JP2003091319A - Positioning control device - Google Patents

Abstract

(57) [Problem] To provide a positioning control device capable of positioning a load to be controlled with high accuracy by an inexpensive configuration. A drive transmission means (12) which is rotated by a rotation drive means (9) to linearly move a load (11) to be controlled with the rotation, a rotation amount detection means (10) for detecting a rotation amount of the rotation drive means (9), and a load to be controlled. The distance between the information of the movement amount detection means 13 for detecting the movement amount of the motor 11 and the information of the movement amount detection signal S6 output from the movement amount detection means 13 is interpolated by the rotation amount detection signal S5 from the rotation amount detection means 10 to obtain the position information. A position information synthesizing unit 23 that generates a signal S8, and a feedback control of the rotation of the rotation drive unit 9 based on the position command signal S1 and the position information signal S8 to set the controlled load 11 to the target position set to the position command signal S1. And a feedback control system for stopping positioning.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a positioning control in which a load to be controlled is linearly moved in accordance with rotation of a ball screw or the like driven by a servomotor as an actuator, and the load to be controlled is positioned and stopped at a predetermined position. It relates to the device.

[0002]

2. Description of the Related Art Conventionally, as a positioning control device for linearly moving a load to be controlled to perform positioning control to a predetermined position,
There is one having a configuration as shown in FIG. This positioning control device includes a main controller 1 that outputs a position command signal S1 that sets a target position for stopping the controlled load 11, and a speed calculated based on the position command signal S1 and the movement amount detection signal S6. A positioning control controller 2A that outputs a command signal S3 and a current corresponding to a torque command signal S4 calculated based on the speed command signal S3 are supplied to a servo motor 9 serving as a rotation driving means to control the rotation of the servo motor 9. The servo driver 8, the ball screw 12 as a drive transmission means for converting the rotation amount of the servo motor 9 into the linear movement amount and linearly moving the controlled load 11, and the rotation amount detection signal S5 detected from the servo motor 9. It is attached to the rotary encoder 10 that feeds back to the servo driver 8 and the load 11 to be controlled. A linear scale 13 which detects the movement of the control target load 11, the displacement detection signal S6 detects the movement amount of the control target load 11 based on the linear scale 13
And a moving amount detecting means 7 for outputting.

The positioning control controller 2A subtracts the movement amount detection signal S6 output from the movement amount detecting means 7 from the position command signal S1 of the target position output from the main controller 1 to obtain the difference in position deviation amount. A subtractor 3 for calculating the detection signal S2 and a multiplier 4 for calculating the speed command signal S3 by multiplying the position deviation amount detection signal S2 by a position loop gain are provided. This positioning control controller 2A uses a servo motor 9 via a servo driver 8.
The feedback control is performed so that the rotational position of is matched with the target position set in the position command signal S1.

Conventionally, there is also a positioning control device having a structure as shown in FIG. This positioning control device differs from the device of FIG. 8 in that the servo driver 8 of FIG. 8 is deleted, and instead of this, the positioning control controller 2B is made to control the servo motor based on the rotation amount detection signal S5 from the rotary encoder 10. Position information detection means 14 for obtaining and outputting the position detection signal S7 of FIG. 9, a subtractor 17 for obtaining the difference between the speed command signal S3 from the multiplier 4 and the position detection signal S7, and a difference signal from this subtractor 17. And a multiplier 18 that supplies a current based on the torque command signal S4 calculated by multiplying the speed loop gain to the servo motor 9. Since both the positioning device shown in FIG. 8 and the positioning control device shown in FIG. 9 directly detect the position of the load 11 to be controlled, the linear scale 13 corrects the accuracy and thermal expansion of the ball screw 12 to control the load. Positioning control of the load 11 can be performed with high accuracy.

[0005]

However, in each of the above positioning control devices, the rotation amount detection signal S5 of the servo motor 9 detected by the rotary encoder 10 is not effectively used for the positioning control of the load 11 to be controlled. A position deviation obtained by subtracting the movement amount detection signal S6 from the position command signal S1 by feeding back the movement amount detection signal S6 in which the movement amount of the controlled object load 11 is mechanically detected by the linear scale 13 and the movement amount detection means 7. Since the control target load 11 is controlled to stop moving when the amount detection signal S2 becomes zero, the position detection accuracy of the position of the control target load 11 by the linear scale 13 becomes the positioning accuracy as it is, and high-precision positioning is performed. It is difficult to control. Further, if the range of the linear movement of the controlled load 11 becomes wider, the length of the linear scale 13 becomes longer accordingly, and the linear scale 13 becomes expensive.

