JP2009120318A - Carrying device for work - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a carrying device for work, facilitating change of a travelling path by increasing/decreasing the number of linear blocks and suppressing change of travelling drive control means of a travelling body. <P>SOLUTION: The carrying device for work comprises: a plurality of linear blocks 1; a plurality of travelling bodies sliding and guided on a guide rail; a linear motor constituted of a plurality of fixed electromagnets arranged in parallel in a guide rail extension direction and a movable permanent magnet disposed on the travelling body; and a control part traveling and driving the traveling body. The carrying device performs work on the assembly line of objects to be processed carried along a single travelling path 3 by the traveling body. The traveling path 3 is divided at a plurality of points P, and a position detection means is provided to detect the point P where the travelling body is. The control means determines that the work at the point P where the traveling body is, or that the work is unnecessary, and the travelling body is displaced to the next point P by the detection that there are no travelling body at next point P. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a work transfer device.

  2. Description of the Related Art Conventionally known is a work transfer device capable of performing a flow operation of an object to be processed placed on a traveling body by driving the traveling body slidingly guided on a guide rail by a linear motor. . In such a work transfer device, the travel path formed by the guide rail is uniformly defined, and when the arrangement of the work implements or the like is changed, it is difficult to change the travel path according to the change. And has the disadvantage of low versatility.

In order to remedy the above disadvantages, a plurality of linear blocks having linear guide rails extending on the base portion, a traveling body slidably guided on the guide rails, and a guide rail extending direction on the linear block side A linear motor composed of a plurality of fixed magnets arranged in parallel to each other and a movable magnet provided on the traveling body side, and a control unit for controlling the output of the linear motor to drive the traveling body along the guide rails. The work shown in Patent Document 1 is capable of performing a flow work of an object to be processed placed on a traveling body along a single traveling path formed by connecting the plurality of linear blocks. Transportation devices are known.
Special table 2007-500495 gazette

The working transport device of the above document has an advantage that the traveling path can be easily changed by increasing or decreasing the number of linear blocks to be connected, while traveling of a plurality of traveling bodies that travel between the connected linear blocks. The issue is how to perform drive control. For example, it is preferable to control a plurality of traveling bodies traveling on a traveling path so that the flow work can be performed efficiently without colliding with each other, but the traveling drive control means of the traveling body is changed every time the traveling path is changed. If necessary, convenience is reduced.
The present invention solves the above-described problems, and can easily change the traveling path by increasing or decreasing the number of linear blocks, and can suppress a change in traveling drive control means of the traveling body by changing the traveling path to a minimum. It is an object of the present invention to provide a work transfer device.

  In order to solve the above-described problems, the working transport device according to the present invention firstly includes a plurality of linear blocks 1 in which linear guide rails 8 extend from the base portion 7 and sliding guides on the guide rails 8. Linear motor composed of a plurality of traveling bodies 4, a plurality of fixed electromagnets 9 arranged in parallel in the extending direction of the guide rail 8 on the linear block 1 side, a movable permanent magnet 14 provided on the traveling body 4 side, and the like. 18 and a control unit 28 for controlling the output of the linear motor 18 to drive the traveling body 4 along the guide rail 8, and a single unit formed by connecting the plurality of linear blocks 1. In a work transport apparatus capable of performing a flow operation of an object to be processed 6 transported by a travel body 4 along a travel path 3, the travel path 3 formed by the linear block 1 is divided into a plurality of points P. The position detection means 19 for detecting which point P the traveling body 4 is at is provided, and the control unit 28 determines that the work at the current point P of the traveling body 4 is completed or unnecessary. By detecting that there is no other traveling body 4 at the next point P, the traveling body 4 is displaced to the next point P.

  Second, the guide block 23 is extended to the base portion 24 and the transfer block 2 provided with the transfer mechanism 26 for transferring the traveling body 4 is connected to the linear block 1 to form a single travel path 3. It is characterized by that.

  Thirdly, an annular traveling path 3 is formed by connecting a plurality of transfer blocks 2 in which guide rails 23 are formed in a curved shape to the linear block 1.

