JPH0628915B2 - Control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (1) Object of the Invention [Field of Application of the Invention] The present invention relates to a control device, and more particularly, to a slave operation device that is operated faithfully in synchronization with the rotational movement of a rotary shaft of a main machine drive system. The present invention relates to a control device that controls a drive device for driving a motor.

[Conventional technology]

Conventionally, as this type of control device and drive device, a crank device 10A fixed to a rotary shaft 11 of a main machine drive system and a gear device 90 driven by the crank device 10A have been used as shown in FIG. That is, the arm 12A having one end fixed to one end of the rotary shaft 11 has a housing 12a and a shaft 12c arranged in the housing 12a and rotated by a rotary lever 12b. One end of a rod 13A is engaged with the shaft 12c, and its engaging position and the rotating shaft 11 of the arm 12A are rotated by rotating the rotating lever 12b.
The distance to the sticking position was adjusted. The other end of the rod 13A was pivotally supported by a part of a fan gear 15 which was rotatable around a rotary shaft 14. A gear 18 fixed to a rotary shaft 17 was meshed with a tooth portion 16 of the sector gear 15. A gear 91 of a gear device 90 is fixed to the rotary shaft 17, and an intermediate gear 92 is meshed with the gear 91. An output gear 93 was connected to the intermediate gear 92 via a clutch brake mechanism (not shown). The output gear 93 was connected to the working device 60, for example, a main roller 61 for film transport in the case of a bag-making machine.
The main roller 61 for transporting the film is a film to be transported.
The driven roller 63 was in contact via 62.

As a result, the crank device 10A is operated in perfect synchronization with the rotational movement of the rotary shaft 11 of the main machine drive system, and the operation of the crank device 10A causes it to be stretched by receiving excessive force when the object to be conveyed, such as a film, is conveyed. In order to eliminate the obstacles associated with the characteristics described above, the working device 60 is made to correspond one-to-one via the gear device 90 to the control condition specified as desired, so that the working device 60 is rotated about the rotary shaft of the main machine drive system. It was operating in perfect synchronization with the rotating motion of 11.

However, when it is necessary to change the working amount of the working device 60, for example, the film feeding amount in the case of a bag making machine, the rotary lever
The turning radius of the arm 12A was changed by rotating 12b.

[Problems to be solved]

In the above-described conventional control device, since the work amount of the work device is changed and set by changing the radius of gyration of the arm 12A, it takes skill to set the work amount and there is a drawback that the setting mechanism is complicated. there were. Further, even if a certain mark is arranged on the work body, there is a drawback that the work device cannot be controlled so that a certain work is performed on the work body from the certain mark. In addition, since the crank device and the working device are mechanically connected by a gear device, there is a drawback that the range in which the working device can be installed with respect to the crank device is limited.

The present invention is to solve the above-mentioned conventional problems, and makes it possible to easily change and set the work amount of the working device, and moreover, it is possible to finely control the operating speed of the working device, and further to elongate the work piece or the like. It is an object of the present invention to provide a control device capable of correcting a variation in the feed amount due to

(2) Configuration of the Invention [Means for Solving the Problems] The present invention is provided in the rotation output section of the main machine drive system and has a pulse interval change corresponding to the change in the rotation speed of the rotation output section. A pulse encoder means for outputting a main pulse train, a multiplying means for multiplying the main pulse train, a pulse train for processing the pulse train after multiplication, and reducing the number of pulses per predetermined time of the multiplied pulse train at a set ratio. A frequency conversion unit, a setting unit for setting a pulse reduction ratio by the pulse frequency conversion unit, a motor device for synchronously driving the working device by the pulse train obtained from the pulse frequency conversion unit, and a workpiece sent by the working device. The mark detection means disposed on the passage for detecting the mark provided on the work piece and the mark detection output timing by the mark detection means Flip control means for providing a correction instruction pulse reduced number of the pulse frequency converting means, it is characterized in that is provided and.

Alternatively, a power conversion means for converting the rotational power of the main machine drive system into a reciprocating rotary motion and a pulse for outputting a main pulse train having a pulse interval change corresponding to the speed change of the reciprocating rotary motion converted by the power converting means Encoding means, multiplication means for multiplying the main pulse train, pulse frequency conversion means for processing the pulse train after multiplication, and reducing the number of pulses per predetermined time of the multiplied pulse train at a set ratio, the pulse A setting unit that sets a pulse reduction ratio by the frequency conversion unit, a motor device that synchronously drives the work device by the pulse train obtained from the pulse frequency conversion unit, and is arranged in the passage path of the work body sent by the work device, Mark detection means for detecting marks provided on the work piece, and timing of mark detection output by the mark detection means Correspondingly the control means for providing a correction instruction pulse reduced number of the pulse frequency converting means, it is characterized in that is provided and.