Therefore, the present invention has been made in view of the above conventional problems, and an object thereof is to provide a positioning control device capable of positioning a load to be controlled with high accuracy by an inexpensive structure. is there.

[0007]

In order to achieve the above object, a positioning control device according to the present invention comprises a drive transmission means that is rotated by a rotation drive means and linearly moves a load to be controlled according to the rotation. The rotation amount detecting means for detecting the rotation amount of the rotation driving means, the movement amount detecting means for detecting the movement amount of the control target load, and the information interval of the movement amount detection signal output from the movement amount detecting means are set to the rotation. Position information synthesizing means for interpolating a rotation amount detection signal from the amount detecting means to generate a position information signal, and feedback control of rotation of the rotation driving means based on the position command signal and the position information signal to control the object. And a feedback control system for positioning and stopping the load at the target position set in the position command signal.

In this positioning control device, since the position information signal obtained by interpolating the information interval of the movement amount detection signal by the rotation amount detection signal of the rotation detection means is used as the feedback control signal, the movement amount detection means detects the movement amount. In addition to the signal, the rotation amount detection signal of the rotation amount detection means can also be used for feedback control of the rotation of the rotation drive means, as compared with a conventional device that uses only the movement amount detection signal as a feedback control signal. Positioning control of the load to be controlled can be performed with high accuracy equivalent to the accuracy of the rotation amount detection signal of the rotation amount detection means. Moreover, this positioning control device has only a few additional constituent elements such as position information synthesizing means in addition to the configuration of the conventional device, and when the movement range of the load to be controlled becomes wide. Moreover, since the interval of the information of the movement amount detection signal is interpolated by the rotation amount detection signal, the movement amount detection signal can be extracted as a pulse signal having a wide interval, for example, and thus an inexpensive configuration can be obtained.

In the above invention, the rotation amount detecting means counts the rotation amount detecting signal of the rotation driving means while being cleared each time the movement amount detecting signal is inputted from the movement amount detecting means to generate an interpolation amount signal, With a function of serially transmitting the rotation amount detection signal and the interpolation amount signal of the digital signal,
It is preferable that the position information synthesizing unit is configured to add a count value of the movement amount detection signal and the interpolation amount signal to generate a position information signal.

As a result, since the rotation amount detecting means outputs the interpolation value signal of the digital value, the number of wirings can be reduced, the rotation amount detecting accuracy is improved, and the density of output information is increased. Also in this case, the interpolation amount signal can be reliably transmitted with almost no influence of disturbance such as noise.

In the above invention, the position information signal is fed back to control the position of the load to be controlled through the rotation driving means, and either the rotation amount detection signal or the movement amount detection signal is fed back to the rotation driving means. Can also be configured for speed control.

Thus, either the rotation amount detection signal or the movement amount detection signal is fed back to move at a high speed when the load to be controlled is relatively far from the target position, and decelerates as the load approaches the target position. The speed control can be performed at high speed, and the load to be controlled can be positioned at high speed and with high accuracy.

The electronic component mounting apparatus of the present invention is configured to control the position of the component supply unit of the electronic component or the board moving unit of the circuit board by any of the above positioning control devices.

In this electronic component mounting apparatus, the load to be controlled such as the component supply table can be moved at high speed, and the positioning can be stopped with high precision.

[0015]

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a block configuration diagram showing a positioning control device according to a first embodiment of the present invention. In FIG. 1, the same or equivalent parts as in FIG. Is omitted. This positioning control device differs from the conventional device shown in FIG. 8 in that the positioning control controller 19A detects the position of the servo motor 9, that is, the position of the controlled load 11 from the rotation amount detection signal S5 output from the rotary encoder 10. The position information detection means 14 for outputting the position detection signal S7, the counter 20 for counting the number of pulses of the movement amount detection signal S6 output from the movement amount detection means 7, and each time the pulse of the movement amount detection signal S6 is input. A counter 2 that counts the number of pulses of the position detection signal S7 output from the position information detection means 14 after the count value is cleared.
1 and an adder 22 for adding the count values of both counters 20 and 21 are newly provided.

