關所輸入的動作模式,上述控制裝置控制上述驅動裝置;上述運算裝置,根據藉由上述反覆所得到的上述去路的複數的上述延遲時間,將其最大值、平均值、或中央值算出作為上述去路的延遲時間的基準值,根據上述去路的延遲時間的基準值,來設定上述去路的延遲時間,根據藉由上述反覆所得到的上述回路的複數的上述延遲時間,將其最大值、平均值、或中央值算出作為上述回路的延遲時間的基準值,根據上述回路的延遲時間的基準值,來設定上述回路的延遲時間。 The travel terminal timer setting device of claim 8 is characterized in that: a start signal generating device for generating a start signal corresponding to a timing at which the moving body starts moving, a mode selection switch for inputting an operation mode, and And a control device for controlling driving of the drive device that reciprocates the moving body along the movement path; the control device controls the drive device in response to an operation mode input by the mode selection switch; Calculating the maximum value, the average value, or the median value as the reference value of the delay time of the outward path based on the delay time of the complex number of the outward path obtained by the above-mentioned repetition, and based on the reference value of the delay time of the outward path Setting the delay time of the outward path, and calculating the maximum value, the average value, or the median value as the reference value of the delay time of the loop based on the delay time of the plurality of loops obtained by the above-mentioned reverse, according to the loop The reference value of the delay time to set the above loop delay. 如申請專利範圍第8項的行程終端計時器設定裝置,其中具備有:用來產生與對應於上述移動體開始移動的時機對應的出發訊號之出發訊號產生裝置;上述運算裝置,根據藉由上述反覆所得到的上述去路的複數的上述延遲時間,將其最大值、平均值、或中央值算出作為上述去路的延遲時間的基準值,根據上述去路的延遲時間的基準值,來設定上述去路的延遲時間,根據藉由上述反覆所得到的上述回路的複數的上述延 遲時間,將其最大值、平均值、或中央值算出作為上述回路的延遲時間的基準值,根據上述回路的延遲時間的基準值,來設定上述回路的延遲時間。 The travel terminal timer setting device according to claim 8 of the present invention, further comprising: a start signal generating device for generating a start signal corresponding to a timing at which the moving body starts moving; the arithmetic device according to the above In response to the delay time of the complex number of the outward paths obtained, the maximum value, the average value, or the central value is calculated as a reference value of the delay time of the outward path, and the outward path is set based on the reference value of the delay time of the outward path. Delay time, based on the above-mentioned delay of the plurality of loops obtained by the above-mentioned repetition In the late time, the maximum value, the average value, or the central value is calculated as a reference value of the delay time of the loop, and the delay time of the loop is set based on the reference value of the delay time of the loop. 如申請專利範圍第10項的行程終端計時器設定裝置,其中上述控制裝置,作為動作模式具備有自動設定模式及學習模式的其中至少一種的動作模式,上述模式選擇開關,設置成可選擇上述控制裝置所具備的動作模式來作為輸入的動作模式,在上述控制裝置具備有上述自動設定模式的情形,上述控制裝置以上述自動設定模式,藉由以使上述移動體自動往復移動的方式來控制上述驅動裝置的驅動,讓上述運算裝置計算出上述延遲時間,在上述控制裝置具備有上述學習模式的情形,上述控制裝置以上述學習模式,根據加工程式來自動控制工作機械,上述運算裝置,根據上述驅動裝置藉由上述加工程式進行的自動運轉動作來使上述移動體移動的期間中所計測的上述時間,來計算出上述延遲時間。 The travel terminal timer setting device according to claim 10, wherein the control device includes an operation mode of at least one of an automatic setting mode and a learning mode as an operation mode, and the mode selection switch is configured to select the control. The operation mode provided in the device is an input operation mode. When the control device includes the automatic setting mode, the control device controls the moving body to automatically reciprocate in the automatic setting mode. The driving device drives the computing device to calculate the delay time. When the control device includes the learning mode, the control device automatically controls the working machine according to the processing program in the learning mode, and the computing device is configured according to the learning device. The driving device calculates the delay time by the automatic measurement operation performed by the processing program to increase the time measured during the movement of the moving body. 