[Operation] In the above means, the rotation output of the rotation output section of the main machine drive system,
For example, the reciprocating rotation output is converted by the pulse encoder means into a main pulse train having a pulse coarse density corresponding to a change in rotation speed. This main pulse train is, after being multiplied by the multiplying means, divided by the pulse frequency converting means, for example, at a predetermined ratio, and if there is an extra pulse as a result of the division, this is thinned out and the number of pulses per predetermined time is reduced. Results in a reduced pulse train. The reduction ratio is set by the setting unit according to the work amount of the working unit. The motor device is driven based on the pulse train output from the pulse frequency conversion means, and the work device is driven in synchronization with the main machine drive system. Moreover, by setting the pulse reduction ratio, it is possible to easily change and set the work amount of the work device. Further, since the main pulse train is multiplied to increase the pulse density and then the number of pulses is reduced at a predetermined ratio, the pulse train reduced at the set ratio has coarse pulses even if the reduction ratio is high. It is possible to finely control the speed of the working device without overshooting. Further, a correction command is given to the pulse frequency conversion means according to the mark detection position of the work sent by the work device, and the decreasing pulse number is corrected, so that the work can always be performed with reference to the mark detection timing. ..

〔Example〕

Next, the control device of the present invention will be specifically described with reference to the accompanying drawings.

FIG. 1 is an explanatory diagram of an embodiment of the present invention. FIG. 2 is a flow chart for explaining the operation of the embodiment shown in FIG.

10 is a cam device fixed to the rotary shaft 11 of the main machine drive system,
It is set to perform a desired reciprocating motion in synchronization with the rotary motion of the rotary shaft 11. That is, the rotating shaft 11 has a cam body.
12 is fixed, and one end of the driven shaft 13 is in contact with the peripheral surface of the cam body 12. The rotary shaft 17 is attached to the tooth portion 16 of the driven shaft 13.
A gear 18 fixed to the gear is meshed. The peripheral surface of the cam body 12 may be formed in a desired shape.

20 is a pulse encoder device attached to the rotary shaft 17 of the gear 18 meshed with the tooth portion 16 of the driven shaft 13 of the cam device 10,
A cam device synchronized with the rotational movement of the rotary shaft 11 of the main machine drive system
The operation of 10 is taken out as an electric signal. That is, a plurality of slits 22 are formed at equal intervals along the circumference of the disc 21 fixed to the rotary shaft 17, and the light emitting element 23 and the light receiving element 24 facing each other through the slit 22 of the disc 21 are provided. A pulse encoder circuit 25 is produced by devising the number and arrangement of and the A phase and the B phase signal which is 90 degrees out of phase with the A phase.
Pulse encoder circuit 25
The phase B and the phase B voltage output, that is, the pulse output, which is 90 degrees out of phase with the phase A, are transmitted. As the pulse encoder device 20, not only the optical device described above but also a magnetic device can be used.

30 is a pulse encoder circuit 25 of the pulse encoder device 20
In the multiplication circuit connected to, the A-phase and B-phase voltage outputs obtained by the pulse encoder circuit 25, that is, the pulse outputs, are multiplied and the output of the pulse encoder circuit 25 is multiplied by 1,
A signal having twice or four times as many pulses (hereinafter referred to as a multiplied signal) is created. That is, in the case of 1 time, the multiplied signal is created using only the rising edge or the falling edge of the A-phase or B-phase pulse output. This 1 × multiplied signal contains the same number of pulses as the number of slits 22 formed in the disk 21. In the case of doubling, the multiplied signal is created using the rising edge and the falling edge of the A-phase or B-phase pulse output. This doubled signal contains twice as many pulses as the number of slits 22. In the case of quadruple, the multiplied signal is created by using the rising edge and the falling edge of the A-phase and B-phase pulse outputs. This 4 times multiplied signal contains 4 times as many pulses as the number of slits 22. Whether the multiplication number of the multiplication circuit 30 is 1, 2, or 4 is determined by the number of slits 22 and the precision of the control signal finally required. If the multiplication number is 1, the multiplication circuit 30 may be omitted.