Both counters 20 and 21 and adder 22 described above
And the position information synthesizing means 23. The position information synthesizing means 23 clears the count value of the pulse of the movement amount detection signal S6 by the counter 20 and the count value every time the pulse of the movement amount detection signal S6 is input, and counts the pulses of the position detection signal S7. The count value obtained by the counter 21 is added to generate a position information signal S8 in which each pulse of the movement amount detection signal S6 is interpolated by the position detection signal S7 and is output. The subtractor 3 subtracts the position information signal S8 from the position command signal S1 to calculate the position deviation amount detection signal S2, and the multiplier 4 multiplies the position deviation amount detection signal S2 by the position loop gain to speed command. The signal S3 is calculated, the servo driver 8 further calculates a torque command signal S4 based on the speed command signal S3, and supplies a current corresponding to the torque command signal S4 to the servo motor 9.

Therefore, in this positioning control device,
The rotary encoder 1 is provided between the pulses of the movement amount detection signal S6.
Since the position information signal S8 interpolated by the pulse of the position detection signal S7 obtained from the rotation amount detection signal S5 of 0 is used as a feedback control signal, in addition to the movement amount detection signal S6 by the linear scale 13, the rotary encoder 1
The rotation amount of the servomotor 9 can be feedback-controlled by using the rotation amount detection signal S5 of 0, and the load to be controlled is smaller than that of the conventional device of FIG. 8 in which only the movement amount detection signal S6 is used as the feedback control signal. Positioning 11 can be controlled with high accuracy equivalent to the accuracy of the rotation amount detection signal S5 of the rotary encoder 10.

In addition to the configuration of the conventional device shown in FIG. 8, this positioning control device is additionally provided with the position information detecting means 14 and the position information synthesizing means 23 as well as the load to be controlled. Even when the movement range of 11 is widened, the position detection signal S7 is moved between the pulses of the movement amount detection signal S6.
Since the interpolation is performed, the movement amount detection signal S6 can be extracted as a pulse signal having a wide interval, so that an inexpensive configuration can be obtained.

FIG. 2 is a block diagram showing a positioning control device according to a second embodiment of the present invention. In FIG. 2, the same or equivalent parts as in FIG. A duplicate description will be omitted. This positioning control device differs from the conventional device of FIG. 9 only in the configuration in which the positioning control cone roller 19B is provided with the position information synthesizing means 23 having the same configuration as that provided in the first embodiment.

This positioning control device eliminates the servo driver 8 of the first embodiment and multiplies the difference between the speed command signal S3 and the position detection signal S7 by the speed loop gain to calculate the torque command signal S4. Also in the type, similarly to the first embodiment, the position of the controlled load 11 can be controlled with high accuracy equivalent to the accuracy of the rotation amount detection signal S5 of the rotary encoder 10, and the position information synthesizing means 23 can be used. In addition to newly adding the above, even when the movement range of the control target load 11 is widened, the position detection signal S7 interpolates between the pulses of the movement amount detection signal S6. Since the signal S6 can be taken out as a pulse signal having a wide interval, an inexpensive structure can be obtained.

FIG. 3 is a block configuration diagram showing a positioning control device according to a third embodiment of the present invention. In FIG. 3, the same or equivalent parts as in FIG. A duplicate description will be omitted. This positioning control device differs from that of the first embodiment in that a rotary encoder 24 that serially transmits a rotation amount detection signal S9 and an interpolation amount signal S10, which are digital signals, based on the rotation detection of the servomotor 9. The positioning control controller 19C is provided with an interpolation amount input means 27 for inputting the interpolation amount signal S10 from the rotary encoder 24, an interpolation amount signal S10 from the interpolation amount input means 27, and a movement amount detecting means 7.
The position information synthesizing means 28 for calculating and outputting the position information signal S8 based on the movement amount detection signal 7 from FIG.

