WO2019208759A1 - Servo amplifier for screw fastening device - Google Patents

Servo amplifier for screw fastening device Download PDF

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Publication number
WO2019208759A1
WO2019208759A1 PCT/JP2019/017882 JP2019017882W WO2019208759A1 WO 2019208759 A1 WO2019208759 A1 WO 2019208759A1 JP 2019017882 W JP2019017882 W JP 2019017882W WO 2019208759 A1 WO2019208759 A1 WO 2019208759A1
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WIPO (PCT)
Prior art keywords
servo
torque
motor
position information
unit
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PCT/JP2019/017882
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French (fr)
Japanese (ja)
Inventor
則明 佐々木
雅史 三島
慶成 池内
裕介 今田
Original Assignee
パナソニックＩｐマネジメント株式会社
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Application filed by パナソニックＩｐマネジメント株式会社 filed Critical パナソニックＩｐマネジメント株式会社
Priority to CN201980027731.6A priority Critical patent/CN112020824A/en
Priority to JP2020515596A priority patent/JP7228766B2/en
Publication of WO2019208759A1 publication Critical patent/WO2019208759A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B23/00—Details of, or accessories for, spanners, wrenches, screwdrivers
    • B25B23/14—Arrangement of torque limiters or torque indicators in wrenches or screwdrivers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/24—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for determining value of torque or twisting moment for tightening a nut or other member which is similarly stressed
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors

Definitions

  • This disclosure relates to a servo amplifier for a screw tightening device that performs screw tightening with a target torque.
  • the conventional screw tightening device has a command generation device, a servo amplifier, and a screw tightener.
  • the screw tightener includes a servo motor and is driven to rotate by an instruction signal from a servo amplifier.
  • the servo amplifier includes a torque detection device and a servo control unit. Further, a filter is included between the servo amplifier and the command generation device.
  • the command output by the command generation device is supplied to the servo control unit through the filter.
  • the servo control unit drives and controls the servo motor based on the command after shaping.
  • the torque detection device detects that the target torque has been reached, the servo control unit instructs the servo amplifier to stop driving.
  • the servo amplifier for the conventional screw tightening device shapes the command from the command generating device with a filter.
  • a filter includes a delay element such as a capacitor. Therefore, as shown in FIG. 4, there is a difference between the command Y1 from the command generation device and the command Y2 after passing through the filter. Therefore, the rotational position of the motor is delayed from the position where it is originally rotated by the command signal from the command generation device. Therefore, the actual stop of the motor stops after the original stop time by the command signal. That is, it stops at a position (angle) overshooting a position (rotation angle) where it is detected that the torque has reached a specified value. Accordingly, there is a problem that a force exceeding a predetermined value is applied to the screw thread and the like, and as a result, the screw thread and the like may be damaged.
  • the present disclosure solves this problem, and an object thereof is to provide a servo amplifier that easily stops the servo motor at a position where the target torque is detected.
  • a screw amplifier servo amplifier includes a motor position detection unit, a filter, a servo control unit, a torque detection unit, and a servo control input signal switching unit.
  • the motor position detector detects position information of the servo motor.
  • the output of the command generation device (command information) is supplied to the filter.
  • the servo control input signal switching unit is provided between the filter and the servo control unit.
  • the servo control unit servo-controls the servo motor with the operating torque set based on the command information and the position information that have passed through the filter.
  • the torque detector measures the operating torque.
  • the servo control input signal switching unit supplies the position information detected by the motor position detection unit as a command signal to the servo control unit when the operating torque measured by the torque detection unit exceeds a specified target torque. .
  • FIG. 1 is a circuit block diagram of a screw tightening device using a servo amplifier according to the first embodiment of the present disclosure.
  • FIG. 2 is a flowchart illustrating an operation algorithm of the operation unit according to the first embodiment of the present disclosure.
  • FIG. 3 is an explanatory diagram illustrating a relationship between the command of the servo control unit and the motor position in the first embodiment of the present disclosure.
  • FIG. 4 is an explanatory diagram showing the relationship between the command signal from the command generation device and the command after filtering.
  • FIG. 1 is a circuit block diagram of a screw tightening device using a servo amplifier according to a first embodiment of the present disclosure.
  • the screw tightening device 1 includes a command generation device 100, a servo amplifier 10, and a screw tightening unit.
  • the command generation device 100 outputs the generated command signal to the servo amplifier 10.
  • the screw tightening portion includes a servo motor 104, and the servo motor 104 is driven and controlled by the output of the servo amplifier 10.
  • the screw tightening portion tightens a screw or the like by the rotation of the servo motor 104.
  • the screw tightening portion is, for example, a torque driver.
  • the servo motor 104 has an encoder 105 attached thereto.
  • the encoder 105 is integrated with the servo motor 104.
  • the encoder 105 detects position information of the servo motor 104.
  • the encoder 105 is an increment type and detects the angle of a mover (not shown).
  • the servo amplifier 10 includes a filter 101, a changeover switch (servo control input signal switching unit) 102, a servo control unit 103, a motor position detection unit 106, and a torque detection unit 107.
  • a command signal S ⁇ b> 1 generated by the command generation device 100 is input to the filter 101.
  • the torque detection unit 107 acquires the operating torque of the servo motor 104.
  • the changeover switch 102 is provided between the filter 101 and the servo control unit 103.
  • the changeover switch 102 supplies the command signal S2 to the servo control unit 103 until the torque of the servo motor 104 detected by the torque detection unit 107 reaches a preset target torque.
