Workpiece processing device and processing control method

Abstract

The workpiece processing apparatus (100) includes: a sensor unit (120) that detects the passage of a moving workpiece (W); a processing unit (130) that performs processing using a specified processing tool (136) while the workpiece (W) is being moved; and a processing control unit (140) that controls the operation of the processing unit (130). In this workpiece processing apparatus (100), the processing control unit (140) includes: a main control unit (142) that issues an operation instruction signal (S P ) to the processing unit (130) at a specified control cycle (T); a timing unit (144) that measures the detection time (T D ) of a detection signal (S D ) received at the start of a cycle within the control cycle (T) of the main control unit (142); a memory (146) that stores various parameters including the detection time (T D ), and defines the difference between the control cycle (T) and the detection time (T D ) as a response delay time, and the main control unit (142) changes the operation instruction signal (S D ) at the control cycle (T) according to the response delay time (T P ).

Description

Technical Field

[0001] The present invention relates to a workpiece processing apparatus and a processing control method thereof, and more particularly to a workpiece processing apparatus and a processing control method using the same. The workpiece processing apparatus includes: a sensor unit that detects the passage of a moving workpiece and issues a detection signal; a processing unit that starts a processing mechanism in a state where the workpiece is moved to process the workpiece with a prescribed processing tool; and a processing control unit that controls the operation of the processing unit based on the detection signal from the sensor unit. Background Art

[0002] As an example of a method for processing and manufacturing a plurality of workpieces by repeatedly and continuously performing a prescribed process on a workpiece moving at a prescribed speed, there is a device and a processing control method thereof that continuously convey a plurality of workpieces on a conveying mechanism, and during the movement of the workpiece (i.e., while conveying), a prescribed process is performed on each workpiece by a separately controlled processing unit. In such a device, the same repeated process can be periodically and continuously performed on a plurality of workpieces, and thus it is suitable for mass production of workpieces that have undergone a prescribed process.

[0003] On the other hand, in the above-described device and processing control method, for example, in the case of conveying a plurality of workpieces on a conveying mechanism, the positioning of the workpieces continuously conveyed at the processing position in the processing unit has a great influence on the processing accuracy. Therefore, a method is generally adopted in which certain sensors are used to detect the workpieces conveyed on the conveying mechanism, and the processing of the processing unit is controlled based on the detection signal.

[0004] As an example of such a processing control, for example, Patent Document 1 discloses a device and a control method thereof, which is a device for manufacturing bipolar electrodes constituting a bipolar battery, and includes: a conveying device that conveys a workpiece in the length direction, the workpiece having a strip-shaped conductive sheet and a plurality of active material layers intermittently arranged in the length direction on each of the two surfaces of the conductive sheet; a cutting roller having a rotation axis along the short side direction of the conductive sheet, and cutting the conductive sheet between adjacent active material layers by rotating around it; a sensor that measures the distance between adjacent active material layers; and a driving device that moves the cutting roller in the length direction based on the difference between the measured distance and a reference value. Thus, since the position of the cutting roller in the conveying direction can be adjusted, the position deviation of the cutting position can be eliminated.

[0005] Prior Art Documents

[0006] Patent Documents

[0007] Patent Document 1: Japanese Unexamined Patent Application Publication No. 2019-50096 Summary of the Invention

[0008] Problems to be Solved by the Invention

[0009] However, in a device such as that shown in Patent Document 1, for example, a conveying device that continuously conveys workpieces and a driving device that includes a cutting roll that processes the workpieces while conveying them are controlled by different control units. Therefore, in a control device that controls the driving device that moves the cutting roll, generally, an instruction to start the operation of the cutting roll is issued triggered by a detection signal of a sensor that detects the passage of the workpieces conveyed in the conveying device. In such a control device, the control cycle for real-time control is different (deviated) from the reception timing of the detection signal of the sensor. Therefore, due to this "deviation", the timing of contact between the cutting unit (for example, the cutting roll of Patent Document 1) and the workpiece also deviates for each workpiece, thereby affecting the machining accuracy.

[0010] Based on such a background, there is a need for a workpiece processing device that can suppress a decrease in machining accuracy caused by a deviation between the control cycle and the detection timing of the workpiece when controlling a processing device that processes a workpiece moving at a specified speed, and a machining control method using the workpiece processing device.

[0011] Means for Solving the Problems

[0012] A workpiece processing device according to an aspect of the present invention includes: a sensor unit that detects the passage of a moving workpiece and issues a detection signal; a processing unit that starts a processing mechanism in a state where the workpiece has been moved to process the workpiece using a specified processing tool; and a processing control unit that controls the operation of the processing unit based on the detection signal from the sensor unit. The workpiece processing device is configured such that the processing control unit includes: a main control unit that issues an operation instruction signal to the processing mechanism of the processing unit at a specified control cycle; a timing unit that measures the detection time when the detection signal is received with respect to the start time of the cycle in the control cycle; and a memory that stores various parameters including the detection time, defines the difference between the control cycle and the detection time as a response delay time, and the main control unit changes the operation instruction signal based on the response delay time.

