JPH03102007A - Positioning device for linear transport dolly - Google Patents
Positioning device for linear transport dollyInfo
- Publication number
- JPH03102007A JPH03102007A JP23953589A JP23953589A JPH03102007A JP H03102007 A JPH03102007 A JP H03102007A JP 23953589 A JP23953589 A JP 23953589A JP 23953589 A JP23953589 A JP 23953589A JP H03102007 A JPH03102007 A JP H03102007A
- Authority
- JP
- Japan
- Prior art keywords
- dolly
- stop
- electromagnet
- cart
- speed
- 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.)
- Pending
Links
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims abstract description 22
- 230000006698 induction Effects 0.000 claims abstract description 15
- 229910052742 iron Inorganic materials 0.000 claims abstract description 11
- 238000010517 secondary reaction Methods 0.000 claims 1
- 238000013459 approach Methods 0.000 abstract description 4
- 238000001514 detection method Methods 0.000 abstract description 4
- 230000005284 excitation Effects 0.000 abstract description 3
- 238000006243 chemical reaction Methods 0.000 abstract description 2
- 230000005415 magnetization Effects 0.000 abstract 1
- 238000000034 method Methods 0.000 description 8
- 230000000694 effects Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007086 side reaction Methods 0.000 description 1
- 230000002269 spontaneous effect Effects 0.000 description 1
Landscapes
- Special Conveying (AREA)
- Non-Mechanical Conveyors (AREA)
- Control Of Conveyors (AREA)
- Intermediate Stations On Conveyors (AREA)
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夕で駆動されるリニア搬送台車の停
止位置で正確に、かつ迅速に停止である。DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention enables a linear transport vehicle driven by a linear motor to stop accurately and quickly at a stop position.
リニア誘導モータを用いたリニア搬送装置で台車を定位
置に停止させる方法として
■ 停止ステーション内の２台のリニア誘導モータの推
力を互いに向き合うようにし、台屯が受ける推力がバラ
ンスした点で、停止させる。A method for stopping a trolley in a fixed position using a linear conveyance device using linear induction motors ■ The thrusts of the two linear induction motors in the stop station are made to face each other, and the trolley is stopped at a point where the thrusts received by the trolley are balanced. let
■ 台車が停止点を行き過ぎた時には進行方向と逆の方
向にリニア誘導モータの推力を発生させて後戻りさせる
。■ When the truck goes too far past the stopping point, the linear induction motor generates thrust in the opposite direction to the direction of travel, causing it to go back.
■ ステーション内で低速走行させ、停止位置にあるメ
カニカルストツバで台車を捕捉し、機械的にロックさせ
る等の方法がある。■ There are methods such as running the trolley at low speed within the station, capturing the trolley with a mechanical stopper at the stop position, and mechanically locking it.
従来より採用されている■，■項の方法は非接触停止で
あるが、台車を停止させるためのモータの推力制御が困
難で、しかも台車は停止までに停止位置を中心に前後に
移動を繰り返しながら停止するため、停止時間がかかる
欠点かある。The conventionally adopted methods in items ■ and ■ are non-contact stopping methods, but it is difficult to control the thrust of the motor to stop the cart, and moreover, the cart repeatedly moves back and forth around the stop position before stopping. The disadvantage is that it takes a long time to stop because it stops while the machine is moving.
また■項記載の方法は接触式であるため、定位置停止は
確実に行えるが、移動している台車と機械的に無理に停
止させるため、大型搬送台車ではストツパが停止時の大
きなエネルギーを吸収できず、すぐに破壊される。また
台車捕捉時に騒音が発生する等の欠点がある。In addition, since the method described in section (■) is a contact type, it can be reliably stopped in a fixed position, but since the stopper is forced to stop mechanically with the moving cart, the stopper absorbs a large amount of energy when stopping on large transport carts. It cannot be done and will be destroyed immediately. Additionally, there are drawbacks such as noise being generated when the cart is captured.
本発明は台車の停止位置決めを電気的に非接触で、かつ
速やかに正確に位置決めを行うことを目的とする。An object of the present invention is to quickly and accurately position a cart without electrical contact.