  • the motor position detection unit 106 acquires the position information of the servo motor 104 from the encoder 105 and outputs it to the servo control unit 103. Then, the servo control unit 103 calculates an operating torque for driving the servo motor 104 based on the input command signal S2 and the position information detected by the motor position detection unit 106. As a result, the servo control unit 103 controls the torque of the servo motor 104 so that the servo motor 104 is driven with the calculated operating torque.
  • the torque detection unit 107 acquires the operating torque, and outputs a torque detection signal to the operation unit 108 described later when the acquired value exceeds the target torque.
  • the changeover switch 102 uses the position information detected by the motor position detection unit 106 as the command signal S2 as a command signal S2. To supply.
  • the command signal S2 supplied to the servo control unit 103 and the position information detected by the motor position detection unit 106 have the same value. Accordingly, when it is detected that the torque of the servo motor 104 measured by the torque detection unit 107 exceeds the target torque, the servo control unit 103 maintains the position detected by the motor position detection unit 106 so that the servo motor 104 is driven.
  • the servo amplifier 10 further has an operation unit 108.
  • the torque detection unit 107 When detecting that the measured rotational torque of the servo motor 104 exceeds the target torque, the torque detection unit 107 generates a torque detection signal and outputs the torque detection signal to the operation unit 108.
  • the operation unit 108 supplies a control signal to the changeover switch 102 when detecting the torque detection signal.
  • the changeover switch 102 supplies the position information detected by the motor position detection unit 106 to the servo control unit 103 as a command signal S2.
  • the servo control unit 103 controls the servo motor 104.
  • the servo amplifier 10 further has a memory 109.
  • the operation unit 108 detects the torque detection signal, the operation unit 108 stores the position information from the motor position detection unit 106 in the memory 109 as the stop target position. Further, the operation unit 108 reads out the stop target position stored in the memory 109 and supplies it to the changeover switch 102.
  • the changeover switch 102 supplies the stop target position stored in the memory 109 to the servo control unit 103 as a command signal S2 by a control signal from the operation unit 108. Therefore, when the command signal S2 based on the stop target position of the servo motor 104 stored in the memory 109 is different from the current position information of the servo motor 104, the servo control unit 103 obtains the stop target position and the current position information. The servo motor 104 is further driven with the calculated operation torque.
  • the servo control unit 103 stops driving the servo motor 104 when detecting that the servo motor 104 has reached the stop target position based on the position information output from the motor position detection unit 106. To do.
  • the servo control unit 103 determines that the servo motor 104 has reached the stop target position when detecting that the position information output from the motor position detection unit 106 has reached the vicinity of the stop target position. Also good. In this case, when the servo control unit 103 determines that the position information output from the motor position detection unit 106 is within a specified range from the stop target position, the servo motor 104 has reached the vicinity of the stop target position. judge.
  • the servo amplifier 10 stores the position information of the servo motor 104 in the memory 109 as the stop target position by detecting the target torque, and drives and stops the servo motor 104 using the position (stop target position) as the target position. Let Thereby, the influence of the control delay of the servo motor 104 due to the command of the command generation device 100 passing through the filter 101 can be suppressed, and the servo motor 104 can be easily stopped at the position where the target torque is detected.
  • FIG. 2 is a flowchart showing an example of an operation algorithm of the servo amplifier 10. That is, as shown in FIG. 2, the servo amplifier 10 first determines the presence or absence of a torque detection signal (S11). If there is no torque detection signal (S11: no signal), a command after the filter 101 is sent to the changeover switch 102. Specify (S12). If there is a torque detection signal (S11: signal present), the motor position information is stored in the memory 109 as the stop target position (S13). Then, a stop target position (memory position information) in the memory 109 is designated to the changeover switch 102 (S14), and it is determined whether or not the position information of the servo motor 104 is near the stop target position (S15).
  • S11 torque detection signal
  • S11 no signal
  • S12 If there is a torque detection signal (S11: signal present), the motor position information is stored in the memory 109 as the stop target position (S13). Then, a stop target position (memory position
  • FIG. 3 is an explanatory diagram showing the relationship between the command of the servo control unit 103 and the position information (motor position) of the servo motor 104. That is, according to the servo amplifier 10, when the operating torque reaches the target torque and a torque detection signal is generated, the command X1 to the servo control unit 103 is held at the position X2 of the servo motor 104 at that time. Thereby, it is easy to stop the servo motor 104 at the position where the target torque is detected.
  • the above embodiment has been described as an example of the technique in the present disclosure.
  • the technology in the present disclosure is not limited to the above, and can be applied to embodiments in which changes, substitutions, additions, omissions, and the like are appropriately performed.
  • the servo amplifier (10) for the screw tightening device includes the motor position detector (106), the filter (101), the servo controller (103), and the torque detector. (107) and a servo control input signal switching unit (switch 102).
  • the motor position detector (106) detects position information of the servo motor (104).
  • the output of the command generation device (100) is supplied to the filter (101).
  • the servo control unit (103) servo-controls the servo motor (104) with the operating torque set based on the command signal (S2) that has passed through the filter (101) and the position information.
  • the torque detector (107) measures the operating torque.
  • the servo control input signal switching unit is provided between the filter (101) and the servo control unit (103).
  • the servo control input signal switching unit receives the position information detected by the motor position detecting unit (106) when the operating torque measured by the torque detecting unit (107) exceeds a specified target torque, and a command signal (S2). To the servo control unit (103).
  • the servo control unit (103) detects that the torque of the servo motor (104) has reached the specified value, and the position information of the servo motor (104) at that time is used as the command signal (S2).