[0013] In addition, in a processing control method according to an aspect of the present invention, based on a detection signal from a sensor unit that detects the passage of a moving workpiece, while moving the workpiece, a processing mechanism of a processing unit is started to perform processing on the workpiece using a prescribed processing tool. In this case, the detection time when the detection signal is received with respect to the start time of a cycle in a prescribed control cycle for controlling the processing mechanism is measured, and a response delay time is calculated based on the difference between the control cycle and the detection time. Based on the response delay time, the action instruction signal for the processing mechanism is changed for each control cycle to control the processing.

[0014] Advantageous Effects of the Invention

[0015] According to an aspect of the present invention, when starting a processing mechanism of a processing unit based on a detection signal from a sensor unit that detects the passage of a moving workpiece and performing processing on the workpiece using a prescribed processing tool, the detection time when the detection signal is received with respect to the start time of a cycle in a prescribed control cycle for controlling the processing mechanism is measured, and based on the response delay time defined as the difference between the control cycle and the detection time, the action instruction signal to the processing mechanism is changed for each control cycle to control the processing tool. Therefore, when controlling a processing apparatus that processes a workpiece moving at a prescribed speed, it is possible to suppress a decrease in processing accuracy caused by a deviation between the control cycle and the detection timing of the workpiece. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 FIG. is a schematic diagram showing the structure of a workpiece processing apparatus as a representative example of the present invention.

[0017] Figure 2 FIG. shows Figure 1 a block diagram of a representative example of the shown processing control unit.

[0018] Figure 3A FIG. shows Figure 1 a schematic diagram of an example of a reference processing state executed by the shown workpiece processing apparatus.

[0019] Figure 3B FIG. shows Figure 1 a schematic diagram of an example of a reference processing state executed by the shown workpiece processing apparatus.

[0020] Figure 4A FIG. is a schematic diagram showing the processing control method of Example 1.

[0021] Figure 4B FIG. is a schematic diagram showing the processing control method of Example 1.

[0022] Figure 5A FIG. is a schematic diagram showing the processing control method of Example 2.

[0023] Figure 5B It is a schematic diagram showing the processing control method of Embodiment 2.

[0024] Figure 6A It is a schematic diagram showing the processing control method of Embodiment 3.

[0025] Figure 6B It is a schematic diagram showing the processing control method of Embodiment 3.

[0026] Figure 7A It is a schematic diagram showing the processing control method of Embodiment 4.

[0027] Figure 7B It is a schematic diagram showing the processing control method of Embodiment 4.

[0028] Figure 8A It is a schematic diagram showing the processing control method of Embodiment 5.

[0029] Figure 8B It is a schematic diagram showing the processing control method of Embodiment 5.

[0030] Figure 9 It is showing Figure 1 a block diagram of a modification of the processing control unit shown. Detailed Embodiment

[0031] Hereinafter, an embodiment of a workpiece processing apparatus and a processing control method using the workpiece processing apparatus, which are representative examples of the present invention, will be described. The workpiece processing apparatus moves the workpiece while starting a processing mechanism of a processing unit based on a detection signal from a sensor unit to perform processing on the workpiece using a predetermined processing tool, and the sensor unit detects the passage of the workpiece moving at a predetermined speed.

[0032] Figure 1 It is a schematic diagram showing the structure of a workpiece processing apparatus which is a representative example of the present invention. As Figure 1As shown, as an example of a method of processing while moving a workpiece W, the workpiece processing apparatus 100 includes: a conveying mechanism 110 that conveys the workpiece W at a constant speed in a prescribed one direction A; a sensor unit 120 that detects the passage of the workpiece W being conveyed; a processing unit 130 that starts a processing mechanism 134 to perform prescribed processing on the workpiece W while conveying the workpiece W; a processing control unit 140 that controls the operation of the processing unit 130 based on a detection signal from the sensor unit 120; and an input interface 150 through which a user inputs information to the processing control unit 140. Here, the processing control unit 140 is configured to be connected to the sensor unit 120 and the processing unit 130 via signal lines 162 and 163 respectively, and perform exchange of various signals. In addition, in Figure 1 In the example shown, in order to simplify the understanding of the invention, the case where the workpiece W is moved at a constant speed in a prescribed one direction is illustrated. However, as long as the passage of the workpiece W can be detected by the sensor unit 120 and the travel route and speed of the workpiece W can be grasped respectively, it is not limited to one direction or a constant speed.