本発明は上記目的を達成するためになしたもので、リニ
アモー夕の一次側または二次側のいずれか一方を搬送路
側の台車停止ステーションに、他方を台車側に設け、且
つ台車を所定の停止位置にて保持するために当該停止位
置の搬送路側に、保持用電磁石のコイルを巻いた磁極ま
たはその磁極と相対して吸引力を受ける位置決め用鉄片
のいずれか一方を設け、台車側に他方を設け、且つ台車
が当該ステーションにきたときにリニアモー夕の制動力
で台車を減速し、保持用電磁石の吸引力で台車を所定の
位置に停止、保持するようになすとともに、台車が予め
定めた定位置の停止位置手前で停止したり、行き過ぎて
停止したとき、その場所を検出し、所定の停止位置まで
の距離に応じて台車の再移動速度を制御する台車の停止
位置検出センサと再移動速度制御装置とを備え、これに
より正確に、かつ迅速に定位置にて台車を停止させるよ
うになす。The present invention has been made to achieve the above object, and has one of the primary side and the secondary side of a linear motor installed at a trolley stop station on the conveyance path side, and the other at the trolley side, and which stops the trolley at a predetermined position. In order to hold the position, either a magnetic pole around which the coil of the holding electromagnet is wound or a positioning iron piece that receives an attractive force in opposition to the magnetic pole is installed on the conveyance path side of the stop position, and the other side is installed on the cart side. In addition, when the cart comes to the station, the linear motor decelerates the cart, and the holding electromagnet's attraction force stops and holds the cart at a predetermined position. A stop position detection sensor and re-movement speed of the dolly that detects the location when the dolly stops short of the stop position or stops too far and controls the re-movement speed of the dolly according to the distance to the predetermined stop position. A control device is provided to accurately and quickly stop the truck at a fixed position.
保持用電磁石により低速で走行している台車を捕捉し、
定位置に停止させるには、台車が停止ステーションに入
って減速した後の速度が電磁石の台車捕捉力に見合った
速度以下であればよい。しかし、台車の減速後の速度は
搬送路重量、台車と搬送路間の抵抗、リニアモー夕の減
速力などで変動するので、台車は保持用電磁石の所で適
正速度になっているとは限らない。また停止位置の手前
で止まったり、行き過ぎて止まったりする。このような
ときに、台車を適正速度で再び電磁石の所に移動させれ
ば正しく停止する。A holding electromagnet captures a trolley running at low speed,
In order to stop the cart at a fixed position, the speed after the cart enters the stopping station and is decelerated should be equal to or less than the speed commensurate with the cart capturing force of the electromagnet. However, the speed of the cart after deceleration varies depending on the weight of the transport path, the resistance between the cart and the transport path, the deceleration force of the linear motor, etc., so the cart is not always at the appropriate speed at the holding electromagnet. . Also, the vehicle may stop before the stop position, or may stop after going too far. In such a case, if the cart is moved to the electromagnet again at a proper speed, it will stop correctly.
但し、最初の停止場所が正規の停止位置から遠く離れて
いると、捕捉適正速度で再移動させると時間がかかるの
で、はじめは速く移動させ、電磁石に近づくと適正速度
になるように停止場所に応じて再移動速度をコントロー
ルするので、正確に定位置で台車を停止させられる。However, if the initial stopping place is far from the regular stopping position, it will take time to move it again at the proper acquisition speed, so move quickly at first and then return to the stopping place so that it reaches the proper speed as it approaches the electromagnet. Since the re-movement speed is controlled accordingly, the trolley can be accurately stopped at a fixed position.
以下本発明を図示の実施例にもとづいて説明す る。 The present invention will be explained below based on the illustrated embodiments.
図において１はリニア誘導モータにて台車が移動する搬
送路で、工場内その他所定位置に台車を搬送する経路に
そって配設されると共に、この搬送路１の頂面には二条
のレール２．２が設けられる。In the figure, reference numeral 1 denotes a conveyance path along which a trolley is moved by a linear induction motor.The conveyance path 1 is arranged along the route for conveying the trolley to other predetermined locations within the factory. .2 is provided.
搬送路１己はリニア誘導モータ一次側３が適当な位置に
配殺されると共に、台車４の停止位置にも設けられ、搬
送路１のレール２上を走行する台車４には走行用車輪５
とリニア誘導モータ一次側３にて推力を受ける二次側リ
アクションプレート６を設ける。In the transport path 1, the linear induction motor primary side 3 is disposed at an appropriate position and is also provided at the stop position of the trolley 4, and the trolley 4 running on the rails 2 of the transport path 1 has running wheels 5.
A secondary side reaction plate 6 is provided which receives thrust on the primary side 3 of the linear induction motor.