  • the servo motor (104) is driven and stopped. Therefore, the servo motor (104) can be stopped by the torque of the servo motor (104), not the command signal including the influence of filter shaping. Therefore, the servo motor (104) is less susceptible to the control delay with respect to the command signal. As a result, the servo control unit (103) can easily stop the rotation of the servo motor (104) at an accurate stop position.
  • the servo amplifier (10) for the screw tightening device is an operation unit (supplies a control signal to the servo control input signal switching unit when detecting the input of the torque detection signal in the first aspect). 108).
  • the torque detector (107) generates a torque detection signal when the measured operating torque exceeds the target torque.
  • the servo control input signal switching unit is connected to the command signal (S2) and the position according to the control signal from the operation unit (108). Any of the information is output to the servo control unit (103).
  • the servo control unit (103) is based on the difference between the command signal (S2) and the position information. To control the servo motor (104).
  • the servo amplifier (10) for the screw tightening device further includes a memory (109) for storing the position information detected by the motor position detection unit (106) in the second or third aspect.
  • the operation unit (108) detects the torque detection signal, the operation unit (108) supplies the position information when the operation torque reaches the target torque from the memory (109) to the servo control input signal switching unit.
  • the configurations according to the second to fifth aspects are not essential to the servo amplifier (10) for the screw tightening device, and can be omitted as appropriate.
  • the screw tightening device amplifier of the present disclosure can accurately control the stop of the servo motor, so that it can be applied to applications such as an automatic screw tightening device and an automatic line processor that determine the stop position by the torque method.

Abstract

In order to provide a servo amplifier for easily stopping a servo motor at a position where a target torque has been detected, a changeover switch (102) is provided between a filter (101) and a servo control unit (103). When the operation torque measured by a torque detection unit (107) exceeds the target torque, the changeover switch (102) supplies the position information detected by a motor position detection unit (106) to the servo control unit (103) as a command signal (S2).

Description

ねじ締め装置用のサーボアンプServo amplifier for screw tightening device
　本開示は目標トルクでねじ締めを行うねじ締め装置用のサーボアンプに関する。 This disclosure relates to a servo amplifier for a screw tightening device that performs screw tightening with a target torque.
　従来のねじ締め装置は、指令生成装置とサーボアンプとねじ締め機を有している。なお、ねじ締め機は、サーボモータを含み、サーボアンプからの指示信号によって回転駆動されている。さらに、サーボアンプは、トルク検出装置とサーボ制御部を含んでいる。また、サーボアンプと指令生成装置の間には、フィルタを含んでいる。 The conventional screw tightening device has a command generation device, a servo amplifier, and a screw tightener. The screw tightener includes a servo motor and is driven to rotate by an instruction signal from a servo amplifier. Further, the servo amplifier includes a torque detection device and a servo control unit. Further, a filter is included between the servo amplifier and the command generation device.
　そして、指令生成装置が出力する指令は、フィルタを介してサーボ制御部へ供給されている。これによって、サーボ制御部は、整形後の指令に基づいてサーボモータを駆動制御する。そしてトルク検出装置が目標のトルクを達したことを検出した際に、サーボ制御部はサーボアンプに対して駆動停止を指令する。 And the command output by the command generation device is supplied to the servo control unit through the filter. As a result, the servo control unit drives and controls the servo motor based on the command after shaping. When the torque detection device detects that the target torque has been reached, the servo control unit instructs the servo amplifier to stop driving.
特開昭５８－５１０８４号公報JP 58-51084 A
　しかしながら、前記従来のねじ締め装置用のサーボアンプは、指令生成装置からの指令をフィルタで整形している。一般的にフィルタは、コンデンサなどのような遅延素子を含んで構成されている。したがって、図４に示すように、指令生成装置からの指令Ｙ１と、フィルタを通過後の指令Ｙ２との間にはずれが生じる。よって、モータの回転位置は、指令生成装置からの指令信号で本来的に回転する位置よりも遅れる。したがって、モータの実際の停止は指令信号による本来の停止時間よりも遅れて停止する。すなわち、トルクが規定値に達したと検出した位置（回転角）よりもオーバーシュートした位置（角度）で停止する。したがって、ねじ山等に所定以上の力がかかり、その結果ねじ山等の破損につながる可能性を有するという課題を有している。 However, the servo amplifier for the conventional screw tightening device shapes the command from the command generating device with a filter. In general, a filter includes a delay element such as a capacitor. Therefore, as shown in FIG. 4, there is a difference between the command Y1 from the command generation device and the command Y2 after passing through the filter. Therefore, the rotational position of the motor is delayed from the position where it is originally rotated by the command signal from the command generation device. Therefore, the actual stop of the motor stops after the original stop time by the command signal. That is, it stops at a position (angle) overshooting a position (rotation angle) where it is detected that the torque has reached a specified value. Accordingly, there is a problem that a force exceeding a predetermined value is applied to the screw thread and the like, and as a result, the screw thread and the like may be damaged.
　本開示は、この課題を解決するもので、目標トルクを検出した位置にサーボモータを停止しやすいサーボアンプを提供することを目的とする。 The present disclosure solves this problem, and an object thereof is to provide a servo amplifier that easily stops the servo motor at a position where the target torque is detected.
