JPH049328B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION Technical Field The present invention relates to a method for controlling a stop position of a moving body.

BACKGROUND TECHNOLOGY There is a so-called joke box type disk playing device in which dozens of disks are arranged and housed at regular intervals, and arbitrary disks are selected from these disks and played sequentially. In order to select and take out one disk from among ten disks, the ejecting member must be moved in the direction of disk arrangement, stopped at the specified disk position, and positioned with respect to the specified disk in order to take out the specified disk. It needs to be done accurately.

Conventionally, there has been a device shown in FIGS. 1 and 2 as a device for controlling the stopping position of a movable body including the above-mentioned extraction member. In FIG. 1, an end of an arm 1 that moves in the directions of arrows X and Y in the figure in conjunction with a moving body (not shown) has a pair of opposing portions 2a,
2b is formed, and these opposing parts 2a, 2b
A plate member 3 extending in the X and Y directions is provided between them. This plate member 3 has a pair of slits 4a and 4b corresponding to a certain stop position of the arm 1.
are drilled so that they are parallel to the X and Y directions and such that adjacent portions overlap by a distance L. On the other hand, the opposing portion 2a of the arm 1,
2b, each pair of light-emitting elements 5a, 5b and light-receiving elements 6a, 6b constituting position detection sensors A and B, respectively, are connected to a pair of slits 4.
They are arranged facing each other corresponding to a and 4b.

In FIG. 2, each output of a pair of light receiving elements 6a and 6b is waveform-shaped by a waveform shaping circuit 7.
These become two inputs to NAND gate 8. The control circuit 9
The stop position of the moving body (arm 1) is detected based on the output of the NAND gate 8, and a stop command is given to the motor 11 as a drive source via the drive circuit 10.

Next, the operation will be explained with reference to the waveform diagram of each part in FIG. It is now assumed that the motor 11 is started by a start command from the control circuit 9 and the arm 1 is moving in the X direction in the figure. When the arm 1 reaches the desired stop position, the output a of the sensor A becomes high level, then the output b of the sensor B becomes high level, and in response, the output c of the NAND gate 8 becomes low level. The control circuit 9 detects that the arm 1 has reached the stop position by detecting the transition timing of the output c of the NAND gate 8 from a high level to a low level, and issues a stop command to the motor 11 via the drive circuit 10. When the motor 11 is stopped, the arm 1 overruns by a certain amount and then stops.

Here, since a gear reduction mechanism is generally used as a transmission mechanism for transmitting the driving force of the motor 11 to the moving body, the arm 1 moves in the Y direction, that is, due to backlash of the gear after the motor 11 stops. It may move in the opposite direction and go outside the permissible stopping position range. When the arm 1 goes outside the permissible stop position range, the output b of the sensor B goes low and the output c of the NAND gate 8 goes high, so the control circuit 9 starts the motor 11 to start the moving body again. Move in the X direction and move the sensors A and B.
The stop position is detected based on the outputs a and b of the motor 11, and a stop command is given to the motor 11. If the arm 1 then moves in the Y direction again due to backlash or the like and comes out of the permissible stop position range, the above operation will be repeated. This action causes arm 1
Figure 4 shows how it moves. In FIG. 4, L is the permissible stop position range determined by the amount of overlap between the slits 4a and 4b, O is the amount of overrun of the moving body, and P is the amount of return due to backlash, etc.

In this way, in the conventional control method, the motor 1
If the stop position of the movable body deviates outside the permissible stop position range due to backlash etc. after stopping as described in 1 above, the movable body will vibrate near the stop position, resulting in a so-called hunting state. This means that you will not be able to stand still.

Summary of the invention The present invention has been made in view of the above points, and
To provide a stop position control method for a movable body that can reliably stop the movable body within a permissible stop position range even if the stop position of the movable body is shifted due to backlash of gears in a power transmission mechanism. purpose.

The stop position control method for a movable body according to the present invention includes stopping the driving source of the movable body when the movable body enters a stop position tolerance range of a predetermined stop position in the traveling direction, and then stopping the movable body at the stop position. If the moving body deviates outside the permissible stop position range in the direction opposite to the traveling direction, the drive source is started again, and when a predetermined time T=to has elapsed since the movable body has entered the permissible stop position range, the drive source is started again. Stop the drive source, and then T=n×to(n=2, 3, 4, 5...)
The method is characterized in that the movable body is repeatedly started and stopped until the final stop position of the movable body falls within the permissible stop position range.