Reference numeral 40 is a thinning / dividing circuit connected to the multiplying circuit 30, that is, an example of a pulse frequency converting circuit in the present invention, and an appropriate number of unnecessary pulses are thinned out by the thinning circuit 41 from the multiplied signal, and the dividing circuit 42 is further used. Then, the frequency is appropriately divided to generate a desired control signal. The number of pulses to be decimated in the decimating circuit 41 (hereinafter referred to as decimating argument) and the frequency division ratio in the frequency dividing circuit 42 are set by the setters 43 and 44, respectively. The set values of the setters 43 and 44 are set by the setter 45. For example, when the setters 43 and 44 are used in a bag-making machine, the feed length or cut length of one working cycle of the film is calculated.
Properly processed at 46 and created. That is, the calculator 46 determines the shape of the control signal according to the set value of the setter 45. When the shape of the control signal is determined, the sparse and dense pulse train signal corresponding to this control signal is determined. The number of pulses of this pulse train signal is compared with the number of pulses of the multiplied signal to determine the frequency division ratio of the frequency dividing circuit 42. When the frequency division ratio is determined, the frequency division surplus appears, but this frequency division surplus is used as an argument. If the number of pulses according to the inter-argument is all thinned out at the end of one working cycle, the shape of the control signal may become unsmooth and a working error may occur. It is preferable to perform thinning processing at intervals to make the shape of the control signal as smooth as possible.

As described above, the thinning / dividing circuit that is the pulse frequency converting means.
By 40, frequency division is performed at a predetermined ratio, and excess pulses due to the frequency division ratio are thinned out. Thereby, with respect to the output pulse from the multiplier circuit 30, that is, for the pulse train in which the pulse interval changes coarsely and finely based on the speed change of the reciprocating rotary motion of the disk 21,
A pulse train is generated in which the number of pulses per predetermined time is reduced at a predetermined rate, and the density relationship due to speed change remains. When the work device on the driven side is driven by this pulse train, the work device is driven at a speed change corresponding to the speed change of the disk 21, and the work amount, for example, the feed size of the film is changed based on the reduction ratio of the pulse train. To be

Reference numeral 50 denotes a motor device connected to the thinning / dividing circuit 40, which is rotated by a constant angle in accordance with the number of pulses included in the control signal output by the thinning / dividing circuit 40. Therefore, as the motor device 50, an NC servo motor, a PLL-controlled servo motor, a step motor, or the like is used. The control signal may be given to the motor after being processed by an appropriate processing circuit (not shown) depending on the type of the motor specifically used as the motor device 50.

A working device 60 is connected to the motor device 50 and performs an appropriate work on the work. For example, in the case of a bag-making machine, it is a main roller 61 for film transport. In this case, the driven roller 63 is in contact with the main roller 61 via the film 62 which is the work piece.

Reference numeral 70 denotes a mark detection device disposed near the passage of the work piece, in which the light emitting element 71 and the light receiving element 72 are opposed to each other via the mark 64 of the work piece, for example, the film 62. The light receiving element 72 is connected to the calculator 46.
When the mark 64 is detected, the work amount set by the setter 45, for example, in the case of a bag making machine, a predetermined number of pulses corresponding to the amount of the film 62 fed from the mark 64 is calculated by the calculator
Output of the multiplication circuit 30, that is, the multiplication signal and the motor device
Calculated using the velocity signal given by 50. The set values of the setters 43 and 44 are changed according to the calculated value, and the operation contents of the thinning circuit 41 and the frequency dividing circuit 42 are changed. As a result, the motor device 50 is driven only in response to the predetermined number of pulses, and thus the working device 60 is also operated. Therefore, for example, in the case of a bag making machine, the film 62 can be always conveyed from the detection position of the mark 64 by a predetermined length. The output end of the mark detection device 70 may be directly connected to the motor device 50, for example, when the thinning / dividing circuit 40 is removed. In this case, a setting device for setting the work amount of the working device 60 from the time when the mark is detected is provided between the mark detection device 70 and the motor device 50, or such a setting device is included in the motor device 50. By providing the work device 60, the motor device 50 can be driven so that the work device 60 can perform a predetermined amount of work after the mark is detected. If the work of the working device 60 from the time when the mark is detected is always constant, the motor device 50 may be adjusted accordingly.

Further, the operation of the control device of the present invention will be described in detail.

First, in the setting device 45 of the thinning / dividing circuit 40, the working amount of the working device 60, for example, in the case of a bag-making machine, the feeding length of the film for one working cycle is set. The set value of the setter 45 is immediately given to the calculator 46 (see “Reading of set value” in FIG. 2), and the set value and the number of pulses included in the multiplication signal are used to determine the frequency division ratio of the frequency dividing circuit 42. The argument of the pulling circuit 41 is calculated. The calculated inter-argument and frequency division ratio are set in the setters 43 and 44, respectively (second
Refer to the figure "Inter-argument and setting of frequency division ratio") The operation of the thinning circuit 41 and the frequency dividing circuit 42 is specified.