　この目的を達成するために、本開示の一態様に係るねじ締め装置用サーボアンプは、モータ位置検出部と、フィルタと、サーボ制御部と、トルク検出部と、サーボ制御入力信号切替部とを有している。モータ位置検出部は、サーボモータの位置情報を検出する。フィルタには、指令生成装置の出力（指令情報）が供給される。サーボ制御入力信号切替部は、フィルタとサーボ制御部との間に設けられている。 In order to achieve this object, a screw amplifier servo amplifier according to an aspect of the present disclosure includes a motor position detection unit, a filter, a servo control unit, a torque detection unit, and a servo control input signal switching unit. Have. The motor position detector detects position information of the servo motor. The output of the command generation device (command information) is supplied to the filter. The servo control input signal switching unit is provided between the filter and the servo control unit.
　サーボ制御部は、フィルタを通過した指令情報と位置情報とに基づいて設定された動作トルクで、サーボモータをサーボ制御する。トルク検出部は、動作トルクを測定する。 The servo control unit servo-controls the servo motor with the operating torque set based on the command information and the position information that have passed through the filter. The torque detector measures the operating torque.
　そして、サーボ制御入力信号切替部は、トルク検出部で測定された動作トルクが規定の目標トルクを超えた際に、モータ位置検出部で検出された位置情報を指令信号としてサーボ制御部へ供給する。 The servo control input signal switching unit supplies the position information detected by the motor position detection unit as a command signal to the servo control unit when the operating torque measured by the torque detection unit exceeds a specified target torque. .
図１は、本開示の実施の形態１におけるサーボアンプを用いたねじ締め装置の回路ブロック図である。FIG. 1 is a circuit block diagram of a screw tightening device using a servo amplifier according to the first embodiment of the present disclosure. 図２は、本開示の実施の形態１における操作部の動作アルゴリズムを示すフローチャートである。FIG. 2 is a flowchart illustrating an operation algorithm of the operation unit according to the first embodiment of the present disclosure. 図３は、本開示の実施の形態１におけるサーボ制御部の指令とモータ位置との関係を示す説明図である。FIG. 3 is an explanatory diagram illustrating a relationship between the command of the servo control unit and the motor position in the first embodiment of the present disclosure. 図４は、指令生成装置からの指令信号とフィルタ後の指令との関係を示す説明図である。FIG. 4 is an explanatory diagram showing the relationship between the command signal from the command generation device and the command after filtering.
　以下本実施の形態におけるねじ締め装置について説明する。 Hereinafter, the screw tightening device according to the present embodiment will be described.
　（実施の形態１）
　図１は、本開示の実施の形態１によるサーボアンプを用いたねじ締め装置の回路ブロック図である。図１において、ねじ締め装置１は、指令生成装置１００と、サーボアンプ１０と、ねじ締め部を含んでいる。指令生成装置１００は、生成した指令信号をサーボアンプ１０へと出力している。ねじ締め部は、サーボモータ１０４を含み、サーボモータ１０４はサーボアンプ１０の出力によって駆動制御される。そしてねじ締め部は、サーボモータ１０４の回転によってねじなどを締め付ける。なお、ねじ締め部は、たとえばトルクドライバである。 (Embodiment 1)
FIG. 1 is a circuit block diagram of a screw tightening device using a servo amplifier according to a first embodiment of the present disclosure. In FIG. 1, the screw tightening device 1 includes a command generation device 100, a servo amplifier 10, and a screw tightening unit. The command generation device 100 outputs the generated command signal to the servo amplifier 10. The screw tightening portion includes a servo motor 104, and the servo motor 104 is driven and controlled by the output of the servo amplifier 10. The screw tightening portion tightens a screw or the like by the rotation of the servo motor 104. The screw tightening portion is, for example, a torque driver.
　サーボモータ１０４には、エンコーダ１０５が付設されている。エンコーダ１０５は、サーボモータ１０４と一体化されている。エンコーダ１０５は、サーボモータ１０４の位置情報を検出している。エンコーダ１０５は、インクリメントタイプであり、可動子（図示せず）の角度を検知している。 The servo motor 104 has an encoder 105 attached thereto. The encoder 105 is integrated with the servo motor 104. The encoder 105 detects position information of the servo motor 104. The encoder 105 is an increment type and detects the angle of a mover (not shown).
　サーボアンプ１０は、フィルタ１０１と、切替スイッチ（サーボ制御入力信号切替部）１０２と、サーボ制御部１０３と、モータ位置検出部１０６と、トルク検出部１０７とを有している。フィルタ１０１には、指令生成装置１００で生成された指令信号Ｓ１が入力される。指令信号Ｓ１は、フィルタ１０１を通過することにより、フィルタ１０１の減衰帯域の周波数の外乱ノイズなどが減衰する。トルク検出部１０７は、サーボモータ１０４の動作トルクを取得する。 The servo amplifier 10 includes a filter 101, a changeover switch (servo control input signal switching unit) 102, a servo control unit 103, a motor position detection unit 106, and a torque detection unit 107. A command signal S <b> 1 generated by the command generation device 100 is input to the filter 101. When the command signal S1 passes through the filter 101, disturbance noise or the like having a frequency in the attenuation band of the filter 101 is attenuated. The torque detection unit 107 acquires the operating torque of the servo motor 104.
　切替スイッチ１０２は、フィルタ１０１とサーボ制御部１０３との間に設けられている。そして切替スイッチ１０２は、トルク検出部１０７で検出されたサーボモータ１０４のトルクがあらかじめ設定された目標トルクに達するまでの間、指令信号Ｓ２をサーボ制御部１０３へと供給する。 The changeover switch 102 is provided between the filter 101 and the servo control unit 103. The changeover switch 102 supplies the command signal S2 to the servo control unit 103 until the torque of the servo motor 104 detected by the torque detection unit 107 reaches a preset target torque.
