JPS61120012A - Position recognition system of conveyed material in conveying device - Google Patents

Abstract

PURPOSE:To recognize the conveyance position of a conveyed material with high precision by measuring two positions in each of sections which are provided at constant intervals of distance and where the conveyed material is passed, and calculating the quantity of a slip between the object material and a table roll on the basis of the measured value and correcting the position of the conveyed material. CONSTITUTION:The quantities of rotation of the table roll 2 in the periods where the conveyed material 1 moves between detection sensors 8 for the conveyed material which are provided at constant distances L1 and L2 are measured by rotational quantity measuring circuits 4a and 4b, and a slip quantity measuring circuit 6 calculates the quantity of a slip on the basis of their outputs. Namely, an equation holds, where LCNTn is the feed quantity of the conveyed material in a constant section Ln, PLSn1 is the number of generated pulses of PLG-N during the period, and PINCn is the pulse increment of PLG-N; and this result is the quantity of feed of the conveyed material 1 by the table roll 2 and if there is no slip between the table roll 2 and conveyed material 1, LCNTn in the equation is Ln, i.e. the distances L1 and L2. Therefore, the difference between the result of the equation and Ln is the quantity of the slip.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to a control system for recognizing the position of a transported material with high precision in a material transporting device. FIG. 2 is a configuration diagram showing a control method for recognizing the position of a transported material in a conventional transport device ffffK.

In the figure, (1) is a conveyed material, (2) is a table roll for conveyance, (3) is a position measurement sensor using a pulse transmitter, etc. to detect the position of the conveyed material (1), and (3a ) is the first position measurement sensor, (3b) is the second position measurement sensor, αq is the position calibration sensor of the transported material (1), α
υ is also a position tracking circuit.

The control system for recognizing the position of the transported material in the conventional transport device is configured as described above, and when a plurality of transported materials (1) are transported on the table roll (2), the transported material (1)
As a means of recognition, the tip of the conveyed material (1) is detected by a first position detection sensor (6).
The position reached at the table roll (2) connected to a) and the table roll where the conveyed material <11 is progressing to the right and the tip end is connected to the second position detection processor (3b) K Detect the position of the two points with the position reached in (2),
At the time of each detection, the detection signal (PLS 11 and (P
I, 821 is input to the position tracking circuit α Yu, and the conveyed material (
1) Place #confirmation is taken.

In the above case, although there are individual differences depending on the conveyance device, it is usually caused by slip occurring between the table roll (2) and the conveyed material (1), and compared to ideal conditions without this slip. Then, an error corresponding to the above-mentioned slip is added to the new conveyance time and the position of the conveyed material (1), or the time during conveyance and the position iIk of the conveyed material (1), and the conveyed material (1) is transported to the right.

In order to detect the error caused by the above-mentioned slip, which is unavoidable in actual operations, when the leading edge of the conveyed material (1) reaches the position of the position calibration sensor uO, the detection output is input to the position tracking circuit (11). and the distance from the tracking starting point of the transported material (1). The actual time when the new aircraft was transported is the position tracking times M(l
■Calculate within υ. As a result, distance.

The delay in conveyance time or positional deviation due to the slip of the conveyed material (1) between the two is measured, and the position of the conveyed material (1) during the conveyance operation is calibrated based on this measurement.

[Problem that the invention seeks to solve]

In the conventional IFI control system for recognizing the position of the material to be transported in the conventional transport device as described above, it is possible to determine whether the result of transporting the material during transport or, for example, in the above case. cannot be detected and calibrated unless it is transported a distance of For this reason, it is impossible to detect and calibrate errors caused by slips between the conveyed material and the table rolls during conveyance, so there is a problem in that precise position recognition cannot be performed.

This invention was made to solve this problem, and even if an error occurs in the conveying position due to the above-mentioned slip while the conveyed material is being conveyed, the finely divided position can be detected and recognized. It is an object of the present invention to provide a control method that can reduce the adverse effects caused by changes in the conveyance position.

