JPH0466779B2 - - Google Patents

Description

[Detailed Description of the Invention] [Industrial Field of Application] The present invention relates to a belt-shaped material for stopping the belt-shaped material at a correct position in order to feed out a rolled-up belt-shaped material and cut it into a predetermined length, for example. The present invention relates to a transport positioning device.

[Conventional technology]

Blocks (trade name: Z block) made by folding an inorganic fiber blanket and fixing it to a mounting bracket have been known for forming a heat insulating layer that is attached to the wall of a furnace such as a heating furnace (for example, JP-A-1988-1999).
(See Publication No. 159397). To manufacture this block, it is necessary to fold a blanket 1 of a certain length into an M shape as shown in Fig. 3, and make the end of the blanket protrude by a minute distance t (for example, about 0 to 5 mm) from the fold. be.

Conventionally, in order to prepare a blanket 1 of a predetermined length for making such a block, a long bracket is manufactured in advance and rolled into a roll, which is then fed out by a conveyor until the tip reaches a predetermined position. The conveyor is stopped at that point by a sensor such as a phototube, and the blanket is cut by a cutter placed a predetermined distance from the sensor.

[Problem that the invention seeks to solve]

However, even if a stop signal is sent to the motor driving the conveyor to stop the conveyor when the sensor detects the tip of the blanket, the conveyor will not stop at the correct position due to the inertia of the conveyor, and therefore the blanket will not stop. There was a problem that it was not possible to cut accurately (for example, about ±1.5 mm). Therefore, conventionally, when folding this blanket to manufacture a block, operations such as adjusting the crease position and cutting the ends after folding the blanket were performed.

[Means for solving problems]

In order to accurately cut a strip material to a constant length, it is necessary to accurately stop the conveyor that conveys the strip material. Therefore, if a servo mechanism consisting of a servo motor, a servo amplifier, and a feedback pulse generator, which is conventionally used for positioning robots, etc., is used to drive the conveyor, the conveyor can be stopped at an accurate position. it is conceivable that. However, since the conveyor used to convey the strip material always rotates in one direction, if a normal servo motor and servo amplifier were simply used, pulses would accumulate indefinitely in the counter of the servo amplifier. This will cause inconvenience. Therefore, it is necessary to stop the servo motor at an appropriate time and perform a home return stop to clear the counter. However, in robots, etc., when stopping to return to the origin, the stopped position of a controlled object (for example, an arm) driven by a servo motor is regulated by a mechanical stopper, and the stopped position does not match the zero position of the counter. However, in the case of a conveyor, the stop position of a conveyor driven by a servo motor cannot be regulated by mechanical means, so it only stops when the servo motor stops, and the accuracy of the stop position at that time is poor, so the conveyor The position cannot be compared with the zero position of the counter,
A problem arises in that the position cannot be controlled thereafter.

This device was developed in view of the problems associated with the present invention, and is capable of feeding out a long strip of material such as a blanket using a conveyor, and using a servo mechanism to accurately stop the conveyor at a predetermined position. The purpose is to provide

[Means for solving problems]

That is, the present invention provides a conveyor for conveying a strip material, a servo motor for driving the conveyor, a pulse generator for generating pulses in accordance with the rotation of the servo motor, and a control means for giving a drive command to the servo motor. a servo amplifier comprising a counter and an amplifier for inputting a command value from the control means and a pulse from the pulse generator and driving the servo motor according to a difference signal therebetween; The controller includes an auxiliary counter that inputs and counts pulses, and a sensor that detects when the tip of the strip material reaches a predetermined position, and the control means operates the auxiliary counter based on the sensor's tip detection signal of the strip material. When the auxiliary counter counts the preset number of pulses, the servo motor and servo amplifier are stopped from returning to the origin, and then the remaining number of pulses is calculated from the number of pulses counted by the auxiliary counter when the servo motor is stopped and the target number of pulses. and outputs the calculated value to the servo amplifier as a command value, after which the servo motor is restarted and the servo amplifier positions and stops based on the command value. The main subject is a conveyance positioning device.