[0033] As an example thereof, the conveying mechanism 110 includes: a base 112 that extends in the conveying direction A of the workpiece; a conveying path 114 that is formed along the conveying direction A on the upper surface of the base 112; a tray 116 that moves while holding the workpiece W on the conveying path 114; and a conveying control unit 118 that controls the operation of the conveying mechanism 110. In addition, in Figure 1 the case where four trays 116 holding the workpiece W are conveyed simultaneously is illustrated, but the tray 116 can be single, multiple, or any number.

[0034] In Figure 2 the conveying path 114 has a structure that moves the tray 116 holding the workpiece W at a constant speed in the conveying direction A. As such a conveying path 114, a structure using a plurality of conveying rollers, a structure including a linear drive mechanism, etc. can be illustrated, and any structure can be adopted. In addition, the case where the tray 116 is used to stably support and convey the workpiece W is illustrated, but it can also be configured to omit the tray 116 and directly move the workpiece W on the conveying path 114. Further, the tray 116 can adopt any structure such as a structure that directly clamps and holds the workpiece W, an electrostatic chuck structure, etc.

[0035] As an example thereof, the sensor unit 120 is configured to include a sensor support 122 and a sensor body 124 that has a field of view (detection area) downward from the sensor support 122. When a part of the workpiece W crosses (passes) a measurement reference plane P in the conveying direction A D it emits a detection signal S D (seeFigure 2 ) As such a sensor body 124, any configuration can be adopted as long as it can detect the passage of the workpiece W, and it can be either a "contact type" that detects by contacting the workpiece W or the pallet 116, or a "non-contact type" that detects without contacting them. In addition, in Figure 1 the illustrated sensor unit 120, an optical sensor is applied as the sensor body 124.

[0036] As an example, the processing unit 130 is configured to include a support body 132 and a processing mechanism 134 that mounts a processing tool 136 from the support body 132 toward the conveying path 114. The processing mechanism 134 moves the processing tool 136 disposed at the processing position P P forward and backward relative to the workpiece W conveyed on the conveying path 114 at a moving speed V. Thus, a predetermined processing is performed on the workpiece W using the processing tool 136. Here, as Figure 1 shown, the distance from the measurement reference plane P D of the sensor unit 120 to the processing position P P is defined as the reference conveying distance D. In addition, as the processing tool 136, any configuration of tool such as a cutting edge for cutting the workpiece W, a boring tool, or a tool for performing printing or pasting processing on the surface of the workpiece W can be adopted.

[0037] Figure 2 is a block diagram showing Figure 1 a representative example of the illustrated processing control unit. As Figure 2 shown, as an example, the processing control unit 140 is configured to include: a main control unit 142 that issues an operation instruction signal S P to the processing mechanism 134 of the processing unit 130; a timing unit 144 that measures the detection time T D of the detection signal S D received from the sensor unit 120 at the start time of the cycle in the control cycle of the main control unit 142 (refer to FIG. 3); and a memory 146 that stores various parameters including the measured detection time T D . And the main control unit 142 has the following function: according to the response delay time T - T D from the detection time T D of the sensor unit 120 to the control cycle T, the operation instruction signal S P output to the processing unit 130 is changed according to the control cycle T.

[0038] The timing unit 144 is configured to, for example, monitor the detection signal S DThe input sensor detection circuit (latch circuit). As an example, the timing unit 144 incorporates a counter (not shown) that increments every 1 μsec, pre-sets this counter according to the control cycle of the main control unit 142 described above, and when the input detection signal S D is received, the detection time T D and the response delay time T - T D are calculated and stored in the memory 146.

[0039] Here, the timing unit 144 and the memory 146 are configured such that when a plurality of workpieces W are conveyed in the conveying mechanism 110, the detection time T D and the response delay time T - T D for each workpiece W can be calculated and stored. Thus, it is possible to perform processing while simultaneously conveying a plurality of workpieces W, and therefore, the overall productivity of the workpiece processing apparatus 100 can be improved.

[0040] In addition, the input interface 150 is configured as an input unit for a user who uses the workpiece processing apparatus 100 to input processing conditions, additional information, etc., and the input information, etc. is sent to the processing control unit 140. As such an input interface 150, an input terminal having a display screen, a keyboard, etc. or a touch panel type input unit, etc. can be exemplified. In addition, Figure 1 it is exemplified that the input interface 150 is connected to the processing control unit 140 by wire, but it can also be configured to connect them by wireless communication to exchange information.

