JPH0295104A - Controlling method for speed of truck - Google Patents
Controlling method for speed of truckInfo
- Publication number
- JPH0295104A JPH0295104A JP63241678A JP24167888A JPH0295104A JP H0295104 A JPH0295104 A JP H0295104A JP 63241678 A JP63241678 A JP 63241678A JP 24167888 A JP24167888 A JP 24167888A JP H0295104 A JPH0295104 A JP H0295104A
- Authority
- JP
- Japan
- Prior art keywords
- truck
- speed
- stators
- auxiliary
- deviation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims description 9
- 238000001514 detection method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 1
Abstract
Description
【発明の詳細な説明】
［産業上の利用分野］
本発明はりニアモータで駆動される台車の速度を一定に
保つことができるようにした台車速度制御方法に関する
ものである。DETAILED DESCRIPTION OF THE INVENTION [Industrial Field of Application] The present invention relates to a method for controlling the speed of a truck driven by a linear motor so that the speed of the truck can be kept constant.
［従来の技術］
一般に仕分装置は、コンベヤから送られた仕分物を、移
送コンベヤを備えて走行レールに沿って走行する台車が
受取り、走行レールに沿って複数設けられた仕分台のう
ち指定された仕分台まで搬送するようにしたものである
。[Prior Art] In general, in a sorting device, a cart that is equipped with a transfer conveyor and runs along a traveling rail receives the sorted items sent from a conveyor, and selects a designated sorting table among a plurality of sorting tables provided along the traveling rail. It is designed so that the paper is transported to a sorting table.
上記したような仕分装置では、通常、台車の走行や台車
に設けられた搬送コンベヤの駆動用として、台車に電動
モータを備えており、且つ該電動モータに電力を供給す
るために走行レールに沿い地上部に給電設備を配設して
いるので、台車の重量が大きくなってしまうという問題
や、台車や給電設備の構造が複雑化してしまうという問
題があり、これらの問題を解決するために、台車の走行
と搬送コンベヤの駆動をリニアモータで行う仕分装置が
提案されている。In the sorting device described above, the cart is usually equipped with an electric motor for driving the cart and the conveyor installed on the cart, and a motor is installed along the traveling rail to supply power to the electric motor. Since the power supply equipment is installed above ground, there are problems such as the weight of the trolley becoming large and the structure of the trolley and power supply equipment becoming complicated.In order to solve these problems, A sorting device has been proposed in which a linear motor is used to drive a cart and a conveyor.
［発明が解決しようとする課題］
ところが、リニアモータを用いた仕分装置には、以下の
ような問題があった。[Problems to be Solved by the Invention] However, the sorting device using a linear motor has the following problems.
即ち、リニアモータは第７図に示すように、得られる速
度と発生する推力が略反比例するという特性を持ってい
るため、コンベヤから台車に仕分物を積込む時や台車か
ら仕分台に仕分物を荷おろしする時等に台車に掛る重量
や抵抗が変化すると、台車の走行に必要となる推力も変
化するので、これに対応して台車の速度が変化してしま
う。In other words, as shown in Figure 7, linear motors have the characteristic that the speed obtained and the thrust generated are approximately inversely proportional. If the weight or resistance applied to the truck changes when unloading the truck, the thrust required to run the truck also changes, and the speed of the truck changes accordingly.
ところが、仕分装置では台車が一定速度で走行すること
を前提として、仕分台に仕分物を荷おろしするための移
送コンベヤの作動タイミングを決定しているので、台車
の走行速度が変化してしまうと仕分台に正確に仕分物を
荷おろしできなくなってしまうおそれがある。However, in sorting equipment, the operation timing of the transfer conveyor for unloading the sorted items to the sorting table is determined on the assumption that the cart will run at a constant speed, so if the running speed of the cart changes, There is a risk that it will not be possible to unload the sorted items accurately onto the sorting table.
本発明は上述の実情に鑑み、リニアモータを用いた台車
の速度を一定に保つことかできるようにした台車速度制
御方法を提供することを目的とするものである。SUMMARY OF THE INVENTION In view of the above-mentioned circumstances, an object of the present invention is to provide a method for controlling the speed of a truck using a linear motor, which allows the speed of the truck to be kept constant.
［課題を解決するための手段］
本発明は走行路に設けた主固定子と台車に設けた可動子
とから成るリニアモータを用いて、複数連結された台車
を駆動すると共に、走行路に複数の補助固定子を設けて
、台車の速度の計測値と設定値との偏差に応じて所要数
の前記補助固定子を通電状態とすることを特徴とする台
車速度制御方法にかかるものである。[Means for Solving the Problems] The present invention uses a linear motor consisting of a main stator provided on the running path and a movable element provided on the cart to drive a plurality of connected carts. The present invention relates to a bogie speed control method, characterized in that a required number of auxiliary stators are provided, and a required number of the auxiliary stators are energized according to a deviation between a measured value and a set value of the speed of the bogie.