〔Example〕

Embodiments of the present invention shown in the drawings will be described in detail below.

FIG. 1 shows an embodiment in which the present invention is applied to a blanket cutting and folding device, in which 1 is a blanket, 1A is a blanket roll for feeding out the blanket 1, and 3 is a cutting section for cutting the blanket into a predetermined length. , 4 is a folding section for folding the blanket cut to a predetermined length into the state shown in FIG. Reference numerals 5 and 5 designate conveyors for delivering the blanket 1 from the blanket roll 1A, and each is connected to a drive control device. Since the two conveyors 5, 5 are driven and controlled by a similar drive control device, only one conveyor 5 will be described. 6 drives conveyor 5
AC servo motor; 7 is a pulse generator that generates pulses according to the rotation of AC servo motor 6; 8 drives AC servo motor 6 according to the difference signal between the specified input value and the number of input pulses from pulse generator 7. The servo amplifier is equipped with a counter 9 and an amplifier 10. As the AC servo motor 6, servo amplifier 8, etc., commercially available ones used in robots and the like can be used. 11 is an auxiliary counter, 12 is a control circuit, 13 is a digital switch for setting implantation inputs such as the target pulse number, and 14 is a sensor such as a phototube for detecting the tip of the blanket 2. These conveyors 5 and their drive control devices constitute a belt-like material transport and positioning device according to an embodiment of the present invention. 1
5 is a cutter for cutting the blanket 1;
As will be described later, when the front end of the blanket 1 is positioned and stopped at a predetermined position, it is arranged so that the blanket can be cut at a predetermined length position. 16 is a stopper for shaping the tip of the blanket 2. Note that details of the folding portion 4 will be described later.

Next, the operation of the cutting section 3 having the above configuration will be explained.

The stop position of the blanket tip is set in advance by the digital switch 13, and the blanket tip is set to the sensor 1.
The number of pulses (assumed to be _N1 ) until stopping after passing through 4 is input to the control circuit 12 set. At the same time, the position at which the return to origin should be stopped is input to the control circuit 12, which is set based on the number of pulses (referred to as _N2 ) after the blanket tip passes the sensor 14. Here, N ₁ >N ₂ .

Shape the tip of the blanket 1 fed out from the blanket roll 1A in advance by blocking it with a stopper 16 to make it perpendicular to the flow direction of the conveyor 5, or if it is out of shape, cutter 1
Transfer it to position 5 and cut the tip with cutter 15 to adjust the shape. Next, by operating a start switch (not shown), the AC servo motor 6 starts rotating.
A conveyor 5 conveys the blanket 1 in the direction of arrow A. When the blanket 1 moves in the direction of arrow A and its tip passes under the sensor 14, the sensor 14 detects this and outputs a detection signal to the control circuit 12. In response to this, the control circuit 12 clears the auxiliary counter 11 and causes the auxiliary counter 11 to start counting pulses from the pulse generator 7.
When the number of pulses counted by the auxiliary counter 11 reaches the set value _N2 , the control circuit 12 servo amplifier 8
Then, a home return stop command is sent to the AC servo motor 6 to stop the AC servo motor 6 and at the same time clear the counter 9 in the servo amplifier 8. At this time, the AC servo motor 6 cannot be stopped accurately, so the pulse count value of the auxiliary counter 11 is the set value N ₂ at the time the AC servo motor 6 stops.
It is a value (referred to as n) that is more advanced than .

Next, when the AC servo motor 6 has completely stopped, the control circuit 12 extracts the count value n in the auxiliary counter 11, and positions the blanket at a predetermined position based on this count value n and a preset target number of pulses _N1 . Remaining number of pulses N ₃ (=N ₁ - n) to advance the blanket in the future in order to
is calculated and outputs the number of pulses _N3 to the counter 9 as a position command value. After that, servo amplifier 8
starts operating, and in response to the difference signal between the command value _N3 and the number of pulses sent from the pulse generator 7.
The AC servo motor 6 is driven, and when the number of pulses from the pulse generator 7 matches the command value _N3 , the AC servo motor 6 is stopped. In this way, the conveyor 5 is accurately positioned and stopped so that the blanket 1 held thereon is at a position where the leading end thereof is moved from the sensor 14 by a distance corresponding to the preset target number of pulses _N1 . After the blanket 1 has stopped at a predetermined position, the cutter 15 is operated to cut the blanket 1 off.