また、搬送路ｌには予め定めた位置に停止ステーション
Ｓを定め、この定位置例えば停止ステーションＳの中心
又は中心付近に取付板７を突設し、この取付板７に位置
決め用電磁石８を取り付けると共に、停止ステーション
Ｓ内であって、かつこの電磁石８を中心として搬送方向
の前後に定間隔もしくは任意間隔に複数個の近接センサ
ＩＡ， ＩＢ， ＩＣ及び２Ａ， ２Ｂ， ２
Ｃを配列配置する。Further, a stop station S is set at a predetermined position on the conveyance path l, and a mounting plate 7 is provided protrudingly at or near the center of this fixed position, for example, the stop station S, and a positioning electromagnet 8 is attached to this mounting plate 7. In addition, a plurality of proximity sensors IA, IB, IC and 2A, 2B, 2 are located within the stop station S at regular or arbitrary intervals in the front and back of the transport direction around the electromagnet 8.
Arrange C.
なお、台車４の側面には直接もしくはセンサ取付板９を
介して電磁石用鉄片１０を設け、台車４の定位置停止時
この電磁石用鉄片１０と位置決め用電磁石８とが互いに
対向するようになす。An electromagnet iron piece 10 is provided on the side surface of the truck 4 either directly or via the sensor mounting plate 9, so that the electromagnet iron piece 10 and the positioning electromagnet 8 face each other when the truck 4 stops at a fixed position.
次に、本発明の動作及び作用について説明する。台車４
が第１図１の矢印の方向に進入するとその進行をまずセ
ンサ２Ａで検出してリニア誘導モータを台車に制動がか
かるように励磁する。同時に位置決め用電磁石も励磁す
る。一方では台車の速度を検出して位置決め用電磁石の
吸引力によって正規位置に停止できる速度になっている
とリニア誘導モータ一次側の励磁を切り、台車は惰走す
る。速度検出の方法としてはとなりあう２組のセンサが
台車を順次検出するときの時間差とセンサ間距離から第
４図の走行制御装置に内蔵した速度演算器で求める方法
がある。Next, the operation and effect of the present invention will be explained. Trolley 4
When the bogie enters in the direction of the arrow in FIG. 1, the sensor 2A detects its progress and the linear induction motor is energized so as to brake the bogie. At the same time, the positioning electromagnet is also excited. On the other hand, the speed of the cart is detected, and if the speed is such that it can be stopped at the correct position by the attractive force of the positioning electromagnet, the excitation of the primary side of the linear induction motor is cut off, and the cart coasts. As a method of speed detection, there is a method of calculating the speed using a speed calculator built in the traveling control device shown in FIG. 4 from the time difference when two sets of adjacent sensors sequentially detect the bogie and the distance between the sensors.
台車が惰走中に台車に設けた電磁石用鉄片部が第２図に
示す位置決め用電磁石の歯部を通過するとき、電磁石の
吸引力により台車の鉄片部が吸引されようとする。この
時の吸引力が制動力となって台車は停止し、電磁石と鉄
片との間に働く吸引力で台車の位置が保持される。した
がって、台車は電磁石と非接触で停止を続けることがで
きる。しかし、実際には台車につむ荷重の大きさや、使
用中のレール表面の汚れによる台車の車輪とレールの間
の摩擦係数の変化によって、惰走中に台車が正規停止位
置より手前で自然停止したり、所定の減速力では所定の
速度まで減速しないで、正規停止位置を通過してから自
然停止する場合がある。このような場合、リニア誘導モ
ータで正規停止位置まで台車を再移動させる。このとき
の再移動速度としては、位置決め用電磁石の吸引力で台
車を停止できるよう十分に遅い速度とする。しかし、再
移動時に最初から遅い速度で再移動したのでは正規位置
での停止まで時間がかかるので、センサＩＡ〜ＩＣで自
然停止位置を検出し、例えば正規位置から遠く離れて自
然停止したときは再移動時のモータ推力を大きくして高
速で再移動させ、台車が正規停止位置に近づくにつれて
推力を小さくして低速にする。第３図は台車が自然停止
位置から再移動したときに、正規停止位置までの距離に
応じてモータ推力を減少させて台車を所定の低速に至ら
せるときのモータ推力特性を示す。When the iron piece for the electromagnet provided on the cart passes the teeth of the positioning electromagnet shown in FIG. 2 while the cart is coasting, the iron piece of the cart tends to be attracted by the attractive force of the electromagnet. The attractive force at this time acts as a braking force to stop the cart, and the position of the cart is maintained by the attractive force acting between the electromagnet and the iron piece. Therefore, the cart can continue to stop without contacting the electromagnet. However, in reality, due to changes in the friction coefficient between the wheels and rails due to the size of the load on the bogie and the dirt on the rail surface during use, the bogie may come to a spontaneous stop before the normal stop position during coasting. In other cases, the vehicle may not decelerate to a predetermined speed with a predetermined deceleration force and may come to a natural stop after passing through a normal stop position. In such a case, the trolley is moved again to the normal stop position using the linear induction motor. The re-movement speed at this time is set to be a speed that is sufficiently slow so that the cart can be stopped by the attractive force of the positioning electromagnet. However, if you move again at a slow speed from the beginning, it will take time to stop at the normal position, so sensors IA to IC detect the natural stop position. For example, when the natural stop occurs far away from the normal position, The motor thrust is increased during re-movement to move the cart again at high speed, and as the cart approaches the normal stop position, the thrust is reduced to reduce the speed. FIG. 3 shows the motor thrust characteristics when the truck moves again from the natural stop position and the motor thrust is reduced according to the distance to the normal stop position to bring the truck to a predetermined low speed.