［作 用コ
台車の速度の計測値と設定値に偏差が生じたら、偏差に
応じた所要数の補助固定子を通電状態とすることにより
、不足分の推力か補われるので台車の速度は一定に保た
れる。[Operation] If a deviation occurs between the measured value and the set value of the speed of the bogie, the required number of auxiliary stators corresponding to the deviation are energized to compensate for the insufficient thrust, so the speed of the bogie remains constant. is maintained.
［実 施 例］ 以下、本発明の実施例を図面を参照しつつ説明する。[Example] Embodiments of the present invention will be described below with reference to the drawings.
第１図〜第６図は本発明の一実施例であり、第１図に示
すように、コンベヤーから送られた仕分物を、ループ型
の走行レール２上を走行可能な互いに連結された複数の
台車３か受取り、走行レール２沿いに複数並設された仕
分台４のうち指定された仕分台４まて配送できるように
する。1 to 6 show an embodiment of the present invention.As shown in FIG. The trolley 3 is received and delivered to a designated sorting table 4 among a plurality of sorting tables 4 arranged in parallel along the traveling rail 2.
前記各台車３は、第２図に示すように多数のローラ５を
備えて垂直軸６の回りに回動自在なロッカー７により、
走行路８から立設した走行レール２」二に支持され移動
できるようになっている。As shown in FIG. 2, each of the carts 3 is equipped with a rocker 7 that is equipped with a large number of rollers 5 and is rotatable around a vertical axis 6.
It is supported by a running rail 2'' erected from the running path 8 so that it can move.
又、走行路８の適宜位置に設けた台車３の走行に必要な
数のりニアモータの主固定子９と、台車３下面にブラケ
ット１０を介して設けたリニアモータの可動子１１とか
対峙したときに、主固定子９に通電すると可動子１１に
推力が発生して台車３が走行するようになっている。Furthermore, when the main stators 9 of the linear motors of the number necessary for running the bogie 3 installed at appropriate positions on the running path 8 and the movable elements 11 of the linear motors installed on the bottom surface of the bogie 3 via brackets 10 are confronted. When the main stator 9 is energized, a thrust is generated in the movable element 11, causing the truck 3 to travel.
更に走行路８の各仕分台４に対応する位置に設けたりニ
アモータの固定子１２と、該固定子１２の中心線に対し
中心軸をずらせて台車３下面に配設した（円板状の）リ
ニアモータの可動子Ｉ３とが対峙したときに固定子１２
に通電すると可動子１３に推力が発生して可動子１３が
回転し、ベベルギア１．４，１５ 、シーブ１６、ベル
ト１７、シーブ１８を介して移載コンベアＩ９が作動す
るようになっている。Furthermore, it is provided at a position corresponding to each sorting table 4 on the running path 8, and is arranged on the lower surface of the cart 3 with the center axis shifted from the stator 12 of the near motor and the center line of the stator 12 (disc-shaped). When the movable element I3 of the linear motor faces the stator 12,
When energized, thrust is generated in the movable element 13, the movable element 13 rotates, and the transfer conveyor I9 is operated via the bevel gears 1.4, 15, the sheave 16, the belt 17, and the sheave 18.
走行路８の前記台車３に設けた走行用の可動子１１と対
峙可能な位置に、所要数の補助固定子２０を配設する。A required number of auxiliary stators 20 are disposed on the running path 8 at positions where they can face the movable element 11 for running provided on the truck 3.
台車３長手方向に延びて下端部にピッチａの凹凸部２１
を連続的に形成した第３図に示すような検出体２２を台
車３のブラケット１０に取付け、走行路８の前記検出体
２２通過位置を挟むように二対で一組の光電スイッチ２
３，２４．２５を複数組配設する。該各組の光電スイッ
チ２３，２４．２５は各対間の間隔を例えば凹凸部２１
のピッチａの１ ／ ｎとしくｎは自然数、第３図では
ａ ／ ３となっている）、互いにピッチをずらせてｎ
組設けるようにして、連続的な検出を行ない得るように
する。An uneven portion 21 extending in the longitudinal direction of the trolley 3 and having a pitch a at the lower end.
A detection body 22 as shown in FIG.
Multiple sets of 3, 24, and 25 are arranged. Each pair of photoelectric switches 23, 24, 25 has a spacing between each pair such as the uneven portion 21.
The pitch of a is 1/n, where n is a natural number (in Figure 3, it is a/3), and the pitch is shifted from each other to n.
multiple sets are provided so that continuous detection can be performed.