  Fourthly, the two linear blocks 1 are connected through a transfer block 2 in which guide rails 23 are formed in a straight line.

  Fifth, the present invention is characterized in that no work is performed on the workpiece 6 being transported on the transfer block 2.

  Sixth, the control units 28 and 29 are provided for each of the blocks 1 and 2.

  According to the work transport device of the present invention configured as described above, the driving control between the current point and the next point of the traveling body is similarly performed in the entire region of the traveling path formed by the linear block. Therefore, it is possible to easily change the traveling path by increasing / decreasing the number of linear blocks, and it is possible to minimize the change of the traveling drive control means of the traveling body by changing the traveling path.

  In addition, by forming an annular traveling path with the linear block and the transfer block, the traveling body can continue to travel in one direction, eliminating the need to reciprocate the traveling body, thus simplifying the control structure. It is possible to make it possible.

  In addition, by not performing work on the workpiece being transported on the transfer block, it is possible to make the traveling body stand by at the transfer block even if there is a work delay downstream of the transfer block. Therefore, there is an effect that the work delay can be corrected.

  Furthermore, by providing a control unit for each block, it is easier to increase or decrease the linear block or the transfer block, and there is an effect that versatility is further improved.

  FIG. 1 is a perspective view of a conveying apparatus to which the present invention is applied, and FIG. 2 is a partial sectional perspective view of a linear block, a traveling body, and a linear motor. The transport device includes a plurality of linear blocks 1, a plurality of transfer blocks 2, and a plurality of traveling bodies 4 that travel on a single and annular traveling path 3 formed by the plurality of linear blocks 1 and the transfer blocks 2. The work machine 27 (see FIG. 3) installed around the traveling path 3 can be used to perform the flow work of the workpiece 6 (object to be processed) conveyed on the traveling path 3 by the traveling body 4. It is configured.

  The linear block 1 includes a plate-like base portion 7 formed in a rectangular shape in plan view, and linear guide rails 8 (linear block side guide rails) extending along two long sides of the base portion 7. ), A plurality of coil bodies 9 (fixed electromagnets, fixed magnets, and stators) arranged and fixed at positions sandwiched between the two guide rails 8 and 8 on the base portion 7, and an upper portion of the coil body 9 is covered. The cover body 11 is provided. The plurality of coil bodies 9 are arranged in parallel in the extending direction of the guide rail 8, and the magnetic field above the coil body 9 (above the cover body 11) is changed by passing a current through the coil body 9.

  The traveling body 4 includes a total of four sliders 12 that are slidably engaged with the guide rails 8 for each guide rail 8, and the movable table 13 is placed and fixed on the four sliders 12. Has been. A plurality of plate-like magnets 14 (movable permanent magnets, movable magnets, movers) are fixed on the lower surface of the movable table 13 (the surface facing the linear block 1), and placed on the upper surface via a support 16. A table 17 is supported, and the workpiece 6 is placed on the placement table 17.

  The plurality of magnets 14 are arranged in parallel in the same direction as the parallel direction of the coil body 9 so that N poles and S poles are formed on the front and back sides and the front and back sides of the adjacent magnets 14 are reversed. When the movable table 13 is positioned above the coil body 9, the magnet 14 is configured to face the coil body 9 in a proximity state.

  The plurality of coil bodies 9 and the plurality of magnets 14 constitute a linear motor 18. Specifically, the magnetic field is changed by controlling the current flowing through the coil body 9, and the traveling body 4 to which the magnet 14 and the magnet 14 are fixed is traveled in a predetermined direction along the guide rail 8 by the magnetic field. .

  Further, the position of the traveling body 4 on the guide rail 8 of the linear block 1 is detected by a linear encoder 19 (optical linear encoder, encoder) which is a position detecting means. The linear encoder 19 is attached to and fixed to the lower surface of the movable table 13 of the traveling body 4 by being attached to and fixed to the base portion 7 in a state adjacent to the guide rail 8 and extends from the guide rail. An encoder scale 22 (scale) extending in the direction is provided, and the position of the traveling body 4 is detected by detecting the movement of the encoder scale 22 by the encoder head 21. Incidentally, the encoder scale 22 is provided with a scale (not shown) at predetermined intervals, and the encoder head 21 is configured to detect the position of the traveling body 4 by reading the scale with the encoder head 21. .

