JPS5842882B2 - positioning device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a positioning device for use in robots and the like.

Conventionally, the positioning device shown in FIG. 1 has been used.

That is, when preset data PD corresponding to a certain moving distance is set in the counter 1 by the data set pulse S, the output of the counter 1 is converted into an analog signal by the D/A converter 2, and Motor 4 rotates.

The amount of rotation of the motor 4 is converted into pulses by the position detector 5 and input to the counter 1 as feedback pulses.

The contents of the counter 1 gradually approach zero and the motor 4 stops at a predetermined position.

However, in the conventional method, when the only sections that actually require positioning between sections AB in FIG. The position feedback pulse is always input to the counter 1 during l when the data between 01 and 01 is preset and the 01 point is reached.

Therefore, if the distance between P5 and P01 is long, a position detector of the same length is required, which poses an economical problem.Furthermore, the number of digits of the counter used increases, and the contents of the counter gradually change. There were drawbacks such as the movement speed decreasing midway because the value approached zero.

The present invention has been made to eliminate the above-mentioned defects.
It is an object of the present invention to provide a positioning device that outputs a preset pulse from the time when the moving distance approaches a predetermined position, and stops the position feedback pulse before that time.

Hereinafter, the present invention will be explained in detail based on one embodiment of the accompanying drawings.

In FIG. 4a, section AB is the moving section of the moving body (not shown), where the transition direction from end A to end B is the child direction, and the transition direction from end B to end A is the child direction. One direction.

The sections AE and FB are stop sections when the moving body moves in the child direction, one direction, and the moving body is stopped at a desired position between the sections AE and FB.

Same, distance e3 between this section AE and FB. e2 is set to an appropriate value due to design issues.

Position detectors such as limit switches LSA, LSB, LSE, and LSF are provided at ends A and B and positions E and F.

Limit switch LSA. For LSB, the moving body is at ends A and B.
When it reaches the position, it turns on and stops the moving body at the ends A and B.

The limit switch LSF is set at a distance e from position F when the moving body moves in the child direction.

When it reaches the predetermined position R2 in front of you, it turns on and the signal P is turned on.
It outputs F and turns off when it reaches position FK.

In addition, the limit switch LSE indicates whether the moving body moves in the one direction and is at position E (,!, away e.

When the predetermined positions R and K are reached, the signal turns on and the signal P is turned on.
It outputs E and turns off when it reaches position E.

Note that this distance e. is a design problem and will be explained later in counter 8.
(Fig. 3) is given a preset data signal PD, and
This is used to reduce the speed of the moving object from its maximum speed to the speed corresponding to this preset data signal PD to improve the stopping conditions of the moving object, and is set to the optimum value according to the usage conditions of the various devices used. There is.

Further, a position detector 5 (FIG. 3) is arranged between sections AE and FB.

This position detector 5 is intercepted by, for example, a magnetic scale, and outputs a pulse signal PM of VC1 every time the moving body moves a predetermined distance, for example, Q, l mm from positions E and F toward ends A and l. It is supposed to be done.

This pulse signal PM is applied as a feedback signal to the control circuit 60 input terminal TaK shown in FIG.

The control circuit 6 controls the above-mentioned + during the interval EF.

Move the moving object in any direction at a predetermined maximum speed,
After passing positions E and F, decelerate and move to section AE.

Predetermined position p1 between FBs. This is for controlling the stop with Ql.

This control circuit 6 has an input terminal T. This control is performed based on each input signal from ~T8.

1. The moving object is stopped at position P between section AE,
It is assumed that the motor is moved from this position P1 in ten directions and stopped at a position QtK between the sections FB.

In this state, limit switches LSE and LSF at positions E and F are off.

Now, suppose that the moving direction command signal Pa "1" is applied to the terminal T4 at time t, in order to move the moving body in ten directions (FIG. 4b).

This signal Pa is "no-i" (hereinafter referred to as 1) when the signal is in ten directions, and is "low" (hereinafter referred to as 0) when it is in one direction.

This signal Pa "1" is applied to the input terminal A of the data selector circuit 70 and the up/down counter (hereinafter simply referred to as counter) 8.

The data selector circuit 7 has input terminals T1. T2. The preset data signal PD, the maximum data signal PDm, and the maximum data signal PDm applied to T3 are connected to the terminal AI,
A2 t A3 K is selectively output based on the applied control signal.

Then, the moving direction command signal Pa "1" is applied to the terminal A1.
and terminal A2. When the input of A3 is "0", the maximum data signal PDm applied to the input terminal T2 is selectively outputted and added to the counter 8.

This ten maximum data signal ten PDm, - maximum data signal - P
Dm is used to set the moving speed of the moving body in the + and one direction between the sections EF, and this data signal can be set to an appropriate value depending on the desired moving speed.

Note that the output conditions of this data selector circuit 7 are set as follows.

The counter 8 is set to count down when the signal Pa "1" is applied.

The output of the counter 8 is the +maximum data signal 10P.
It is Dm.

Next, a movement command signal pb “1” (fourth
C), the signal pb “1” is output to the OR circuit 14,
It is applied via an inverter 15 to the reset human power R of a one-shot multivibrator circuit (hereinafter referred to as one-shot circuit) 9 and a flip-flop circuit 10, respectively.

When the one-shot circuit 9 receives the signal pb "1", it outputs a preset pulse signal Ps "1" (FIG. 4e) and adds it to the counter 8.