第４図に示すように、各組の光電スイッチ２３２４．２
５からの信号を人力して検出体２２の凹凸部２１が各組
の一対の光電スイッチ２３，２４．２５を遮光する間の
時間を計測するタイマー２６を設け、該タイマー２６か
らの計測時間と、設定器２７からの設定時間とを入力し
て両者の偏差を取る減算器２８を設け、該減算器２８か
らの偏差信号を人力して通電する補助固定子２０の数を
求めて補助固定子２０の電源装置２９に信号を送る演算
制御装置３０を設ける。As shown in FIG. 4, each set of photoelectric switches 2324.2
A timer 26 is provided which measures the time during which the concavo-convex portion 21 of the detecting body 22 shields each pair of photoelectric switches 23, 24, 25 by manually inputting the signal from the timer 26. , and the set time from the setting device 27 to calculate the deviation between the two.The deviation signal from the subtracter 28 is manually input to calculate the number of auxiliary stators 20 to be energized. An arithmetic and control device 30 is provided which sends signals to the 20 power supply devices 29.
次に作動について説明する。Next, the operation will be explained.
走行路８に設けた主固定子９と台車３に設けた可動子１
１が対峙するタイミングで周期的に主固定子９に通電す
るようにすると、可動子１１に推力が発生して台車３が
走行する。A main stator 9 provided on the running path 8 and a movable element 1 provided on the bogie 3
If the main stator 9 is periodically energized at the timing when the movable elements 1 and 1 face each other, a thrust is generated in the movable element 11 and the bogie 3 runs.
このとき、台車３に設けた検出体２２の凹凸部２１が各
組の一対の光電スイッチ２３，２４．２５を遮光する間
の時間を第５図に示すように順番にタイマー２６か計測
しており、タイマー２６の計測時間（一定の間隔ａ ／
３を台車３が通過する時間、即ち台車３の実際の速度
を示す）は減算器２８により第６図に示すように設定器
２７の設定時間（即ち台車３の設定速度を示す）に対す
る偏差を取られ、その偏差信号は演算制御装置３０に入
力される。At this time, as shown in FIG. 5, the timer 26 sequentially measures the time during which the concavo-convex portion 21 of the detection body 22 provided on the trolley 3 shields each pair of photoelectric switches 23, 24, 25 from light. The measurement time of the timer 26 (fixed interval a /
The time it takes the trolley 3 to pass 3 (indicating the actual speed of the trolley 3) is calculated by the subtractor 28 as a deviation from the time set by the setting device 27 (in other words, indicating the set speed of the trolley 3) as shown in FIG. The deviation signal is input to the arithmetic and control unit 30.
その結果、演算制御装置３０は減算器２８からの偏差信
号の大小に応じて通電する補助固定子２０の数を求め、
必要数の電源装置２９に補助固定子２０を通電状態にす
る指令を送り、台車３の速度を補正し一定とする。As a result, the arithmetic and control device 30 determines the number of auxiliary stators 20 to be energized according to the magnitude of the deviation signal from the subtracter 28,
A command is sent to the required number of power supply devices 29 to turn on the auxiliary stator 20, and the speed of the truck 3 is corrected and kept constant.
より具体的に述べると、タイマー２６の計測時間が設定
器２７の設定時間より大きい場合には、台車３が減速し
ているので、例えば第６図に示すようにタイマー２６の
計測時間がｂの時は３個、Ｃのときは２個、ｄのときは
１個の補助固定子２０を通電状態として、補助固定子２
０により不足分の推力を補い、台車３の速度をその分上
昇して台車３を一定速度とする。To be more specific, if the time measured by the timer 26 is greater than the time set by the setting device 27, the trolley 3 is decelerating, so the time measured by the timer 26 is longer than b, as shown in FIG. 6, for example. 3 auxiliary stators 20 at time, 2 at C, and 1 at d,
0 to compensate for the lack of thrust and increase the speed of the truck 3 by that amount to maintain the truck 3 at a constant speed.
又、タイマー２６の計測時間が設定器２７の設定時間と
等しい場合には、台車３の速度は既に一定に保たれてい
るので、補助固定子２０には通電しない。Further, if the time measured by the timer 26 is equal to the set time by the setter 27, the speed of the truck 3 is already kept constant, so no current is applied to the auxiliary stator 20.
更にタイマー２６の計測時間が設定器２７の設定時間よ
り小さい場合には、台車３は増速しでいるので、例えば
第６図に示すようにタイマー２６の計測時間がｅのとき
は１個の補助固定子２０を電流の方向を逆にして通電状
態とし、補助固定子２０により全体の推力を減少して台
車３の速度をその分減速し台車３を一定速度とする。Further, if the time measured by the timer 26 is smaller than the time set by the setting device 27, the cart 3 is increasing its speed. For example, as shown in FIG. The auxiliary stator 20 is energized by reversing the direction of the current, and the auxiliary stator 20 reduces the overall thrust to reduce the speed of the truck 3 by that amount, thereby keeping the truck 3 at a constant speed.