Embodiments Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

In FIG. 5, parts equivalent to those in FIG. 2 are indicated by the same symbols, and after stopping the motor 11,
A counter 12 that counts the number of times the stop position of the stop position deviates outside the permissible stop position range, and this counter 1
Predetermined time T=n× according to count number n of 2
The configuration includes a new timer circuit 13 for generating tosec (n=1, 2, 3, 4, 5, . . . ). The control circuit 9, as shown in FIG.
Initially, a command to stop the motor 11 is issued when the output c of the NAND gate 8 transitions from a high level to a low level, but after the stop position of the arm 1 shifts outside the permissible stop position range, the output of the timer circuit 13 is issued. Based on this, control is performed to issue a stop command when the predetermined time T has elapsed from the transition point of the output c of the NAND gate 8.

Next, the stop position control operation by the apparatus of the present invention will be explained based on the flowchart of FIG.

First, in step 1, the motor 11 is started to move the moving object in the X direction, and then the moving object is moved based on the output c of the NAND gate 8, which takes the outputs a and b of the position detection sensors A and B as two inputs. In step 2, it is determined whether the stopping position of the body is within the permissible stopping position range. When it is determined that the stop position is within the permissible range, it is then determined in step 3 whether a predetermined time T has elapsed since the time when the stop position was within the permissible range. Initially, the predetermined time T is set to 0 seconds, so when the stop position is within the permissible range, a command to stop the motor 11 is issued from the control circuit 9, and in response, the motor 11 stops (step 4).

After the motor 11 has stopped, it is determined in step 5 whether the stop position of the moving body does not deviate outside the permissible stop position range.
will be monitored. At this time, if the stop position of the movable body moves in the Y direction due to backlash of the gears in the driving force transmission mechanism and deviates outside the permissible stop position range, the counter 12 counts up and increases the count number n by 1 (n+1). (Step 6)
Furthermore, in step 7, a predetermined time T(n×to,
to: a certain period of time) and return to step 1. Thereafter, the above series of operations is repeated until the stop position of the movable body falls within the permissible stop position range. FIG. 8 shows how the moving body (arm 1) moves in the vicinity of the stop position due to the above operations. As is clear from FIG. 8, each time the stop position of the moving body deviates outside the stop position tolerance range, the time point (x mark) at which the stop command is issued to the motor 11 approaches the center of the stop position tolerance range, so the moving body stops. The amount of deviation outside the permissible position range gradually decreases, and the movable body can finally be stopped within the permissible stop position range. Note that it is clear that the smaller the amount of return due to backlash or the like, the less time it takes for the moving body to come to a standstill.

It should be noted that the present invention is applicable not only to the control of the stop position of a movable body in a joke box type disk performance device, but also to all types of general stop position control of a movable body. Furthermore, it goes without saying that the NAND gate 8, control circuit 9, counter 12, and timer circuit 13 may be constructed by a microcomputer.

Effects As explained above, according to the stop position control method according to the present invention, even if the stop position of the movable body deviates due to backlash of gears in the power transmission mechanism, the movable body can be kept within the permissible stop position range. It is possible to make it stand still inside.

[Brief explanation of drawings]

Fig. 1 is a perspective view showing the configuration of a position detection section of a moving body, Fig. 2 is a block diagram showing a conventional example, Fig. 3 is a waveform diagram of each part in Fig. 2, and Fig. 4 is a conventional control method. FIG. 5 is a block diagram showing an embodiment of the present invention; FIG. 6 is a waveform diagram of each part in FIG. 5;
FIG. 7 is a flowchart showing the control method of the present invention, and FIG. 8 is a diagram showing the movement of the movable body in the vicinity of the stop position according to the control method of the present invention. Explanation of symbols of main parts, 1...Arm, 4a,
4b...Slit, 5a, 5b...Light emitting element, 6
a, 6b... Light receiving element, 9... Control circuit, 11...
...Motor, 12...Counter, 13...Timer circuit.

Claims (1)

[Claims] 1. The driving source of the moving body is stopped when the movable body enters within the stop position tolerance range of a predetermined stop position in the direction of travel, and thereafter the stop position of the movable body is within the stop position tolerance range of the predetermined stop position in the direction opposite to the travel direction. If it deviates from the range, the drive source is started again and the drive source is stopped when a predetermined time T=to has elapsed since the movable object entered the permissible stop position range, and thereafter T=n× to(n=2, 3, 4,
5) A method for controlling a stop position of a movable body, comprising repeating starting and stopping of the movable body until the final stop position of the movable body falls within the permissible stop position range.