　モータ位置検出部１０６は、エンコーダ１０５からサーボモータ１０４の位置情報を取得して、サーボ制御部１０３へと出力している。そして、サーボ制御部１０３は、入力された指令信号Ｓ２とモータ位置検出部１０６で検出された位置情報とをもとに、サーボモータ１０４を駆動する動作トルクを算出する。この結果、サーボ制御部１０３は、算出された動作トルクでサーボモータ１０４が駆動されるように、サーボモータ１０４のトルクを制御する。 The motor position detection unit 106 acquires the position information of the servo motor 104 from the encoder 105 and outputs it to the servo control unit 103. Then, the servo control unit 103 calculates an operating torque for driving the servo motor 104 based on the input command signal S2 and the position information detected by the motor position detection unit 106. As a result, the servo control unit 103 controls the torque of the servo motor 104 so that the servo motor 104 is driven with the calculated operating torque.
　トルク検出部１０７は、動作トルクを取得し、取得値が目標トルクを超えた場合に後述の操作部１０８にトルク検出信号を出力する。 The torque detection unit 107 acquires the operating torque, and outputs a torque detection signal to the operation unit 108 described later when the acquired value exceeds the target torque.
　ここで、切替スイッチ１０２は、トルク検出部１０７で測定されたサーボモータ１０４のトルクが目標トルクを超えた際に、モータ位置検出部１０６で検出された位置情報を指令信号Ｓ２としてサーボ制御部１０３へと供給する。この構成により、サーボ制御部１０３へ供給される指令信号Ｓ２とモータ位置検出部１０６で検出された位置情報とは同一の値となる。したがって、トルク検出部１０７で測定されたサーボモータ１０４のトルクが目標トルクを超えたことが検知されると、サーボ制御部１０３はモータ位置検出部１０６で検出した位置を保持するように、サーボモータ１０４を駆動する。 Here, when the torque of the servo motor 104 measured by the torque detection unit 107 exceeds the target torque, the changeover switch 102 uses the position information detected by the motor position detection unit 106 as the command signal S2 as a command signal S2. To supply. With this configuration, the command signal S2 supplied to the servo control unit 103 and the position information detected by the motor position detection unit 106 have the same value. Accordingly, when it is detected that the torque of the servo motor 104 measured by the torque detection unit 107 exceeds the target torque, the servo control unit 103 maintains the position detected by the motor position detection unit 106 so that the servo motor 104 is driven.
　以上の構成により、指令生成装置１００の指令がフィルタ１０１を通過することによるサーボモータ１０４の制御の遅れの影響を抑制できる。したがって、目標トルクを検出した位置にサーボモータ１０４を停止しやすい。 With the above configuration, it is possible to suppress the influence of the control delay of the servo motor 104 caused by the command of the command generation device 100 passing through the filter 101. Therefore, it is easy to stop the servo motor 104 at the position where the target torque is detected.
　次に、サーボアンプ１０についてさらに詳しく説明する。サーボアンプ１０は、さらに操作部１０８を有している。トルク検出部１０７は、測定したサーボモータ１０４の回転トルクが目標トルクを超えたことを検出した場合に、トルク検出信号を生成して、操作部１０８にトルク検出信号を出力している。そして、操作部１０８は、トルク検出信号を検知した際に、制御信号を切替スイッチ１０２へと供給する。そして、切替スイッチ１０２は、この制御信号が入力されると、モータ位置検出部１０６で検出された位置情報を指令信号Ｓ２としてサーボ制御部１０３へ供給する。 Next, the servo amplifier 10 will be described in more detail. The servo amplifier 10 further has an operation unit 108. When detecting that the measured rotational torque of the servo motor 104 exceeds the target torque, the torque detection unit 107 generates a torque detection signal and outputs the torque detection signal to the operation unit 108. The operation unit 108 supplies a control signal to the changeover switch 102 when detecting the torque detection signal. When this control signal is input, the changeover switch 102 supplies the position information detected by the motor position detection unit 106 to the servo control unit 103 as a command signal S2.
　以上のようにして、サーボ制御部１０３はサーボモータ１０４を制御するが、サーボモータ１０４の回転トルクが目標トルクに到達した位置に、サーボモータ１０４を停止するためには、その位置を保持する必要がある。そのため、サーボアンプ１０は、さらにメモリ１０９を有している。そして、操作部１０８は、トルク検出信号を検知すると、メモリ１０９にモータ位置検出部１０６からの位置情報を停止目標位置として記憶する。さらに操作部１０８は、メモリ１０９に記憶された停止目標位置を読み出して、切替スイッチ１０２へと供給している。 As described above, the servo control unit 103 controls the servo motor 104. In order to stop the servo motor 104 at the position where the rotational torque of the servo motor 104 has reached the target torque, it is necessary to hold the position. There is. Therefore, the servo amplifier 10 further has a memory 109. When the operation unit 108 detects the torque detection signal, the operation unit 108 stores the position information from the motor position detection unit 106 in the memory 109 as the stop target position. Further, the operation unit 108 reads out the stop target position stored in the memory 109 and supplies it to the changeover switch 102.