如申請專利範圍第11項的行程終端計時器設定裝置,其中上述控制裝置,作為動作模式具備有自動設定模式及學習模式的其中至少一種的動作模式,上述模式選擇開關,設置成可選擇上述控制裝置所具備的動作模式來作為輸入的動作模式,在上述控制裝置具備有上述自動設定模式的情形,上述控制裝置以上述自動設定模式,藉由以使上述移動體自 動往復移動的方式來控制上述驅動裝置的驅動,讓上述運算裝置計算出上述延遲時間,在上述控制裝置具備有上述學習模式的情形,上述控制裝置以上述學習模式,根據加工程式來自動控制工作機械,上述運算裝置,根據上述驅動裝置藉由上述加工程式進行的自動運轉動作來使上述移動體移動的期間中所計測的上述時間,來計算出上述延遲時間。 The travel terminal timer setting device according to claim 11, wherein the control device includes an operation mode of at least one of an automatic setting mode and a learning mode as an operation mode, and the mode selection switch is configured to select the control. The operation mode provided in the device is an input operation mode, and when the control device includes the automatic setting mode, the control device uses the automatic setting mode to cause the moving body to The driving device controls the driving of the driving device, and the computing device calculates the delay time. When the control device includes the learning mode, the control device automatically controls the operation according to the processing program in the learning mode. In the above-described arithmetic unit, the delay time is calculated based on the time measured by the drive unit during the automatic operation operation of the machining program to move the moving body. 如申請專利範圍第12項的行程終端計時器設定裝置,其中上述控制裝置,作為動作模式具備有自動設定模式及學習模式的其中至少一種的動作模式,上述模式選擇開關,設置成可選擇上述控制裝置所具備的動作模式來作為輸入的動作模式,在上述控制裝置具備有上述自動設定模式的情形,上述控制裝置以上述自動設定模式,藉由以使上述移動體自動往復移動的方式來控制上述驅動裝置的驅動,讓上述運算裝置計算出上述延遲時間,在上述控制裝置具備有上述學習模式的情形,上述控制裝置以上述學習模式,根據加工程式來自動控制工作機械,上述運算裝置,根據上述驅動裝置藉由上述加工程式進行的自動運轉動作來使上述移動體移動的期間中所計測的上述時間,來計算出上述延遲時間。 The travel terminal timer setting device according to claim 12, wherein the control device includes an operation mode of at least one of an automatic setting mode and a learning mode as an operation mode, and the mode selection switch is configured to select the control. The operation mode provided in the device is an input operation mode. When the control device includes the automatic setting mode, the control device controls the moving body to automatically reciprocate in the automatic setting mode. The driving device drives the computing device to calculate the delay time. When the control device includes the learning mode, the control device automatically controls the working machine according to the processing program in the learning mode, and the computing device is configured according to the learning device. The driving device calculates the delay time by the automatic measurement operation performed by the processing program to increase the time measured during the movement of the moving body. 如申請專利範圍第13項的行程終端計時器設定裝置,其中上述控制裝置,作為動作模式具備有自動設定模式及學習模式的其中至少一種的動作模式, 上述模式選擇開關,設置成可選擇上述控制裝置所具備的動作模式來作為輸入的動作模式,在上述控制裝置具備有上述自動設定模式的情形,上述控制裝置以上述自動設定模式,藉由以使上述移動體自動往復移動的方式來控制上述驅動裝置的驅動,讓上述運算裝置計算出上述延遲時間,在上述控制裝置具備有上述學習模式的情形,上述控制裝置以上述學習模式,根據加工程式來自動控制工作機械,上述運算裝置,根據上述驅動裝置藉由上述加工程式進行的自動運轉動作來使上述移動體移動的期間中所計測的上述時間,來計算出上述延遲時間。 The travel terminal timer setting device according to claim 13, wherein the control device includes an operation mode of at least one of an automatic setting mode and a learning mode as an operation mode, The mode selection switch is configured to select an operation mode of the control device as an input operation mode, and the control device includes the automatic setting mode, and the control device uses the automatic setting mode to The moving body automatically reciprocates to control driving of the driving device, and the computing device calculates the delay time. When the control device includes the learning mode, the control device uses the learning mode according to the processing program. The work machine is automatically controlled, and the arithmetic unit calculates the delay time based on the time measured by the drive unit during the automatic operation of the machining program to move the moving body.
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