After cutting the blanket with cutter 15, cut it again.
The AC servo motor 6 starts operating and sends the separated blanket to the folding machine 4. At the same time, the remaining blanket 1 is conveyed in the direction of arrow A, and when the new tip passes under the sensor 14,
Clear the auxiliary counter 11 and clear the auxiliary counter 11.
Then, the pulse generator 7 starts counting pulses, and the same operation is repeated thereafter. In this way, the selected blanket 1 fed out from the blanket drawer 1A is positioned and stopped at a predetermined position, and then cut off by the cutter 15. After that, the next blanket portion is positioned and stopped at a predetermined position again. By repeating the cutting operation with the cutter 15, the blankets are cut into predetermined lengths and sent one after another to the folding machine 4.
Here, since the AC servo motor 6 always rotates in the same direction, the servo amplifier 8 is connected to the pulse generator 7.
The pulses sent to the counter 9 are always accumulated, but they are cleared to 0 by the home return stop before the positioning stop, so the pulses do not accumulate indefinitely, and after that, the control circuit 12 at an accurate position according to the given position command value.
The AC servo motor 6 can be stopped.

Next, the folding machine 4 will be explained. In Figure 1, 2
1 is a conveyor that conveys the blanket 1; 22 is an AC servo motor that drives the conveyor 21;
23 is its control device, 24 is a pulse generator, 25
A sensor 26 detects the front and rear ends of the blanket 1, and a sensor 26 detects the front end of the blanket 1. 27 is a folding machine, which is a pantograph-type parallel link mechanism 2 located next to the conveyor 21.
8, a clamp mechanism 29 extending upward from the conveyor held at the central intersecting shaft thereof, a motor 30 for opening and closing the parallel link mechanism 28, and the like. This parallel link mechanism 28 has a lower cross axis 31 located at the center and a vertical axis 31 that is a vertical axis Y-Y.
The position in the blanket feeding direction is regulated by the guide 32 located above, and therefore the motor 3
By moving the parallel link mechanism 28 by 0, each clamp mechanism 29 can be opened and closed about the axis Y-Y. Further, each clamp mechanism 29 has an upper side holder 29a and a lower side holder 29b, and the lower side holder 29b can be retracted in the lateral direction of the conveyor 21. Reference numeral 33 denotes a material lifter capable of lifting the blanket 1 on the conveyor 21. The folding machine 27 and the Haramata lifter 33 are described in the patent application filed in 1986 by the applicant.
−183583 can be used for disclosure.

Next, the blanket folding operation by the folding section having the above configuration will be explained. When the blanket 1 cut to a predetermined length is sent out by the conveyor 5, the conveyor 21 also starts operating at the same time, and the blanket 1 is passed from the conveyor 5 to the conveyor 21. While this blanket 1 is in progress, the sensor 25
from when it detects its leading edge until it detects its trailing edge.
The control device 23 counts the number of pulses, measures the actual length of the blanket 1, and determines the actual length. Based on this, the tip stop position is calculated so that the center of the blanket 1 stops at the center Y-Y of the folding machine 27, and based on the calculation, the AC servo motor 22 is controlled to stop the blanket 1 at a predetermined position. . The positioning and stopping at this time is also performed in the same manner as in the cutting section. That is, the blanket tip 1 is connected to the sensor 26.
After this is detected, a home return stop is performed at an appropriate position, and then the final stop position is commanded to a servo amplifier (not shown) in the control device 23, and a positioning stop is performed. The blanket 1 is thus positioned in the center of the precision folder 27. In parallel with this operation, the control circuit 23 calculates the third length from the actual length of the blanket 1.
As shown in the figure, the protruding distance t of the end of the folded blanket is within the desired range (for example, about 0 to 5 mm).
The crease position is calculated so that the motor 30
is operated to position the clamp mechanism 29 at a desired position.