[0041] Figure 3A and Figure 3B represent Figure 1 a schematic diagram showing an example of the reference processing state executed by the workpiece processing apparatus shown. In a representative example of the processing control method of the present invention, the conveying mechanism 110 and the processing unit 130 are independently controlled by separate control units, and for the processing control of the processing unit 130, a structure of the type that is executed according to the detection signal S D from the sensor unit 120 is used. Therefore, between the timing when the sensor unit 120 detects the workpiece W conveyed in the conveying mechanism 110 and the timing when the processing unit 130 performs a predetermined process on the workpiece W, a "reference processing state" is assumed as a reference.

[0042] That is, as Figure 3A shown, first, it is assumed that the front end 116a in the conveying direction A of the tray 116 that holds the workpiece W moving in the conveying direction A on the conveying path 114 crosses the measurement reference plane P at time t1 D . And in the "reference processing state", it is defined that the time t1 and the cycle start time of the control cycle T of the main control unit 142 (for exampleFigure 3A is consistent with t1) in. In addition, in Figure 3A , the front end 116a of the tray 116 is taken as the detection object, but the front end in the conveying direction A of the workpiece W can also be taken as the detection object.

[0043] At this time, if the sensor unit 120 outputs a detection signal S at time t1 D , then in the machining control unit 140 that receives this detection signal S D , after a predetermined control cycle has elapsed from this time t1 (for example, at time t2 after one cycle T), as a distribution pulse instructing the machining mechanism 134 to drive the machining tool 136 at a moving speed V, an operation instruction signal S is output at the control cycle T P . And, in the "reference machining state", an operation is performed so as to be in a relationship where a predetermined machining position of the workpiece W conveyed at a constant speed and a reference conveying distance D on the conveying path 114 and the machining tool 136 driven at a moving speed V are exactly in contact at the machining position P P .

[0044] Figure 3B is a diagram showing this series of operations in terms of the relationship between the elapsed time and the moving speed of the tool. As Figure 3B shown, in the reference machining state, when the passage of the workpiece W is detected at time t1, the drive of the machining tool 136 starts at time t2, and after driving the machining tool 136 at a predetermined cycle during the acceleration period T A and the constant-speed movement period T C , machining of the workpiece W is performed at time tp at the machining position P P . Thus, in the "reference machining state", when the start time of the control cycle T of the main control unit 142 coincides with the workpiece detection time of the sensor unit 120, machining based on the machining tool 136 can be performed at the correct machining position of the workpiece W.

[0045] In addition, in Figure 3A and Figure 3B shown in an example of the reference machining state, an example is illustrated in which the movement of the machining tool 136 consists of an acceleration period T with a constant acceleration A and a constant-speed movement period T that progresses at a constant speed C , but this is just an example, and the acceleration period T A can perform acceleration in any speed pattern. Also, the same applies to the constant-speed movement period T C , and it does not necessarily have to be a constant speed, and any speed pattern can be adopted. And, the movement of the machining tool 136 can also be performed by controlling only the acceleration period T A .

[0046] Next, use Figures 4A to 8B to describe a specific embodiment of the machining control method of a workpiece machining apparatus that is a representative example of the present invention. As one of the features of the machining control method that is a representative example of the present invention, it is cited that the user can arbitrarily select a correction mode using the input interface 150, and this correction mode corrects the "deviation" between the detection time of the workpiece W detected by the above sensor unit 120 and the start time of the cycle when the main control unit 142 issues a command signal to the machining unit 130. Therefore, in the following embodiments, specific ways of the correction mode that the user can select are illustrated.

[0047] <Embodiment 1>

[0048] Figure 4A and Figure 4B are schematic diagrams showing the machining control method of Embodiment 1. In the machining control method of Embodiment 1, when the timing of detecting the workpiece W by the sensor unit 120 is delayed by the detection time t D from the control cycle T of the main control unit 142, the delay equivalent movement amount S that the machining tool 136 should be driven during the response delay time T - T D is calculated and obtained in the case where there is no such "delay" (i.e., the reference machining state), and the control of adding (supplementing) the delay equivalent movement amount S to the moving speed of the actual machining tool 136 is executed.

[0049] That is, as Figure 4A shown, when the pallet 116 holding the workpiece W crosses the measurement reference plane P D at the time t D after a predetermined time from the start time t1 of the control cycle, compared with Figure 3A , in Embodiment 1, the workpiece W is detected by the sensor unit 120 at the detection time t D delayed by the detection time T D , and apparently becomes a state where it is conveyed earlier by a distance corresponding to the detection time T D . Therefore, in the machining control unit 140 that receives the detection signal S D at the detection time t D , the main control unit 142 calculates the delay equivalent movement amount S assuming that the machining tool 136 moves until the start time of the next cycle based on the response delay time T - T D , and generates an operation command signal S P for changing the moving speed V of the machining tool 136 corresponding to the delay equivalent movement amount S.