At the same time, the flip-flop circuit 10 is reset and the gate circuit 17 is closed.

This flip-flop circuit 10 is set and reset at the fall of the signal applied to the set human power S and the reset human power R.

When the signal Ps"l" is added to the counter 8, the +
The maximum data signal 10 PD'm is outputted and applied to a digital-to-analog converter (hereinafter referred to as a DA converter) 2.

The DA converter 2 outputs an analog signal em according to the input signal PDm and applies it to the drive device 3.

The drive device 3 drives the drive motor 4 based on the input signal 10emIIc, and moves the movable body in the + direction at maximum speed.

The position detector 5 outputs a position signal PM corresponding to the movement of the moving body from the starting position P to the position E1, and applies it to the gate circuit 11 via the terminal T8.

However, the gate circuit 1T is closed as described above.

Therefore, the position signal PM is not added to the counter 8.

Therefore, the counter 8 has the maximum data signal PJ)m
continues to be output, and the moving object moves at maximum speed.

At time t2Fc, the moving object is at position R21 before position F.
When the limit switch LSF is turned on, the signal pF//1'' is applied to the input terminal T.

Therefore, the output of the AND circuit 11 becomes "1", and the input A3. of the data selector circuit 7. A2 becomes "1", A3 becomes "0", and as mentioned above, the data select circuit 7
selectively outputs the preset data signal PD of the input terminal T1.

At the same time, the output "1" of the AND circuit 11 is output from the OR circuit 14.
is applied to the one-shot circuit 9 via the one-shot circuit 9.

When the one-shot circuit 9 receives the input signal PF, it outputs a data set pass signal P8 (FIG. 4e) and adds it to the counter 8.

When the counter 8 receives this signal P8, the preset data signal PD is set.

This preset data signal PD is the stop position Q of the moving body,
It is set to a value corresponding to the distance e3 from the position F to the stop position Q11.

The counter 8 receives this preset data signal P after time t2.
Output D.

Then, at position F, the moving object attains a speed corresponding to this preset data signal PDFc.

Note that this preset data signal PD has a smaller value than the +maximum data signal PDm.

Then, when the moving body reaches position F at time t3, the limit switch LSF is turned off and the signal PF becomes "
O”.

The output of the AND circuit 11 is applied to the set power S of the flip-flop 10 via the OR circuit 16, and therefore, when the switch LSF is turned off, the output of the AND circuit 11 becomes "O".

The fall of the output of the AND circuit 11 sets the flip-flop 10 and opens the gate circuit 17.

On the other hand, the position detector 5 detects the position of the moving body from the moment it passes the position F, and outputs the position signal pM.

This position signal pM is applied to the counter 8 via the gate circuit 17.

The counter 8 is set to count down as described above, and therefore the pulse signal PM from the position detector 5
is sequentially subtracted from the preset data PD each time it is added.

Therefore, the output of the counter 8 gradually decreases (FIG. 4f)
, the output e of the DA converter 2 decreases in accordance with this decrease.

Therefore, the moving speed of the moving body gradually decreases.

When the output of the counter 8 becomes 0 at the position Q, the drive device 3 stops the motor 4 and stops the moving body at the position Q□.

In this way, the movable body is moved from the starting position P1 to the position R2-& before the position F at the maximum speed according to the maximum data signal PDm, and at the position F it is reduced to the speed according to the set data signal PD, The transition speed can be sequentially decreased from F to a preset stop position Q, and a complete stop can be made at this stop position Q.

In the above description, the case where the moving object is moved in the child direction has been described, but the case where the moving object is moved in one direction can be performed in the same manner.

In this case, the movement direction command signal Pa applied to the input terminal T4 is "O", and the counter 8 receives this signal Pa.
When "0" is added, it is set to up count.

Furthermore, the signal of the limit switch LS arranged at position E is input terminal T.

added to.

Other operations are the same as described above. The time shown in FIG. 4 is intended to show the relationship between the moving object and each signal in correspondence, and does not represent the correct passage of time.

As explained above, according to the present invention, the sections AE and F
Since the position detector only needs to be attached during the period B, a short position detector is sufficient and economical, and the number of digits of the counter may be small.

Furthermore, since the position feedback signal to the counter is cut off when the moving body moves, there is no reduction in speed, and there are advantages such as quick and accurate positioning.

[Brief explanation of drawings]

FIG. 1 is a block diagram of a conventional positioning device, FIG. 2 is an explanatory diagram of the operation of the device shown in FIG. 1, FIG. 3 is a block diagram showing an embodiment of the positioning device according to the present invention, and FIG. Third
FIG. 2 is an explanatory diagram of the operation of the device shown in the figure. 2... D-A converter, 3... Drive device, 4... Motor, 5... Position detector, 7... Data select circuit, 8... Counter, 9... One shot circuit, 1
0...Flip-flop circuit, 11.13...AND circuit, 12°15...Inverter, 14,15...
・OR circuit, 17... gate circuit.

Claims (1)

[Claims] 1. In a device that stores data indicating a certain amount of movement in a counter using a data set pulse signal, moves a moving object based on the output of this counter, and detects the position of this moving object and feeds it back to the counter, A positioning device characterized in that predetermined movement data is input to the counter, the feedback signal is cut off, and the feedback signal is connected to a position detector installed near the target position so that the counter subtracts the feedback signal. .