  The coil body 9 of the linear motor 18 and the encoder head 21 of the linear encoder 19 require electrical wiring. However, these are concentrated on the linear block 1 side, and the magnet 14 and encoder scale 22 that do not require electrical wiring are used. Is disposed on the traveling body 4 side, so that the electrical wiring on the traveling body 4 side is not required, and failure of the electrical wiring due to the movement of the traveling body 4 is prevented.

  The transfer block 2 includes a pair of guide rails 23 and 23 (transfer block side guide rails) that slidably support the traveling body 4 described above via a slider 12, and a base body 24 (base) that supports the guide rails 23. Part) and a transfer mechanism 26 installed on the base body 24. The transfer mechanism 26 is rotationally driven by a transfer motor 37 (see FIG. 4), which will be described later, and sequentially transfers the traveling body 4 on the guide rail 23 in a predetermined direction.

  This transport device prepares two linear blocks 1 connected in series in the extending direction of the guide rail 8 and arranges them in parallel on the same horizontal plane so that the start and end of each other are semicircular. The guide rails 8 and 23 of the blocks 1 and 2 are connected to each other by connecting the two transfer blocks 3 and 3 each having a guide rail curved in shape, thereby forming a single and annular traveling path 3. . Then, the traveling body 4 is sequentially displaced clockwise in FIG. 2 (in the direction of the arrow in FIG. 3).

  FIG. 3 is a schematic view of the present conveying apparatus. This transport device divides the travel path into a plurality of travel points P (points) for each of the blocks 1 and 2. In the illustrated example, each linear block 1 is partitioned into two traveling points P, while each transfer block 2 is partitioned into five traveling points P, and is partitioned into 18 traveling points P in all traveling paths 3. Has been. A plurality of traveling bodies 4 on the traveling path 3 are sequentially positioned at the traveling points P.

  A work machine 27 is installed at the travel point P of each linear block 1 as necessary, and the workpiece 6 is processed at the corresponding travel point P. On the other hand, the work machine 27 is not disposed at the travel point P of each transfer block 2 and the work at the travel point P is not performed. In addition, even if it is the travel point P of the linear block 1, there exists the travel point P in which the working machine 27 is not installed.

  Further, when the work implement 27 is operated at each travel point P, the position of the travel body 4 in the travel point P can be appropriately adjusted via the linear motor 18 so that efficient work can be performed. . At this time, the linear encoder 19 described above is used to detect the position of the traveling body 4 that is slidably guided on the guide rail 8.

  The blocks 1 and 2 and the work machines 27 are controlled by the respective control units 28, 29, and 31.

  4A is a control block diagram of the linear block, FIG. 4B is a control block diagram of the transfer block, and FIG. 4C is a control block diagram of the work machine. The linear block control unit 28 that is a control unit of the linear block 1 includes communication means 32 for exchanging information with the other blocks 1 and 2 and the corresponding work machine 31, and the linear unit described above is provided on the input side. An encoder 19 is connected, and a motor driver 33 for operating the linear motor 18 is connected to the output side. The linear block control unit 28 is configured to identify which traveling point P of the linear block 1 the traveling body 4 is through the linear encoder 18.

  The transfer block controller 29, which is the controller of the transfer block 2, has communication means 34 for exchanging information with other blocks 1 and 2, and at which input point P of the transfer block 2 on the input side. Position detecting means 36 (position detecting sensor) for detecting whether the traveling body 4 is present is connected, and a transfer motor 37 (transfer mechanism driving means) is connected to the output side.

  The work machine control unit 31, which is a control unit of the work machine 27, has a communication unit 38 for exchanging information with the linear block 1, and a work machine actuator 39 is connected to the output side. And according to a request | requirement, the work information (for example, before work start, during work, work completion etc.) etc. in the corresponding travel point P etc. are transmitted to the linear block 1 side.