[0050] At this time, the main control unit 142, at the detection time t D when receiving the detection signal S DAt the start time of the subsequent specified cycle, the control command signal S changed as described above is output according to the control cycle T P . That is, in the first embodiment, with respect to the machining control in the "reference machining state" shown in FIG. 3, the main control unit 142 outputs the control command signal S P as an allocation pulse signal for each control cycle T to the machining unit 130. Thus, the machining timing (the contact timing between the machining tool 136 and the workpiece W) of the machining tool 136 corresponding to the detection delay of the workpiece W is adjusted. The control command signal S P is to advance (add) the moving speed V of the machining tool 136 by an amount corresponding to the delay equivalent moving amount S calculated according to the response delay time T - T A in the acceleration period T D .

[0051] Figure 4B FIG. is a diagram showing this series of operations in terms of the relationship between the elapsed time and the moving speed of the tool. As Figure 4B shown, in the machining control method of the first embodiment, first, when the sensor unit 120 detects the passage of the workpiece W at a detection time t D delayed by the detection time T D relative to the control cycle T from, for example, time t1, the main control unit 142 that has received the detection signal S D outputs a control command signal S D to start driving the machining tool 136 at the start time of the subsequent specified cycle (for example, time t2) after the detection time t P .

[0052] At the same time, the following mathematical formula 1 is used to calculate the delay equivalent moving amount S that the machining tool 136 moves during the period before time t2 assuming it starts driving at the detection time t D . Here, the speed V E refers to an arbitrary speed pattern of the machining tool 136 during the response delay time T - T D .

[0053] [Mathematical formula 1]

[0054] S = V E × (T - T D )

[0055] And, during the driving of the machining tool 136, the main control unit 142 adds (supplements) a speed corresponding to the delay equivalent moving amount S calculated as described above in the acceleration period T A , so that the moving speed V of the machining tool 136 is such that the response delay time T - T DIn a manner equivalent to the speed of the delay corresponding movement amount S, the control instruction signal S changed according to the control cycle T P is output as an allocated pulse. Thus, it is possible to consider the response delay time T - T D corresponding to the detection time T of the workpiece W D , and perform machining based on the machining tool 136 at the correct machining position of the workpiece W.

[0056] <Example 2>

[0057] Figure 5A and Figure 5B is a schematic diagram showing the machining control method of Example 2. In the machining control method of Example 2, compared with the control method shown in Example 1, the user can arbitrarily select the interval length of the acceleration period T A .

[0058] That is, as Figure 5A shown, when the workpiece W is detected by the sensor unit 120 in a state where it has been previously conveyed a distance corresponding to the detection time T D , in the machining control unit 140 that has received the detection signal S D at the detection time t D , similar to Example 1, the main control unit 142 calculates the delay corresponding movement amount S based on the response delay time T - T D , and at the start of a specified cycle after the detection time t D when receiving the detection signal S D from the sensor unit 120, outputs the control instruction signal S P in which the movement speed V of the machining tool 136 is changed corresponding to the delay corresponding movement amount S as an allocated pulse according to the control cycle T. At this time, the user pre-selects and inputs the interval length of the acceleration period TA (a length that is an integer multiple of the control cycle) from the input interface 150.

[0059] Figure 5B is a diagram showing this series of operations in terms of the relationship between the elapsed time and the movement speed of the tool. As Figure 5B shown, in the machining control method of Example 2, similar to the case of Example 1, when the sensor unit 120 detects the passage of the workpiece W at the detection time t D delayed by the detection time T D from the time t1, for example, the main control unit 142 that has received the detection signal S D outputs the control instruction signal S D to start driving the machining tool 136 at the start of a specified cycle after the detection time t P .

[0060] Meanwhile, assuming the use of the above-mentioned mathematical formula 1 for operation at the detection time t D The driving starts, and the delay equivalent movement amount S of the movement of the machining tool 136 during the period before the time t2 is obtained. During the driving of the machining tool 136, the main control unit 142 changes the speed corresponding to the delay equivalent movement amount S in such a way that it is added (supplemented) during the acceleration period T A (interval from time t2 to t6), so that the moving speed V of the machining tool 136 becomes equivalent to the speed considering the delay equivalent movement amount S of the response delay time T-T D , and outputs a control instruction signal S P at the control cycle T.

[0061] Thus, in the second embodiment, it is also possible to consider the response delay time T-T D corresponding to the detection time T of the workpiece W D , and perform machining based on the machining tool 136 at the correct machining position of the workpiece W. In addition, as Figure 5B shown, by making the acceleration period T A longer, compared with the case of the first embodiment, the speed transition from the acceleration period T A to the constant-speed movement period T C becomes smoother. Therefore, the accuracy of speed control during the constant-speed movement period T C can also be improved.