The rotary encoder 24 outputs a rotation amount detection signal S9 to the servo driver 8 and a counter incorporated therein is cleared each time an output pulse from the linear scale 13 is input, and the rotation amount detection signal S9 is output. Is counted and the interpolation amount signal S10, which is the count value, is output as a digital value. Therefore, the position information synthesizing means 28 of the positioning control controller 19 receives the interpolation amount signal S10 from the interpolation amount inputting means 27, so that the position information synthesizing means 23 of the first embodiment shown in FIG. Detection signal S
The counter 21 for counting 7 is omitted.

In this positioning control device, in addition to obtaining the same effect as in the first embodiment, since the rotary encoder 24 outputs the interpolation value signal S10 of digital value, the number of wires can be reduced. The positioning control controller 19C can control the interpolation amount signal S10 with almost no influence of disturbance such as noise even when the rotation amount detection accuracy is increased and the output information density is increased.
Can be reliably transmitted. That is, the rotary encoder 10 that outputs the rotation amount detection signal S5 of the pulse train
In the case of, the wiring must be individually provided for the three phases of the servo motor 9, but in the case of the digital value interpolation amount signal S10, two wirings are sufficient. Also, in the pulse train signal,
Since the pulse interval becomes smaller as the density of output information becomes higher, it is easily affected by noise, but in the case of digital values, it is hardly affected by noise even if the density of output information becomes high. . Therefore, it is easy to increase the density of the output information, and thus the accuracy of detecting the rotation amount can be increased.

FIG. 4 is a block diagram showing a positioning control device according to a fourth embodiment of the present invention. In FIG. 4, the same or equivalent parts as those in FIGS. 2 and 3 are designated by the same reference numerals. Then, the overlapping description is omitted. This positioning control device differs from that of the second embodiment of FIG. 2 in that instead of the rotary encoder 10 for outputting the pulse train signal of FIG. 2, a rotary encoder 24 capable of serial output similar to that of FIG. 3 is used. In place of the position information detecting means 14 and the position information synthesizing means 23 shown in FIG. 2, a positioning control controller 19D is provided with an interpolation amount inputting means 27, a rotation amount inputting means 29 and a position information synthesizing means 28 similar to that shown in FIG. Only the configuration provided.

In this positioning control device, the same effects as those of the second embodiment shown in FIG. 2 can be obtained, and in addition, as in the third embodiment of FIG. Since the interpolation amount signal S10 is output, it is possible to reduce the number of wirings, the detection accuracy of the rotation amount is increased, and even when the density of output information is increased, the influence of disturbance such as noise is almost exerted. Therefore, the effect that the interpolation amount signal S10 can be reliably transmitted to the positioning control controller 19D can be obtained.

FIG. 5 is a block configuration diagram showing a positioning control device according to a fifth embodiment of the present invention. In FIG. 5, the same or equivalent parts as in FIG. The description will be omitted. This positioning control device differs from that of the third embodiment shown in FIG. 3 in that FIG.
Instead of feeding back the rotation amount detection signal S9 from the rotary encoder 24 to the servo driver 8, the movement amount detection information of the linear scale 13 is fed back to the servo driver 8.

Therefore, in this positioning control device,
The rotary encoder 2 moves between the pulses of the movement amount detection signal S6.
Position information signal S8 interpolated with the interpolation amount signal S10 from
Is fed back to control the rotation of the servomotor 9, that is, the stop position of the load 11 to be controlled, and
The rotary encoder 2 in the third embodiment of FIG.
Instead of performing the speed control by feeding back the rotation amount detection signal S9 of 4 to the servo driver 8, the speed control is performed based on the moving amount information of the linear scale 13.

In this positioning control device, as in the third embodiment shown in FIG. 3, the rotary encoder 24 outputs a digital value interpolation amount signal S10, so that the number of wires can be reduced and the rotation amount can be increased. Of the interpolation amount signal S10 with almost no influence of disturbance such as noise even when the density of the output information is increased.
Can be reliably transmitted to the positioning control controller 19E.

FIG. 6 is a block configuration diagram showing a positioning control device according to a sixth embodiment of the present invention. In FIG. 6, the same or equivalent parts as in FIG. The description is omitted. This positioning control device differs from that of the fourth embodiment of FIG. 4 in that the positioning control controller 19F has the rotation amount input means 29 of FIG. 4 deleted, and instead of this, the movement amount detection means 7 The moving amount detection signal S6 output from the above is input to the subtractor 17 only.