Next, the conveyor 21 stops and the blanket 1
is positioned at the predetermined position, the original fabric lifter 3
3 lifts blanket 1. At this time, the lower side 29b of each slump mechanism 29 is attached to the blanket 1.
I moved to the side so as not to interfere with the situation. Next, this lower side dryer 29b moves forward under the lifted blanket 1, and then the upper side dryer 29a is pressed against the lower side dryer 29b by a pressing means (not shown), and both of them press the blanket. Grip 1. Thereafter, the fabric lifter 33 is lowered, the motor 30 is activated, and each clamp mechanism 29 is closed. As a result, the held blanket 1 is folded as shown in FIG. After folding, the blanket is ejected by suitable means (not shown) and transferred to folding machine 2.
7 is returned to its original state by the motor 30. below,
By repeating the same operation, cutter 15
The blanket 1 cut by the conveyor 5 and sent out by the conveyor 5 can be folded into the shape shown in FIG. 3, and the protruding amount t of the end can be set within a desired size range.

Note that the above embodiment is a case where the present invention is applied to a blanket cutting and folding device, but
It goes without saying that the present invention is not limited to this case, but can be applied to the case where any strip material is conveyed and positioned on a conveyor.

〔Effect of the invention〕

As explained above, the conveyor positioning device for strip material of the present invention uses a servo motor and a servo amplifier to drive the conveyor that sends out the strip material, and generates pulses from a pulse generator that generates pulses in accordance with the rotation of the servo motor. Since the drive is controlled by feedback, it is possible to stop the conveyor at an accurate position and position the strip material at a predetermined position, and at that time, it is possible to return to the origin prior to the positioning stop by the servo amplifier. Since it is configured to stop, pulses do not accumulate indefinitely in the counter of the servo amplifier, and a servo mechanism consisting of a servo motor and servo amplifier can be applied to control the stop position of items that rotate only in one direction, such as conveyors. It has the effect of being able to.

[Brief explanation of the drawing]

Fig. 1 is a schematic configuration diagram showing an embodiment in which the present invention is applied to a blanket and cutting/folding device, Fig. 2 is a side view illustrating the folding operation by the folding machine of the device, and Fig. 3 is a diagram showing the formation of a Z block. FIG. 1... Blanket, 1A... Blanket roll, 3... Cutting section, 4... Folding section, 5... Conveyor, 6... AC servo motor, 7... Pulse generator, 8... Servo amplifier, 9 ...Counter, 10
... Amplifier, 11 ... Auxiliary counter, 12 ... Control circuit, 13 ... Digital switch, 14 ... Sensor, 15 ... Cutter, 16 ... Stopper.

Claims (1)

[Claims] 1. A conveyor that conveys a strip material, a servo motor that drives the conveyor, a pulse generator that generates pulses in accordance with the rotation of the servo motor, a control means that gives a drive command to the servo motor, and the control means a servo amplifier including a counter and an amplifier for inputting a command value from the pulse generator and a pulse from the pulse generator and driving the servo motor according to a difference signal therebetween; An auxiliary counter for counting,
a sensor for detecting that the tip of the strip material has reached a predetermined position, and the control means starts the operation of an auxiliary counter based on a detection signal of the tip of the strip material from the sensor, and the auxiliary counter starts the operation of a preset pulse. When the servo motor and servo amplifier are counted, the servo motor and servo amplifier are stopped to return to the origin, and then the remaining number of pulses is calculated from the count pulse number of the auxiliary counter when the servo motor is stopped and the target pulse number, and this is used as a command value to control the servo amplifier. 1. A conveying and positioning device for a belt-like material, characterized in that the servo motor is restarted, and the servo amplifier positions and stops based on the command value.