[0062] <Embodiment 3>

[0063] Figure 6A And Figure 6B are schematic diagrams showing the machining control method of the third embodiment. The machining control method of the third embodiment corrects the moving speed V of the machining tool 136 during the constant-speed movement period T C according to the user's selection.

[0064] That is, as Figure 6A shown, when the workpiece W is detected by the sensor unit 120 in a state where it has been conveyed a distance corresponding to the detection time T D , in the machining control unit 140 that receives the detection signal S D at the detection time t D , similar to the first embodiment, the main control unit 142 calculates the delay equivalent movement amount S based on the response delay time T-T D , and at the start of a specified cycle after the detection time t D when receiving the detection signal S D from the sensor unit 120, a control instruction signal S POutput is performed using the control period T as the allocation pulse. At this time, the user selects and inputs from the input interface 150 the meaning of correcting the moving speed V of the processing tool 136 during the period T of constant-speed movement. C This is a diagram showing this series of operations in terms of the relationship between the elapsed time and the moving speed of the tool. As

[0065] Figure 6B shown, in the processing control method of Embodiment 3, as in the case of Embodiment 1, when the sensor unit 120 detects the passage of the workpiece W, for example, at the detection time t delayed by the detection time T from the time t1 Figure 6B , the main control unit 142 that has received the detection signal S D outputs a control instruction signal S to start driving the processing tool 136 at a specified cycle start time (for example, time t2) after the detection time t D . D The main control unit 142 uses the above-mentioned mathematical formula 1 to calculate the delay equivalent movement amount S that the processing tool 136 moves during the period before time t2 assuming driving starts at the detection time t D . And, in the driving of the processing tool 136, a control instruction signal S P is output at the control period T, and this control instruction signal S

[0066] changes the speed corresponding to the calculated delay equivalent movement amount S in the form of adding (supplementing) during the constant-speed movement period T D previously selected by the user. Thus, the moving speed V of the processing tool 136 becomes a speed equivalent to the delay equivalent movement amount S considering the response delay time T - T P corresponding to the detection time T, and machining based on the processing tool 136 can be performed at the correct machining position of the workpiece W. P C D D

[0067] <Embodiment 4>

[0068] Figure 7A and Figure 7B are schematic diagrams showing the processing control method of Embodiment 4. The processing control method of Embodiment 4 equally adds (supplements) correction of the moving speed V of the processing tool 136 from the start of movement of the processing tool 136 according to the user's selection.

[0069] That is, as Figure 7A shown, in the case where the workpiece W is detected by the sensor unit 120 in a state where it has been previously conveyed a distance corresponding to the detection time T D , the main control unit 142 that has received the detection signal S D at the detection time t​​​​D In the machining control unit 140, similar to Embodiment 1, the main control unit 142 calculates the delay equivalent movement amount S based on the response delay time T-T D and, at a specified cycle start time after receiving the detection signal S D from the sensor unit 120 at the detection time t D outputs a control instruction signal S that changes the movement speed V of the machining tool 136 corresponding to the delay equivalent movement amount S. At this time, as a correction of the movement speed V of the machining tool 136, the user selects and inputs from the input interface 150 the meaning of equally (at a constant speed) adding from the start of the movement of the machining tool 136. P Outputs it as allocated pulses at the control cycle T.

[0070] Figure 7B is a diagram showing this series of operations in terms of the relationship between the elapsed time and the movement speed of the tool. As Figure 7B shown, in the machining control method of Embodiment 4, similar to the case of Embodiment 1, when the sensor unit 120 detects the passage of the workpiece W at a detection time t D delayed by the detection time T from, for example, time t1 D the main control unit 142 that has received the detection signal S D outputs at a specified cycle start time (for example, time t2) after the detection time t D a control instruction signal S to start driving the machining tool 136. P .

[0071] At the same time, the main control unit 142 uses the above-mentioned mathematical formula 1 to calculate the delay equivalent movement amount S that the machining tool 136 would move during the period before time t2 assuming it starts driving at this detection time t D . And, in the driving of the machining tool 136, a control instruction signal S P is output at the control cycle T, and this control instruction signal S P changes the speed corresponding to the calculated delay equivalent movement amount S in a form of equally (at a constant speed) adding from the start of the movement of the machining tool 136 in a manner preselected by the user. Thus, the movement speed V of the machining tool 136 becomes a speed equivalent to the delay equivalent movement amount S considering the response delay time T D corresponding to the detection time T D , and machining based on the machining tool 136 can be performed at the correct machining position of the workpiece W.

[0072] At this time, parameters for correcting the moving speed V of the machining tool 136 based on the delay equivalent movement amount S can be further arbitrarily set. For example, it can be configured to pre-enter the correction completion time and equally add the speed within this correction completion time, or it can be configured to pre-enter the correction completion distance (movement amount) of the machining tool 136 and equally add the speed within this correction completion distance.