Further, the work amount of the working device 60 in one working cycle after the mark attached to the work piece, for example, the film is detected by the setting device 45, for example, the film feed length is also set (see FIG. 2, "reading of set value"). "reference).

When the cam body 12 fixed to the rotary shaft 11 of the main machine drive system is rotated in the direction of arrow A in synchronization with the main machine drive system, one end of the driven shaft 13 is brought into contact with the peripheral surface of the cam body 12. As a result, the gear 18 is reciprocated in the directions of arrow B and C, and the gear portion 18 rotates the gear 18 in the directions of arrow D and E. At this time, the reciprocating motion of the driven shaft 13 is regulated by the peripheral surface shape of the cam body 12 because the rotation of the cam body 12 is a uniform velocity motion, and thus the motion of the gear 18 is also regulated by the peripheral surface shape of the cam body 12 and is not always equal. It is not a speed movement. In other words, the rotation operation of the gear 18 does not necessarily draw a sine curve, but a curve corresponding to the peripheral surface shape of the cam body 12. However, since it is relatively similar to the working operation of the working device 60 and is easy to handle, the rotation of the gear 18 is set to an approximate sinusoidal curve motion by selecting the peripheral surface shape of the cam body 12.

The rotation operation of the gear 18 is performed by the slit 22 formed in the disc 21 of the pulse encoder device 20 mounted on the rotating shaft 17 and the disc.
A light emitting element 23 and a light receiving element 24 arranged via 21 and a pulse encoder circuit 25 connected to the light receiving element 24 produce an appropriate voltage output, that is, a pulse output, which is output as an output of the pulse encoder device 20. The voltage output sent by the pulse encoder circuit 25 is a pulse of an approximate sinusoidal curve because the rotating operation of the gear 18 and thus the disk 21 is an approximate sinusoidal curve motion.

The voltage output, that is, the pulse output, sent from the pulse encoder device 20 is given to the multiplication circuit 30 and appropriately multiplied. The multiplication rate is determined by the number of pulses included in the voltage output of the pulse encoder device 20 and the work accuracy of the work device 60.

The voltage output multiplied by the multiplying circuit 30, that is, the multiplied signal is given to the thinning and dividing circuit 40. In the thinning / dividing circuit 40, since the thinning argument of the thinning circuit 41 and the frequency dividing ratio of the frequency dividing circuit 42 are set in advance, the thinning processing and the frequency dividing processing are executed in accordance with them.

At this time, if the start command for the motor device 50 is given (see "start command" in FIG. 2), the multiplying signal subjected to the thinning / dividing processing is given to the motor device 50 as a control signal. The motor device 50 is started in response to the control signal (see "motor start" in FIG. 2) and is operated with an appropriate speed waveform.

When the motor device 50 is started, the calculator 46 counts the number of pulses of the multiplied signal (see FIG. 2, "Counting the number of pulses of the multiplied signal") and counts the number of pulses of the pulse train signal supplied to the motor device 50. (See FIG. 2, "Counting the number of pulses of pulse train signal").

A working device 60 is connected to the motor device 50. The case of the bag making machine shown in FIG. 1 will be described in detail. A main roller 61 for transferring a film is connected to the output shaft of the motor device 50, and a film 62 disposed between the main roller 61 and the driven roller 63 is provided. It is conveyed by a predetermined distance in the direction of arrow F at a speed according to the operation waveform of the motor device 50.

When the work piece processed by the working device 60 does not have a mark (see “mark” in FIG. 2), when the number of pulses of the pulse train signal given to the motor device 50 reaches a predetermined value (see FIG. 1 predetermined value "). The motor device 50 is stopped (see FIG. 2, "motor stop").