In the fourth embodiment of FIG. 4, the rotation amount detection signal S9 is fed back to control the speed, but instead of this, in the positioning control device of this embodiment, the movement amount detection signal S6 is sent. The speed is controlled by feedback. In this positioning control device, as in the fourth embodiment, the rotary encoder 24 outputs the interpolation signal S10 having a digital value, so that the number of wirings can be reduced and the rotation amount detection accuracy is improved. At the same time, even when the density of the output information becomes high, the effect that the interpolation amount signal S10 can be reliably transmitted to the positioning control controller 19D is hardly affected by disturbance such as noise.

FIG. 7 is a schematic plan view showing an electronic component mounting apparatus configured by applying one of the positioning control apparatuses of the above-described first to sixth embodiments to an electronic component supply means. . This electronic component mounting apparatus includes a component mounting mechanism unit 59 and a component supply mechanism unit 3 arranged behind the component mounting mechanism unit 59.
It is composed of 0 and. The component mounting mechanism unit 59 supplies a circuit board 31 on which an electronic component (not shown) is to be mounted, and an XY table 33 that positions the supplied circuit board 31 at a predetermined component mounting position. When,
The electronic component supplied from the component supply mechanism unit 30 is supplied to the nozzle 3
4. The rotary type mounting head 37 that mounts at a predetermined component mounting position on the circuit board 31 in the positioned state and the circuit board discharge that discharges the circuit board 31 on which electronic components are mounted And means 38.

On the other hand, the component supply mechanism section 30 supplies a plurality of (two in this embodiment) component supplies in which a plurality of component supply cassettes 39 as electronic component supply means for accommodating a large number of electronic components are mounted in parallel. The table 40 is arranged so as to independently move linearly in the left-right direction along the ball screw 12 that is rotationally driven by each servo motor 9. The component supply mechanism unit 30 uses one of the component supply tables 40 and the mounting head 37 when mounting the components.
In the supply area facing the component supply cassette 39
While moving along the parallel direction, the component supply cassette 39 is sequentially positioned and stopped at a predetermined component supply position in accordance with the order of the electronic components to be mounted. When electronic components are being supplied by the one component supply table 40, the other component supply table 40 replaces the component supply cassette 39 in the standby area on either the left or right side, and the electronic components are supplied to the component supply cassette 39. Replenishment is done.

The positioning control device of the above-described embodiment is applied to the component supply mechanism section 30. That is,
The servomotor 9 is feedback-controlled as in each of the above-described embodiments, and the load to be controlled 11 of each of the embodiments is controlled.
Positioning control of the component supply table 40 corresponding to
Positioning control of the component supply table 40 is generally performed by high-speed movement, but by applying the positioning control device of each embodiment, it is possible to highly accurately position and stop the component supply table 40 while moving it at high speed. At the same time, the same effects as those described in each of the embodiments can be obtained.

As described above, the positioning control device of the present invention is particularly applicable to an electronic component mounting device to obtain a remarkable effect. The control target load 11 is the component supply table shown in FIG. Not limited to 40, for example, an XY table 33 for moving and controlling the position of the circuit board 31, a linear movement in the XY direction while holding the electronic component, and above the predetermined mounting position of the circuit board. The present invention can be applied to positioning control of a mounting head for positioning or a component mounting arm in an XY robot type mounting apparatus to obtain a remarkable effect.

[0035]

As described above, according to the positioning control apparatus of the present invention, the position information signal obtained by interpolating the information interval of the movement amount detection signal by the rotation amount detection signal of the rotation detecting means is used as the feedback control signal. Therefore, in addition to the movement amount detection signal by the movement amount detection means, the rotation of the rotation drive means can be feedback-controlled by using the rotation amount detection signal of the rotation amount detection means, and only the movement amount detection signal is feedback-controlled. As compared with the conventional device used as a signal, the load to be controlled can be position-controlled with high accuracy equivalent to the accuracy of the rotation amount detection signal of the rotation amount detection means. Moreover, this positioning control device has only a few additional constituent elements such as position information synthesizing means in addition to the configuration of the conventional device, and when the movement range of the load to be controlled becomes wide. Moreover, since the interval of the information of the movement amount detection signal is interpolated by the rotation amount detection signal, the movement amount detection signal can be extracted as a pulse signal having a wide interval, for example, and thus an inexpensive configuration can be obtained.