[0073] <Example 5>

[0074] Figure 8A and Figure 8B is a schematic diagram showing the machining control method of Example 5. The machining control method of Example 5, according to the user's selection, increases the speed increment gradually during the acceleration period T A and decreases the speed increment gradually during the constant-speed movement period T C to correct the moving speed V of the machining tool 136.

[0075] That is, as Figure 8A shown, when the workpiece W is detected by the sensor unit 120 after being conveyed a distance corresponding to the detection time T D , at the detection moment t D that receives the detection signal S D , in the machining control unit 140, similar to Example 1, the main control unit 142 calculates the delay equivalent movement amount S based on the response delay time T - T D , and at the start of a specified cycle after the detection moment tD when receiving the detection signal S D from the sensor unit 120, outputs the control instruction signal S P for changing the moving speed V of the machining tool 136 corresponding to the delay equivalent movement amount S as allocation pulses at the control cycle T. At this time, as the correction of the moving speed V of the machining tool 136, the user pre-selects and inputs from the input interface 150 the meaning of gradually increasing the speed increment during the acceleration period T A and gradually decreasing the speed increment during the constant-speed movement period T C .

[0076] Figure 8B is a diagram showing this series of operations in terms of the relationship between the elapsed time and the moving speed of the tool. As Figure 8B shown, in the machining control method of Example 5, similar to the case of Example 1, when the sensor unit 120 detects the passage of the workpiece W, for example, at the detection moment t D delayed by the detection time T from the moment t1 D , the main control unit 142 that receives the detection signal S D at the detection moment t DOutput a control instruction signal S for driving the machining tool 136 at the start time of a subsequent specified cycle (e.g., time t2). P .

[0077] Meanwhile, the main control unit 142 uses the above-mentioned mathematical formula 1 to calculate the delay equivalent movement amount S of the machining tool 136 assuming that it starts to drive and moves during the period before time t2 at the detection time t. D And, in the driving of the machining tool 136, the control instruction signal S is output at the control cycle T. P This control instruction signal S P In a manner preselected by the user, by gradually increasing the speed increment during the acceleration period T A And gradually decreasing the speed increment during the constant-speed movement period T C The speed corresponding to the calculated delay equivalent movement amount S is changed. Thus, the moving speed V of the machining tool 136 becomes a speed equivalent to the delay equivalent movement amount S considering the response delay time T corresponding to the detection time T D And the machining based on the machining tool 136 can be performed at the correct machining position of the workpiece W. In addition, according to the control of this embodiment, the speed transition of the machining tool 136 can be made smooth. D

[0078] Figure 9 represents Figure 1 The block diagram of the modification example of the machining control unit shown. As Figure 9 shown, as an example of the machining control unit 140 as a modification example, it is configured to include: a main control unit 142, a timing unit 144, a memory 146, and a change instruction generation unit 148. The change instruction generation unit 148 generates alone the allocation pulse component for changing the action instruction signal S output to the machining unit 130 according to the response delay time T - T corresponding to the detection time T D D . In this way, by independently providing the change instruction generation unit 148 with respect to the main control unit 142, compared with the case where the main control unit 142 generates the change instruction, its operation load can be reduced. P

[0079] As described above, according to Figures 1 to 9 ​​​The workpiece processing apparatus and the processing control method using the same, when starting the processing mechanism of the processing unit to process the workpiece based on a specified processing tool according to a detection signal from a sensor unit that detects the passage of a moving workpiece, measure the detection time when the detection signal is received at the start time of a specified control cycle for controlling the processing mechanism, and change the operation instruction signal to the processing mechanism according to the response delay time corresponding to the detection time to control the processing tool. Therefore, when controlling a processing apparatus that processes a workpiece moving at a specified speed, it is possible to suppress a decrease in processing accuracy caused by a deviation between the control cycle and the workpiece detection timing.

[0080] In addition, as in Embodiments 1 to 5, when correcting the moving speed of the processing tool according to the delay equivalent moving amount corresponding to the above response delay time, the user can arbitrarily select the speed mode of the moving speed. Therefore, it is possible to perform control corresponding to various needs and desired effects of the user.

[0081] And so far, the detection of the workpiece by the sensor unit depends on the control cycle of the main control unit of the processing control unit. Therefore, this control cycle becomes the limit of the position deviation correction accuracy of the workpiece. In contrast, according to the above-described embodiment, the clock cycle of the counter of the timing unit becomes the correction accuracy limit. Therefore, the correction accuracy for the position deviation of the workpiece is significantly improved. For example, as an example, if the conveying speed of the workpiece is set to 18 m / min, the control cycle of the main control unit is set to 10 msec, and the clock cycle of the timing unit is set to 1 μsec, the positioning accuracy based only on the main control unit becomes a position deviation of about 3 mm at maximum. In contrast, according to the above-described embodiment, the positioning accuracy can be improved to about 0.3 mm at maximum.