[Means for solving problems]

A control method for recognizing the position of a conveyed material in a conveying device according to the present invention measures errors due to slip amounts, etc. at subdivided measurement positions during the conveyance of the conveyed material, and based on this measurement result. This is to correct the position of the transported material on the transport line.

[For production]

In this invention, the slip amount measurement of the transported material is carried out by dividing it into smaller pieces while the transported material is being transported, so the higher the density of this segmentation, that is, the more places the slip amount measurement is performed, the more the transported material is measured. The accuracy of the correlation between the position of the material and the transport time is increased.

〔Example〕

FIG. 1 is a configuration diagram showing one embodiment of the present invention, (1) to
(3) and (3al, (rob)) are the same parts as the conventional example shown in FIG. 2. (4a) is the first roll rotation amount measurement based on the input from the first position measurement sensor (5a). The circuit (4b) is also connected to the second position measurement circuit (6b).
The second roll rotation amount measurement circuit receives input from the first and second position measurement circuits (3a) and (3b).
A position tracking circuit for the conveyed material (1) based on the output of (6)
) is the roll rotation amount measuring circuit (4al,
(The slip measurement circuit for the conveyed material (1) based on the results from 4bl, and the tracking circuit (7) that corrects the output from the position tracking circuit (5) based on the results from the slip amount measurement circuit (6). The result correction circuit (8) is a conveyed material detection sensor for measuring the amount of slip.

In the control method for recognizing the position of the transported material in the transport device configured as described above, the transported material (1) is shown in the diagram,
A table roll (
The amount of rotation in 2) was changed to 1st. Second rotation amount measuring circuit (4al
, (4b), and based on these outputs, the slip amount is calculated in the slip amount measuring circuit (6). That is, if the feed rate of the conveyed material during a certain period Ln is LCNTn, and the number of pulses generated for Pr and Gn during that period is Pt, snx, Pt, and c-n, then L(H7n
= PLSnl X PiNcn C1]
The result of this formula [1] is the amount of conveyed material (1) fed by the table roll (27), and if there is no slip between the table roll (2) etc. and the conveyed material (1), then , [Lcsrn u Ln in formula 1a, that is, the distance shown in the figure, should be equal to the distance of , L.

Therefore, the difference between the result of formula 1a and Ln is the slip amount.In addition, in the slip amount measuring circuit (6), the roll diameter correction of pulse shift/clime/to is also performed, and the position is determined based on this slip amount. The tracking result correction circuit (7) adds or subtracts the slip amount as a correction value to the result of the tracking circuit (5) for each tracking amount corresponding to Ln in the section up to the next slip rough amount measurement position.

In addition, in the above embodiment, the plate-shaped material (percentage material feeding was explained), or any shape may be used as long as the leading edge and end of the material to be transported can be recognized. Although the description has been given in terms of conveyance, the same effects as in the above embodiment can be achieved even in the case of conveyance equipment using other conveyors or the like.

〔Effect of the invention〕

As explained above, this invention is configured to measure the slip amount of the material to be transported and perform subdivided position corrections according to the results, so that the transporting device can recognize the transporting position of the material to be transported with high precision. This has the effect of providing a control method.

[Brief explanation of drawings]

FIG. 1 is a configuration diagram based on a control force formula according to an embodiment of the present invention, and FIG. 2 is a configuration diagram for controlling position recognition of a conveyed material in a conventional conveyance device. In the figure, (1) is the conveyed material, (2) is the table meal, (3) is the position measurement circuit, (4) is the roll rotation measurement circuit, (5) is the position detection circuit, and (6) is the A slip amount measuring circuit, (7) a tracking result correction circuit, and (8) a detection sensor. Note that the same reference numerals in the figures indicate the same or equivalent parts.

Claims (1)

[Claims] During the conveyance of the conveyed material, the positions of two points where the conveyed material passes through the constant distance section are measured for each constant distance section provided at multiple locations, and based on these measurement values, the conveyed material is 1. A method for recognizing the position of a conveyed material in a conveyance device, characterized in that the amount of slip between the table roll and the table roll is calculated, and the position of the conveyed material on a conveyance line is corrected based on this calculated value.