　この構成により、切替スイッチ１０２は、操作部１０８からの制御信号によって、メモリ１０９に記憶された停止目標位置を指令信号Ｓ２としてサーボ制御部１０３へと供給する。したがって、サーボ制御部１０３は、メモリ１０９に保存されたサーボモータ１０４の停止目標位置による指令信号Ｓ２と、現在のサーボモータ１０４の位置情報とが異なる場合、停止目標位置と現在の位置情報とをもとに算出した動作トルクでサーボモータ１０４をさらに駆動する。そしてサーボモータ１０４を駆動した結果、サーボ制御部１０３は、モータ位置検出部１０６から出力された位置情報によって、サーボモータ１０４が停止目標位置に到達したことを検知すると、サーボモータ１０４の駆動を停止する。なお、サーボ制御部１０３は、モータ位置検出部１０６から出力された位置情報が停止目標位置の近傍にまで到達したことを検知した場合に、サーボモータ１０４が停止目標位置に到達したと判定してもよい。この場合、サーボ制御部１０３は、モータ位置検出部１０６から出力された位置情報が停止目標位置から規定の範囲内であると判定した場合に、サーボモータ１０４が停止目標位置の近傍に到達したと判定する。 With this configuration, the changeover switch 102 supplies the stop target position stored in the memory 109 to the servo control unit 103 as a command signal S2 by a control signal from the operation unit 108. Therefore, when the command signal S2 based on the stop target position of the servo motor 104 stored in the memory 109 is different from the current position information of the servo motor 104, the servo control unit 103 obtains the stop target position and the current position information. The servo motor 104 is further driven with the calculated operation torque. As a result of driving the servo motor 104, the servo control unit 103 stops driving the servo motor 104 when detecting that the servo motor 104 has reached the stop target position based on the position information output from the motor position detection unit 106. To do. The servo control unit 103 determines that the servo motor 104 has reached the stop target position when detecting that the position information output from the motor position detection unit 106 has reached the vicinity of the stop target position. Also good. In this case, when the servo control unit 103 determines that the position information output from the motor position detection unit 106 is within a specified range from the stop target position, the servo motor 104 has reached the vicinity of the stop target position. judge.
　以上の構成により、サーボアンプ１０は、目標トルクの検出によりサーボモータ１０４の位置情報を停止目標位置としてメモリ１０９に記憶し、その位置（停止目標位置）を目標位置としてサーボモータ１０４を駆動し停止させる。これにより、指令生成装置１００の指令がフィルタ１０１を通過することによるサーボモータ１０４の制御の遅れの影響を抑制でき、目標トルクを検出した位置にサーボモータ１０４を停止しやすい。 With the above configuration, the servo amplifier 10 stores the position information of the servo motor 104 in the memory 109 as the stop target position by detecting the target torque, and drives and stops the servo motor 104 using the position (stop target position) as the target position. Let Thereby, the influence of the control delay of the servo motor 104 due to the command of the command generation device 100 passing through the filter 101 can be suppressed, and the servo motor 104 can be easily stopped at the position where the target torque is detected.
　図２は、サーボアンプ１０の動作アルゴリズムの一例を示すフローチャートである。すなわち、サーボアンプ１０は、図２に示すように、まずトルク検出信号の有無を判断し（Ｓ１１）、トルク検出信号が無ければ（Ｓ１１：信号無し）、切替スイッチ１０２にフィルタ１０１後の指令を指定する（Ｓ１２）。トルク検出信号が有れば（Ｓ１１：信号有）、モータ位置情報を停止目標位置としてメモリ１０９に格納する（Ｓ１３）。そして、切替スイッチ１０２にメモリ１０９内の停止目標位置（メモリ位置情報）を指定し（Ｓ１４）、サーボモータ１０４の位置情報が停止目標位置近辺か否かを判断する（Ｓ１５）。サーボモータ１０４の位置情報が停止目標位置近辺でなければ（Ｓ１５：Ｎｏ）、処理Ｓ１５を継続し、サーボモータ１０４の位置情報が停止目標位置近辺であれば（Ｓ１５：Ｙｅｓ）、サーボモータ１０４を停止する（Ｓ１６）。 FIG. 2 is a flowchart showing an example of an operation algorithm of the servo amplifier 10. That is, as shown in FIG. 2, the servo amplifier 10 first determines the presence or absence of a torque detection signal (S11). If there is no torque detection signal (S11: no signal), a command after the filter 101 is sent to the changeover switch 102. Specify (S12). If there is a torque detection signal (S11: signal present), the motor position information is stored in the memory 109 as the stop target position (S13). Then, a stop target position (memory position information) in the memory 109 is designated to the changeover switch 102 (S14), and it is determined whether or not the position information of the servo motor 104 is near the stop target position (S15). If the position information of the servo motor 104 is not near the stop target position (S15: No), the process S15 is continued. If the position information of the servo motor 104 is near the stop target position (S15: Yes), the servo motor 104 is changed. Stop (S16).
　図３は、サーボ制御部１０３の指令とサーボモータ１０４の位置情報（モータ位置）との関係を示す説明図である。すなわち、サーボアンプ１０によれば、動作トルクが目標トルクに達してトルク検出信号が発生すると、サーボ制御部１０３への指令Ｘ１は、そのときのサーボモータ１０４の位置Ｘ２に保持される。これにより、目標トルクを検出した位置にサーボモータ１０４を停止しやすい。 FIG. 3 is an explanatory diagram showing the relationship between the command of the servo control unit 103 and the position information (motor position) of the servo motor 104. That is, according to the servo amplifier 10, when the operating torque reaches the target torque and a torque detection signal is generated, the command X1 to the servo control unit 103 is held at the position X2 of the servo motor 104 at that time. Thereby, it is easy to stop the servo motor 104 at the position where the target torque is detected.