When the work piece processed by the working device 60 has a mark (see "mark" in FIG. 2), the operation of the motor device 50 is in the timing region of the mark (see "timing region of mark" in FIG. 2). When the mark detection device 70 detects the mark 64 during processing of the work piece by the work device 60, for example, while the film 62 is being conveyed, the calculator 46 sets the work piece according to a desired processing amount from the mark 64 of the work piece. Bowl 43,44
The setting value of is changed (refer to FIG. 2 “Resetting of inter-argument and frequency division ratio”), the operations of the decimation circuit 41 and the frequency division circuit 42 are appropriately adjusted, and the required number of pulses are given to the motor device 50. Thus, the motor device 50 is driven. When the number of pulses applied to the motor device 50 reaches a predetermined value (see "second predetermined value" in FIG. 2), the motor device 50 is stopped (see "motor stop" in FIG. 2). Therefore, if the mark 64 is detected before the end of one work cycle of the work device 60 and when the work speed of the work device 60 is sufficiently reduced, it is executed from the start of the work by the work device 60 until the detection of the mark 64. It is also possible to execute a certain amount of work from the time when the mark 64 is detected and to smoothly finish the work without being influenced by the amount of work performed.

Although the thinning / dividing circuit 40 is used in the above description, a thinning circuit or a dividing circuit can be used as necessary if the working accuracy of the working device does not require very high accuracy. Depending on the case, it can be omitted altogether.

Further, in the above description, the case where the cam device in which one end of the driven shaft abuts is used as the cam device has been mainly described, but a cam device having another structure may be used.

(3) Effects of the Invention As described above, in the present invention, the rotation output from the main machine drive system, for example, the output of the reciprocating rotary motion is converted into a pulse train, and the working device is driven at a speed based on the density variation of this pulse train. . By reducing the number of pulses in the pulse train at a set ratio, the work amount of the working device, such as the film feed size, can be changed. This work amount can be set only by setting the reduction ratio of the number of pulses, and therefore the change setting is very simple. Further, since the main pulse train passes through the multiplying means, the number of pulses per predetermined time is increased to 2 times or 4 times, and the pulse after this increase is reduced at the set ratio, so even if the reduction ratio is high, The pulse train of does not become too coarse, and therefore the drive speed of the working device can be finely controlled. Further, since the number of reduced pulses is corrected in accordance with the mark detection timing provided on the work piece, the work is always performed with the mark detection timing as a reference.

[Brief description of drawings]

FIG. 1 is an explanatory view of an embodiment of the present invention, FIG. 2 is a flow chart for explaining the operation of the embodiment of FIG. 1, and FIG. 3 is an explanatory view of a conventional example. 10 …… Cam device 11 …… Rotary shaft 12 …… Cam body 13 …… Driven shaft 16 …… Tooth part 17 …… Rotary shaft 18 …… Gear 20 …… Pulse encoder device 21 …… Circle 22 …… Slit 23 …… Light emitting element 24 …… Light receiving element 25 …… Pulse encoder circuit 30 …… Multiplier circuit 40 …… Decimation frequency divider circuit 41 …… Decimation circuit 42 …… Divider circuit 43, 44, 45 …… Setting device 46 …… Calculator 50 …… Motor device 60 …… Working device 61 …… Main roller 62 …… Film 63 …… Following roller 64 …… Mark 70 …… Mark detection device 71 …… Light emitting element 72 …… Light receiving element

Claims (2)

[Claims] 1. A rotation output section of a main machine drive system,
A pulse encoding means for outputting a main pulse train having a pulse interval change corresponding to the change in the rotation speed of the rotation output section, a multiplying means for multiplying the main pulse train, and a pulse train which has processed the pulse train after multiplication and has been multiplied. Pulse frequency conversion means for reducing the number of pulses per predetermined time at a set ratio, a setting unit for setting the pulse reduction ratio by the pulse frequency conversion means, and a work device by a pulse train obtained from the pulse frequency conversion means A motor device for synchronously driving the workpieces, a mark detection means for detecting a mark provided on the workpiece, which is arranged in a passage path of the workpiece sent by the working device, and a timing of mark detection output by the mark detection means. Control means for giving a pulse reduction number correction command to the pulse frequency conversion means in accordance with A control device characterized in that 2. A power conversion means for converting rotational power of a main machine drive system into a reciprocating rotary motion, and a main pulse train having a pulse interval change corresponding to a speed change of the reciprocating rotary motion converted by the power converting means is output. Pulse encoding means, multiplying means for multiplying the main pulse train, pulse frequency converting means for processing the pulse train after multiplication, and reducing the number of pulses per predetermined time of the multiplied pulse train at a set ratio A setting unit that sets a pulse reduction ratio by the pulse frequency conversion unit, a motor device that synchronously drives the working device by a pulse train obtained from the pulse frequency conversion unit, and a motor device that is placed in the passage path of the work sent by the working device. The mark detecting means for detecting the marks provided on the work piece and the mark detecting means for detecting the marks by the mark detecting means. Control means for giving a correction command of the pulse reduction number to the pulse frequency conversion means according to the timing of force, and a control device.