尚、この場合には、台車３は自然に減速する傾向にある
ので、補助固定子２０に通電しないようにしても良い。In this case, since the truck 3 tends to decelerate naturally, the auxiliary stator 20 may not be energized.
尚、本発明の台車速度制御方法は、上述の実施例にのみ
限定されるものではなく、台車の速度を計測する方法は
自由であること、その他本発明の要旨を逸脱しない範囲
内において種々変更を加え得ることは勿論である。Note that the bogie speed control method of the present invention is not limited to the above-mentioned embodiments, and the method of measuring the bogie speed is free, and various other changes may be made without departing from the gist of the present invention. Of course, it is also possible to add
［発明の効果］
以上説明したように、本発明の台車速度制御方法によれ
ば、台車の速度の計測値と設定値の偏差に応じて通電状
態にする補助固定子の数を変更するようにしたので、台
車を一定速度で走行させることができるという優れた効
果を奏し得る。[Effects of the Invention] As explained above, according to the bogie speed control method of the present invention, the number of auxiliary stators to be energized is changed according to the deviation between the measured value of the bogie speed and the set value. Therefore, an excellent effect can be achieved in that the cart can be made to travel at a constant speed.
【図面の簡単な説明】
第１図は本発明の方法を実施する装置の一例を示す仕分
装置の全体斜視図、第２図は第１図の■−■矢視図、第
３図は第２図の検出体と光電スイッチの拡大図、第４図
は第３図に用いる制御装置のブロック図、第５図は各光
電スイッチの作動図、第６図はタイマーの計測値と時間
の関係を表わす線図、第７図はりニアモータの推力と速
度の特性図を示す。
図中３は台車、８は走行路、９は主固定子、１１は可動
子、２０は補助固定子である。[BRIEF DESCRIPTION OF THE DRAWINGS] Fig. 1 is an overall perspective view of a sorting device showing an example of an apparatus for carrying out the method of the present invention, Fig. 2 is a view taken along the ■-■ arrow in Fig. Figure 2 is an enlarged view of the detection object and photoelectric switch, Figure 4 is a block diagram of the control device used in Figure 3, Figure 5 is an operation diagram of each photoelectric switch, and Figure 6 is the relationship between the measured value of the timer and time. Figure 7 shows a characteristic diagram of the thrust and speed of the linear motor. In the figure, 3 is a truck, 8 is a running path, 9 is a main stator, 11 is a movable element, and 20 is an auxiliary stator.
Claims (1)
ら成るリニアモータを用いて、複数連結された台車を駆
動すると共に、走行路に複数の補助固定子を設けて、台
車の速度の計測値と設定値との偏差に応じて所要数の前
記補助固定子を通電状態とすることを特徴とする台車速
度制御方法。1) A linear motor consisting of a main stator installed on the running path and a movable element installed on the cart is used to drive multiple connected carts, and a plurality of auxiliary stators are installed on the running path to drive the carts. A bogie speed control method, characterized in that a required number of the auxiliary stators are energized according to a deviation between a measured speed value and a set value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63241678A JP2781885B2 (en) | 1988-09-27 | 1988-09-27 | Truck speed control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63241678A JP2781885B2 (en) | 1988-09-27 | 1988-09-27 | Truck speed control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0295104A true JPH0295104A (en) | 1990-04-05 |
| JP2781885B2 JP2781885B2 (en) | 1998-07-30 |
Family
ID=17077891
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP63241678A Expired - Fee Related JP2781885B2 (en) | 1988-09-27 | 1988-09-27 | Truck speed control method |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2781885B2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5064580A (en) * | 1988-03-31 | 1991-11-12 | The Dow Chemical Company | Process for making microporous membranes from poly(etheretherketone)-type polymers |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS58139602A (en) * | 1982-02-09 | 1983-08-19 | Shinko Electric Co Ltd | Conveying apparatus |
| JPS63140605A (en) * | 1986-12-02 | 1988-06-13 | Daifuku Co Ltd | Intermediate acceleration controller for carrier equipment using linear motor |
-
1988
- 1988-09-27 JP JP63241678A patent/JP2781885B2/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS58139602A (en) * | 1982-02-09 | 1983-08-19 | Shinko Electric Co Ltd | Conveying apparatus |
| JPS63140605A (en) * | 1986-12-02 | 1988-06-13 | Daifuku Co Ltd | Intermediate acceleration controller for carrier equipment using linear motor |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5064580A (en) * | 1988-03-31 | 1991-11-12 | The Dow Chemical Company | Process for making microporous membranes from poly(etheretherketone)-type polymers |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2781885B2 (en) | 1998-07-30 |
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