　以上のように、本開示における技術の例示として、上記の実施の形態を説明した。しかしながら、本開示における技術は、上記に限定されず、適宜、変更、置換、付加、省略などを行った実施の形態にも適用可能である。また、実施の形態で説明する各構成要素を組み合わせて、新たな実施の形態とすることも可能である。 As described above, the above embodiment has been described as an example of the technique in the present disclosure. However, the technology in the present disclosure is not limited to the above, and can be applied to embodiments in which changes, substitutions, additions, omissions, and the like are appropriately performed. In addition, it is possible to combine the components described in the embodiment to form a new embodiment.
　以上説明したように、第１の態様に係るねじ締め装置用のサーボアンプ（１０）は、モータ位置検出部（１０６）と、フィルタ（１０１）と、サーボ制御部（１０３）と、トルク検出部（１０７）と、サーボ制御入力信号切替部（切替スイッチ１０２）と、を有する。モータ位置検出部（１０６）は、サーボモータ（１０４）の位置情報を検出する。フィルタ（１０１）には、指令生成装置（１００）の出力が供給される。サーボ制御部（１０３）は、フィルタ（１０１）を通過した指令信号（Ｓ２）と位置情報とに基づいて設定された動作トルクで、サーボモータ（１０４）をサーボ制御する。トルク検出部（１０７）は、動作トルクを測定する。サーボ制御入力信号切替部は、フィルタ（１０１）とサーボ制御部（１０３）との間に設けられる。サーボ制御入力信号切替部は、トルク検出部（１０７）で測定された動作トルクが規定の目標トルクを超えた際に、モータ位置検出部（１０６）で検出された位置情報を指令信号（Ｓ２）としてサーボ制御部（１０３）へ供給する。 As described above, the servo amplifier (10) for the screw tightening device according to the first aspect includes the motor position detector (106), the filter (101), the servo controller (103), and the torque detector. (107) and a servo control input signal switching unit (switch 102). The motor position detector (106) detects position information of the servo motor (104). The output of the command generation device (100) is supplied to the filter (101). The servo control unit (103) servo-controls the servo motor (104) with the operating torque set based on the command signal (S2) that has passed through the filter (101) and the position information. The torque detector (107) measures the operating torque. The servo control input signal switching unit is provided between the filter (101) and the servo control unit (103). The servo control input signal switching unit receives the position information detected by the motor position detecting unit (106) when the operating torque measured by the torque detecting unit (107) exceeds a specified target torque, and a command signal (S2). To the servo control unit (103).
　この態様によれば、サーボ制御部（１０３）は、サーボモータ（１０４）のトルクが規定値に到達したことを検出し、その際のサーボモータ（１０４）の位置情報が指令信号（Ｓ２）として供給されて、サーボモータ（１０４）を駆動、停止する。したがって、サーボモータ（１０４）は、フィルタ整形による影響を含む指令信号ではなく、サーボモータ（１０４）のトルクによって停止できる。したがって、サーボモータ（１０４）は、指令信号に対する制御の遅れの影響を受けにくくなる。その結果、サーボ制御部（１０３）は、正確な停止位置でサーボモータ（１０４）の回転を停止させやすくなる。 According to this aspect, the servo control unit (103) detects that the torque of the servo motor (104) has reached the specified value, and the position information of the servo motor (104) at that time is used as the command signal (S2). When supplied, the servo motor (104) is driven and stopped. Therefore, the servo motor (104) can be stopped by the torque of the servo motor (104), not the command signal including the influence of filter shaping. Therefore, the servo motor (104) is less susceptible to the control delay with respect to the command signal. As a result, the servo control unit (103) can easily stop the rotation of the servo motor (104) at an accurate stop position.
　第２の態様に係るねじ締め装置用のサーボアンプ（１０）は、第１の態様において、トルク検出信号の入力を検知した際に、制御信号をサーボ制御入力信号切替部に供給する操作部（１０８）を、さらに有する。トルク検出部（１０７）は、測定された動作トルクが目標トルクを超えた場合にトルク検出信号を生成する。 The servo amplifier (10) for the screw tightening device according to the second aspect is an operation unit (supplies a control signal to the servo control input signal switching unit when detecting the input of the torque detection signal in the first aspect). 108). The torque detector (107) generates a torque detection signal when the measured operating torque exceeds the target torque.
　第３の態様に係るねじ締め装置用のサーボアンプ（１０）では、第２の態様において、サーボ制御入力信号切替部は、操作部（１０８）からの制御信号によって、指令信号（Ｓ２）と位置情報とのいずれかをサーボ制御部（１０３）へ出力する。 In the servo amplifier (10) for the screw tightening device according to the third aspect, in the second aspect, the servo control input signal switching unit is connected to the command signal (S2) and the position according to the control signal from the operation unit (108). Any of the information is output to the servo control unit (103).
　第４の態様に係るねじ締め装置用のサーボアンプ（１０）では、第１～３のいずれかの態様において、サーボ制御部（１０３）は、指令信号（Ｓ２）と位置情報との差に基づいてサーボモータ（１０４）を制御する。 In the servo amplifier (10) for the screw tightening device according to the fourth aspect, in any one of the first to third aspects, the servo control unit (103) is based on the difference between the command signal (S2) and the position information. To control the servo motor (104).