第３図では台車停止位置がセンサＩＡ〜ＩＣのどれで検
出されたかによって推力の変化程度が異なることを示す
。このようにするのは例えば台車が正規位置に近い１Ｃ
のセンサの所で自然停止したときは、再移動のときにＩ
Ａのセンサで停止したときほど再移動のための推力が必
要でない為である。FIG. 3 shows that the degree of change in thrust varies depending on which of the sensors IA to IC detects the bogie stop position. For example, do this at 1C when the trolley is close to its normal position.
When it comes to a natural stop at the sensor, the I
This is because the thrust for moving again is not needed as much as when stopped by sensor A.
第４図に制御ブロックを示す。同図で動作を説明すると
、台車がステーションに進入したことをセンサＡで検出
し、その信号出力をうけた台車コントローラの指示によ
り正規位置決めのための位置決め用電磁石を励磁する。FIG. 4 shows the control block. To explain the operation with reference to the figure, sensor A detects that the cart has entered the station, and the positioning electromagnet for normal positioning is energized in accordance with instructions from the cart controller that receives the signal output.
台車は進入するに従ってセンサ２Ａ〜２Ｃで速度が再移
動速度制御装置の速度演算器で算出され、その結果にし
たがって台車コントローラから減速力の指示がインバー
タに出さ択 インバータの出力がコントロールされる。As the truck enters, the speed is calculated by the speed calculator of the re-movement speed control device using the sensors 2A to 2C, and according to the results, a deceleration force instruction is sent to the inverter from the truck controller.The output of the inverter is controlled.
そのインバータの出力により進入速度に適した減速力が
リニアモータ一次側から出され台車は減速される。次に
台車の速度が所定以下に減速されると台車コントローラ
の指示によりニアモータ励磁がＯＦＦとなり、台車は情
走する。この惰走巾に台車の電磁石用鉄片が位置決め用
電磁石の吸引力で捕捉されると台車は正規位置で停止す
るが、もし正規位置を通過したときはある位置で自然停
止する。例えば、その位置がセンサＩＡの所であったと
するとＩＡのセンサ出力に従って停止位置決定器が停止
位置を再移動コントローラに伝え、同コントローラはそ
の情報に従ってインバータの出力を指示する。インバー
タはその指示に従って再移動推力をリニアモータに発生
させる。Using the output of the inverter, a deceleration force suitable for the approach speed is output from the primary side of the linear motor, and the bogie is decelerated. Next, when the speed of the truck is reduced to a predetermined value or less, the near motor excitation is turned off in response to an instruction from the truck controller, and the truck moves forward. When the iron piece for the electromagnet of the cart is captured by the attraction force of the positioning electromagnet in this coasting width, the cart will stop at the normal position, but if it passes through the normal position, it will come to a natural stop at a certain position. For example, if the position is at the sensor IA, the stop position determiner informs the re-movement controller of the stop position according to the sensor output of IA, and the controller instructs the output of the inverter according to the information. The inverter causes the linear motor to generate re-moving thrust according to the instructions.
またインバータは図３の特性に従って推力をコントロー
ルするので、台車は再移動後は行き過ぎることなく正規
停止位置で電磁石での吸引力により停止する。Furthermore, since the inverter controls the thrust according to the characteristics shown in FIG. 3, the cart does not go too far after moving again and stops at the normal stop position due to the attraction force of the electromagnet.
なお、上記実施例では、搬送路にレール軌道を用いたが
、浮上走行式であっても応用できると共に、リニアモー
タも誘導モータに限定されることなく、他のモータを用
いることも可能であり、さらにはモータの一次側を移動
側に設けることも可能である。In addition, in the above embodiment, a rail track was used for the conveyance path, but a floating traveling type can also be applied, and the linear motor is not limited to an induction motor, and other motors can also be used. Furthermore, it is also possible to provide the primary side of the motor on the moving side.