[Brief description of drawings]

FIG. 1 is a block configuration diagram showing a positioning control device according to a first embodiment of the present invention.

FIG. 2 is a block configuration diagram showing a positioning control device according to a second embodiment of the present invention.

FIG. 3 is a block configuration diagram showing a positioning control device according to a third embodiment of the present invention.

FIG. 4 is a block configuration diagram showing a positioning control device according to a fourth embodiment of the present invention.

FIG. 5 is a block configuration diagram showing a positioning control device according to a fifth embodiment of the present invention.

FIG. 6 is a block configuration diagram showing a positioning control device according to a sixth embodiment of the present invention.

FIG. 7 is a schematic plan view showing an electronic component mounting apparatus to which the positioning control device of the present invention is applied.

FIG. 8 is a block configuration diagram showing a conventional positioning control device.

FIG. 9 is a block configuration diagram showing another conventional positioning control device.

[Explanation of symbols]

7 Moving amount detection means 9 Servo motor (rotation drive means) 10,24 Rotary encoder (rotation amount detecting means) 11 Controlled load 12 Ball screw (drive transmission means) 13 Linear scale (movement amount detection means) 23, 28 Position information synthesizing means 33 XY table (board moving part) 40 Parts supply table (Parts supply section) S1 position command signal S5, S9 Rotation amount detection signal S6 Movement amount detection signal S8 Position information signal S10 Interpolation amount signal

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Hidetoshi Sasaki             1006 Kadoma, Kadoma-shi, Osaka Matsushita Electric             Sangyo Co., Ltd. (72) Inventor Hiroshi Ohara             1006 Kadoma, Kadoma-shi, Osaka Matsushita Electric             Sangyo Co., Ltd. (72) Inventor Izumi Miura             1006 Kadoma, Kadoma-shi, Osaka Matsushita Electric             Sangyo Co., Ltd. F-term (reference) 5E313 AA02 AA11 AA15 CD04 CD06                       DD01 DD02 DD03 EE01 EE02                       EE03 EE24 EE25 FF03 FF24                       FF29 FF31 FF40 FG10                 5H303 AA05 BB02 BB06 BB11 CC01                       DD01 DD25 FF06 FF20 HH01                       LL02 LL09                 5H550 AA18 BB10 DD01 EE01 FF05                       GG01 GG03 JJ25 KK04 LL07                       LL35 LL36

Claims (4)

[Claims] 1. A drive transmission unit that is rotated by a rotation driving unit and linearly moves a load to be controlled in accordance with the rotation, a rotation amount detecting unit that detects a rotation amount of the rotation driving unit, and a movement of the load to be controlled. Position information for generating a position information signal by interpolating the distance between the movement amount detection means for detecting the amount and the information of the movement amount detection signal output from the movement amount detection means by the rotation amount detection signal from the rotation amount detection means. A synthesizing means, and a feedback control system that feedback-controls the rotation of the rotation driving means based on the position command signal and the position information signal to stop the load to be controlled at the target position set in the position command signal. A positioning control device characterized by comprising. 2. The rotation amount detection means counts the rotation amount detection signal of the rotation driving means while being cleared each time the movement amount detection signal is input from the movement amount detection means to generate an interpolation amount signal, and the rotation amount. The position information synthesizing unit is configured to generate a position information signal by adding a count value of the movement amount detection signal and the interpolation amount signal, and a function of serially transmitting the detection signal and the interpolation amount signal of the digital signal. The positioning control device according to claim 1, wherein the positioning control device is provided. , 3. The position information signal is fed back to control the positioning of the load to be controlled via the rotation drive means, and the rotation drive means is speed-controlled by feeding back either the rotation amount detection signal or the movement amount detection signal. The positioning control device according to claim 1, which is configured as described above. 4. A component mounting apparatus configured to position-control a component supply unit of a component or a substrate moving unit of a circuit board by the positioning control device according to claim 1.