[0082] Furthermore, the present invention is not limited to the above-described embodiments, and can be appropriately changed without departing from the gist. Within the scope of the invention, any structural element of the embodiment can be deformed, or any structural element of the embodiment can be omitted.

[0083] For example, in the above-described embodiment, an example is shown in which the timing unit 144 performs an operation of calculating the response delay time T - T D However, it may be configured such that the main control unit 142 performs an operation of calculating the response delay time T - T D D

[0084] Explanation of reference numerals

[0085] 100 Workpiece processing apparatus

[0086] 110 Conveying mechanism​​

[0087] 112 Base

[0088] 114 Conveyor Path

[0089] 116 Tray

[0090] 118 Conveyor Control Unit

[0091] 120 Sensor Unit

[0092] 122 Sensor Support

[0093] 124 Sensor Body

[0094] 130 Processing Unit

[0095] 132 Support

[0096] 134 Processing Mechanism

[0097] 136 Processing Tool

[0098] 140 Processing Control Unit

[0099] 142 Main Control Unit

[0100] 144 Timing Unit

[0101] 146 Memory

[0102] 148 Change Instruction Generation Unit

[0103] 150 Input Interface

[0104] 162, 163 Signal Lines

Claims

1. A workpiece processing device, comprising: a sensor unit that detects the passage of a moving workpiece and issues a detection signal; a processing unit that starts a processing mechanism while moving the workpiece to process the workpiece with a prescribed processing tool; and a processing control unit that controls the operation of the processing unit according to the detection signal from the sensor unit, characterized in that, the processing control unit includes: a main control section that issues an operation instruction signal to the processing mechanism of the processing unit at an inherent control cycle T; a timing section that measures the detection time of receiving the detection signal relative to the start time of the cycle in the control cycle; and a memory that stores various parameters including the detection time, defining the difference between the control cycle and the detection time as a response delay time, and, the main control section changes the operation instruction signal according to the control cycle based on the response delay time.

2. The workpiece processing device according to claim 1, characterized in that, the sensor unit is configured as a non-contact type sensor with respect to the workpiece.

3. The workpiece processing device according to claim 1 or 2, characterized in that, the memory is configured to store the detection time for each workpiece in the case where a plurality of workpieces move simultaneously, and the processing control unit changes the operation instruction signal according to the workpiece based on the response delay time for each workpiece.

4. The workpiece processing device according to claim 1 or 2, characterized in that, the main control section calculates a delay equivalent movement amount assumed for the processing tool to move until the start time of the next cycle based on the response delay time, changes the movement speed of the processing tool corresponding to the delay equivalent movement amount, and issues the changed operation instruction signal at the start time of a prescribed cycle after the detection time of receiving the detection signal from the sensor unit.

5. The workpiece processing device according to claim 4, characterized in that, the workpiece processing device further includes: an input interface connected to the processing control unit, and the main control section changes the movement speed according to an arbitrary change mode input from the input interface.

6. The workpiece processing device according to claim 5, characterized in that, the processing control unit further includes: a change instruction generation section that calculates the delay equivalent movement amount and changes the movement speed according to the control cycle.

7. A processing control method, based on a detection signal from a sensor unit that detects the passage of a moving workpiece, while moving the workpiece, starting a processing mechanism of a processing unit to process the workpiece with a prescribed processing tool, characterized in that, The detection time when the detection signal is received at the start time of a cycle in the inherent control cycle T with respect to the main control unit that controls the processing mechanism is measured, and the response delay time is calculated based on the difference between the control cycle and the detection time. The operation instruction signal for the processing mechanism is changed according to the control cycle based on the response delay time to control the processing.

8. The processing control method according to claim 7, characterized in that The sensor unit is configured as a non-contact type sensor with respect to the workpiece.

9. The processing control method according to claim 7 or 8, characterized in that In the case where a plurality of workpieces move simultaneously, the detection time for each workpiece is stored, and the operation instruction signal is changed for each workpiece based on the response delay time for each workpiece.

10. The processing control method according to claim 7 or 8, characterized in that The operation instruction signal changes the moving speed of the processing tool corresponding to the delay equivalent movement amount of the processing tool from the response delay time to the start time of the next cycle, and is issued at the start time of a specified cycle after the detection time when the detection signal is received from the sensor unit.

11. The processing control method according to claim 10, characterized in that The change of the operation instruction signal can be selected by the user from any change mode.

12. The processing control method according to claim 11, characterized in that The speed mode of the moving speed can be arbitrarily selected as the change mode.

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