本発明による時は、台車検出センサとモータ推力をコン
トロールするコントローラの組み合わせで簡単に台車を
機械的非接触方式で停止でき、かつその停止位置を正確
に行えると共に、機械的停止保持方式に比べ構成が簡単
で可動部分がないので、動作の信頼性が向上する等の利
点を有する。According to the present invention, the cart can be easily stopped in a mechanical non-contact manner by combining the cart detection sensor and the controller that controls the motor thrust, and the stopping position can be accurately determined, and the structure is more convenient than the mechanical stopping and holding method. Since it is simple and has no moving parts, it has advantages such as improved reliability of operation.
第ｌ図は要部の外観斜視図、第２図は平面図、第３図は
グラフ図、第４図は本発明作動のブロック説明図、第５
図はフローチャートである。
１は搬送路、２はレール、３はリニア誘導モータ一次側
、４は台車、６はリアクションプレート、８は位置決め
用電磁石、 ｌＯは電磁石用鉄片、Ｓは停止ステーショ
ン、 ＩＡ，ＩＢ，ＩＣ． ２Ａ， ２Ｂ，
２Ｃはセンサ。
（外１名）Fig. 1 is an external perspective view of the main parts, Fig. 2 is a plan view, Fig. 3 is a graph, Fig. 4 is a block diagram of the operation of the present invention, Fig. 5
The figure is a flowchart. 1 is a transport path, 2 is a rail, 3 is a linear induction motor primary side, 4 is a trolley, 6 is a reaction plate, 8 is a positioning electromagnet, IO is an iron piece for the electromagnet, S is a stop station, IA, IB, IC. 2A, 2B,
2C is a sensor. (1 other person)
Claims (1)
側を設け、台車の正規停止位置と該当する所に位置決め
用電磁石を設け、その両側には台車がステーション内に
進入してきて停止したときに、その位置を検出するよう
に近接センサを停止位置の範囲をカバーするようにして
複数個を設けると共に、前記台車にはリニアモータ二次
側リアクションプレート及び正規位置決め用電磁石に対
応する電磁石用鉄片を設けたことを特徴とするリニア搬
送台車の位置決め装置。(1) A linear induction motor primary side is installed in the station section of the conveyance path, and positioning electromagnets are installed at locations corresponding to the normal stop position of the cart, and on both sides of the magnet, when the cart enters the station and stops, In order to detect the position, a plurality of proximity sensors are provided to cover the range of the stop position, and the trolley is provided with an iron piece for electromagnets corresponding to the linear motor secondary reaction plate and the regular positioning electromagnet. A positioning device for a linear transport vehicle, which is characterized by:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP23953589A JPH03102007A (en) | 1989-09-14 | 1989-09-14 | Positioning device for linear transport dolly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP23953589A JPH03102007A (en) | 1989-09-14 | 1989-09-14 | Positioning device for linear transport dolly |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH03102007A true JPH03102007A (en) | 1991-04-26 |
Family
ID=17046255
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP23953589A Pending JPH03102007A (en) | 1989-09-14 | 1989-09-14 | Positioning device for linear transport dolly |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH03102007A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000191140A (en) * | 1998-12-26 | 2000-07-11 | Minebea Co Ltd | Carrier system using linear motor |
| JP2005351359A (en) * | 2004-06-10 | 2005-12-22 | Ulvac Japan Ltd | Positioner of carrier of vacuum processor in vacuum processing chamber |
| US7363904B2 (en) | 2002-02-20 | 2008-04-29 | Yamaha Hatsudoki Kabushiki Kaisha | Lubrication device of engine |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60128513A (en) * | 1983-12-16 | 1985-07-09 | Shinko Electric Co Ltd | Positioning device of mobile body in carrier device |
| JPS6373805A (en) * | 1986-09-11 | 1988-04-04 | Tsubakimoto Chain Co | Positioning stopper for linear motor driving truck |
-
1989
- 1989-09-14 JP JP23953589A patent/JPH03102007A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60128513A (en) * | 1983-12-16 | 1985-07-09 | Shinko Electric Co Ltd | Positioning device of mobile body in carrier device |
| JPS6373805A (en) * | 1986-09-11 | 1988-04-04 | Tsubakimoto Chain Co | Positioning stopper for linear motor driving truck |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000191140A (en) * | 1998-12-26 | 2000-07-11 | Minebea Co Ltd | Carrier system using linear motor |
| US7363904B2 (en) | 2002-02-20 | 2008-04-29 | Yamaha Hatsudoki Kabushiki Kaisha | Lubrication device of engine |
| JP2005351359A (en) * | 2004-06-10 | 2005-12-22 | Ulvac Japan Ltd | Positioner of carrier of vacuum processor in vacuum processing chamber |
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