TWM469577U - Stroke end timer setting device - Google Patents

Description

Travel terminal timer setting device

The present invention relates to a travel terminal timer setting device.

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.

It is also detected by various sensors that the moving body reaches a predetermined retracted end position.

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.

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.

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).

[Previous Technical Literature] [Patent Literature]

[Patent Document 1]

Japanese Patent Publication No. 63-219884

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.

Therefore, it is inclined to set the delay time to be longer than necessary.

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.

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.

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.

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.

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.

This situation is related to the situation where the space is connected to the chuck device of the working machine. with.

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.

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.

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).

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.

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.

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‧‧‧Timer (1st time measuring device, 2nd time measuring device)

20‧‧‧Advance end sensor (detection device)

30‧‧‧Retracting end sensor (detection device)

40‧‧‧ Computing Department (Operation Unit)

100‧‧‧Travel terminal timer setting device

110‧‧‧Advance end arrival judgment department

120‧‧‧Retracted end arrival judgment department

L1, L2, L3‧‧‧ distance

P1‧‧‧Advance end distance

P2‧‧‧Retracted end distance

P3‧‧‧ Position of the forward end sensor

P4‧‧‧Retracted end sensor position

S, S’‧‧‧ departure signal

T1, t2, t4, t5‧‧‧ elapsed time

T3‧‧‧1st delay time

T6‧‧‧2nd delay time

V1, v2‧‧‧ speed

Fig. 1 is a block diagram showing a travel terminal timer setting device according to an embodiment (Embodiment 1) of the present invention.

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.

Fig. 3 is a view showing an example (one) of a specific form of the movement route.

Fig. 4 is a flow chart (1) for explaining the action of the travel terminal timer setting means.

Fig. 5 is a flow chart (2) for explaining the action of the travel terminal timer setting means.

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.

Fig. 7 is a block diagram showing a travel terminal timer setting device according to another embodiment (Embodiment 2) of the present invention.

Fig. 8 is a view showing an example of an operation panel provided with a mode selection switch.

Hereinafter, an embodiment of the stroke end timer setting device of the present invention will be described with reference to the drawings.

(Embodiment 1)

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

As a configuration for driving the piston 82, a driving device using a solenoid valve or the like can be applied.

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.

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.

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.

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.

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.

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)

T6=t1×t5/t2 (2)

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.

In this case, the forward solenoid valve is equivalent to the start signal generating device that generates the start signal 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.

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.

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.

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.

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.

Therefore, in this case, the reverse solenoid valve corresponds to the start signal generating means for generating the start signal 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'.

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.

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.

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.

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.

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).

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).

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).

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).

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).

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).

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).

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).

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).

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).

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).

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).

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.

Here, the meanings of the above formulas (1) and (2) will be described.

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)

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)

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)

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)

Then, the equations (3) to (6) are arranged, and the first delay time t3 is calculated by the above equation (1).

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)

L1=v1×t1 (8)

Then, the equations (3) and (6) to (8) are arranged, and the second delay time t6 is calculated by the above equation (2).

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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).

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.

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).

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.

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.

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.

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.

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.

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).

The processes S23, S25, and S26 in Fig. 6 are for limiting the number of times the processes S1 to S22 are repeatedly performed.

(Embodiment 2)

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.

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.

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.

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.

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.

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.

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.

The other processing is the same as the processing of the travel terminal timer setting device 100 of the first embodiment.

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.

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.

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.

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.

Thus, the operation becomes simple, and the operator can handle it even if the operator is not a skilled operator.

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 .

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.

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.

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.

The obtained delay times t3 and t6 are used in the next actual operation of the measurement target device.

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.

Therefore, it is possible to prevent the operation time of the measuring target device from being shortened.

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) Change in position of the end

(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) 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) Replacement with a new sensor

(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) Even if the error in the mounting position of the stroke terminal sensor is reduced, adjustment by the travel terminal timer is required.

(3) The speed of the moving body changes

(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) 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) Change in oil pressure temperature

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.

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.

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.

Thus, even between one day, it is necessary to adjust the delay times t3, t6.

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‧‧‧ distance

P1‧‧‧Advance end distance

P2‧‧‧Retracted end distance

P3‧‧‧ Position of the forward end sensor

P4‧‧‧Retracted end sensor position

T1, t2, t4, t5‧‧‧ elapsed time

T3‧‧‧1st delay time

T6‧‧‧2nd delay time

V1, v2‧‧‧ speed

H‧‧‧High steps

Td3‧‧‧ time

Claims (18)

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. 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. 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). 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. 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. 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. 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. 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. 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. 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. 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. 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. 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. 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. 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. 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. 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. 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.