　第５の態様に係るねじ締め装置用のサーボアンプ（１０）は、第２又は３の態様において、モータ位置検出部（１０６）で検出した位置情報を格納するメモリ（１０９）をさらに有する。操作部（１０８）は、トルク検出信号を検知した場合、動作トルクが目標トルクに達した際の位置情報を、メモリ（１０９）からサーボ制御入力信号切替部へと供給する。 The servo amplifier (10) for the screw tightening device according to the fifth aspect further includes a memory (109) for storing the position information detected by the motor position detection unit (106) in the second or third aspect. When the operation unit (108) detects the torque detection signal, the operation unit (108) supplies the position information when the operation torque reaches the target torque from the memory (109) to the servo control input signal switching unit.
　第２～５の態様に係る構成は、ねじ締め装置用のサーボアンプ（１０）に必須の構成ではなく、適宜省略可能である。 The configurations according to the second to fifth aspects are not essential to the servo amplifier (10) for the screw tightening device, and can be omitted as appropriate.
　本開示のねじ締め装置用アンプは、精度良くサーボモータの位置を停止制御することができるので、トルク法で停止位置を決定する自動ねじ締め装置や自動線処理機等の用途にも適用できる。 The screw tightening device amplifier of the present disclosure can accurately control the stop of the servo motor, so that it can be applied to applications such as an automatic screw tightening device and an automatic line processor that determine the stop position by the torque method.
１０　サーボアンプ
１００　指令生成装置
１０１　フィルタ
１０２　切替スイッチ（サーボ制御入力信号切替部）
１０３　サーボ制御部
１０４　サーボモータ
１０５　エンコーダ
１０６　モータ位置検出部
１０７　トルク検出部
１０８　操作部
１０９　メモリ
Ｓ２　指令信号 10 Servo Amplifier 100 Command Generation Device 101 Filter 102 Changeover Switch (Servo Control Input Signal Switching Unit)
103 Servo Control Unit 104 Servo Motor 105 Encoder 106 Motor Position Detection Unit 107 Torque Detection Unit 108 Operation Unit 109 Memory S2 Command Signal

Claims (5)

  1. サーボモータの位置情報を検出するモータ位置検出部と、
    指令生成装置の出力が供給されるフィルタと、
    前記フィルタを通過した指令信号と前記位置情報とに基づいて設定された動作トルクで、前記サーボモータをサーボ制御するサーボ制御部と、
    前記動作トルクを測定するトルク検出部と、
    前記フィルタと前記サーボ制御部との間に設けられ、前記トルク検出部で測定された前記動作トルクが規定の目標トルクを超えた際に、前記モータ位置検出部で検出された位置情報を前記指令信号として前記サーボ制御部へ供給するサーボ制御入力信号切替部と、を有した、
    ねじ締め装置用のサーボアンプ。     A motor position detector for detecting servo motor position information;
    A filter to which the output of the command generator is supplied;
    A servo control unit that servo-controls the servo motor with an operating torque set based on the command signal that has passed through the filter and the position information;
    A torque detector for measuring the operating torque;
    Provided between the filter and the servo control unit, when the operating torque measured by the torque detection unit exceeds a predetermined target torque, the position information detected by the motor position detection unit is provided as the command. A servo control input signal switching unit to be supplied to the servo control unit as a signal,
    Servo amplifier for screw tightening device.
  2. トルク検出信号の入力を検知した際に、制御信号を前記サーボ制御入力信号切替部に供給する操作部を、さらに有し、
    前記トルク検出部は、測定された前記動作トルクが前記目標トルクを超えた場合に前記トルク検出信号を生成する、
    請求項１記載のねじ締め装置用のサーボアンプ。     An operation unit for supplying a control signal to the servo control input signal switching unit when detecting the input of the torque detection signal;
    The torque detector generates the torque detection signal when the measured operating torque exceeds the target torque;
    A servo amplifier for the screw tightening device according to claim 1.
  3. 前記サーボ制御入力信号切替部は、前記操作部からの前記制御信号によって、前記指令信号と前記位置情報とのいずれかを前記サーボ制御部へ出力する、
    請求項２記載のねじ締め装置用のサーボアンプ。     The servo control input signal switching unit outputs either the command signal or the position information to the servo control unit according to the control signal from the operation unit.
    A servo amplifier for the screw tightening device according to claim 2.
  4. 前記サーボ制御部は、指令信号と前記位置情報との差に基づいて前記サーボモータを制御する、
    請求項１～３のいずれか１項に記載のねじ締め装置用のサーボアンプ。     The servo control unit controls the servo motor based on a difference between the command signal and the position information;
    The servo amplifier for the screw tightening device according to any one of claims 1 to 3.
  5. 前記モータ位置検出部で検出した位置情報を格納するメモリをさらに有し、
    前記操作部は、前記トルク検出信号を検知した場合、前記動作トルクが前記目標トルクに達した際の前記位置情報を、前記メモリから前記サーボ制御入力信号切替部へと供給する、
    請求項２又は３に記載のねじ締め装置用のサーボアンプ。     A memory for storing position information detected by the motor position detector;
    The operation unit, when detecting the torque detection signal, supplies the position information when the operation torque reaches the target torque from the memory to the servo control input signal switching unit.
    A servo amplifier for the screw tightening device according to claim 2.
PCT/JP2019/017882 2018-04-27 2019-04-26 Servo amplifier for screw fastening device WO2019208759A1 (en)

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JPS61279472A (en) * 1985-06-04 1986-12-10 第一電通株式会社 Method of controlling axial tension of nut runner
JP2015020243A (en) * 2013-07-19 2015-02-02 パナソニックＩｐマネジメント株式会社 Impact rotary tool and tip attachment for impact rotary tool

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