  FIG. 5 is a processing flowchart of the linear block control unit. Each linear block control unit 28 starts processing every time it detects that the traveling body 4 is at the traveling point P in the corresponding linear block 1 (the linear block 1 for which the linear block control unit 28 takes charge of control). Then, the process proceeds to step S1. In step S1, it is identified whether or not the traveling point P where the traveling body 4 is located is the terminal traveling point P of the corresponding linear block 1, and if it is not the terminal traveling point, the process proceeds to step S2.

  In step S2, the next traveling point P information is read through the linear encoder 19, and the process proceeds to step S3. In step S3, based on the information read in step S3, it is identified (detected) whether there is another traveling body 4 at the next traveling point P, and there is another traveling body 4 at the next traveling point P. The process ends, and if there is no other traveling body 4, the process proceeds to step S4.

  In step S4, information on the corresponding work machine 27 (work machine 27 working at the current travel point P) is acquired via the communication unit 32, and the process proceeds to step S5. If there is no corresponding work machine 27, information indicating that the work is unnecessary is acquired, and the process proceeds to step S5. In step S5, when it is identified (determined) that the work at the current travel point P is completed or the work at the current travel point P is unnecessary based on the information acquired in step S5, step S6. If not, the process is terminated.

  In step S6, the linear motor 18 is controlled to displace the traveling body 4 to the next traveling point P and the process is terminated.

  If it is identified in step S1 that the traveling point P where the traveling body 4 is located is the terminal traveling point P of the corresponding linear block 1, the process proceeds to step S7. In step S7, the information of the next blocks 1 and 2 (blocks 1 and 2 directly connected downstream in the transport direction) is acquired via the communication means 32, and the process proceeds to step S8. In step S8, based on the information acquired in step S7, it is identified whether the next blocks 1 and 2 are the linear block 1 or the transfer block 2. If it is the linear block 1, the process proceeds to step S9. If it is 2, the process proceeds to step S10.

  In step S9, based on the information acquired in step S7, it is identified (detected) whether there is another traveling body 4 at the next traveling point P (the traveling point P at the start of the next linear block 1). When there is no other traveling body 4 at the traveling point P, the process proceeds to step S4, the process proceeds from step S5 to step S6 according to the situation, and the traveling body 4 is displaced to the next traveling point P. On the other hand, if it is determined in step S9 that the traveling body 4 is present at the next traveling point P, the process is terminated.

  In step S10, based on the information acquired in step S7, whether or not there is an empty space at the travel point P of the next transfer block 2 (in the state where there is no travel body 4 at any of the travel points P of the next transfer block 2). If there is an empty space, a space for accommodating the traveling body 4 is left in the next transfer block 2, so that the process proceeds to step S4, and step S5 is performed depending on the situation. → Step S6 and the process proceed, and the traveling body 4 is displaced to the next traveling point P (the traveling point P at the start of the next transfer block 2). On the other hand, if it is determined in step S10 that there is no free space, the process is terminated.

  FIG. 6 is a process flow diagram of the transfer block control unit. When the process of the transfer block control unit 29 is started, the process proceeds to step S21. In step S21, the information of the next blocks 1 and 2 (blocks 1 and 2 directly connected downstream in the transport direction) is acquired via the communication unit 34, and the process proceeds to step S22.

  In step S22, based on the information acquired in step S21, it is identified (detected) whether there is another traveling body 4 at the starting point of the next blocks 1 and 2, and if there is no traveling body 4, step S23 is performed. If yes, go to Step S24. In step S23, since the traveling body 4 can be transferred to the next blocks 1 and 2, the transfer mechanism 26 is driven via the transfer motor 37, and the traveling body 4 is sequentially sent out (extruded) downstream of the transfer motor 37. Return to step S21. On the other hand, in step S24, since the traveling body 4 cannot be transferred to the next blocks 1 and 2, the driving of the transfer mechanism 26 is stopped, and the process returns to step S21.

  As described above, even when the travel path 3 is changed by the algorithm shown in FIGS. 4, 5 and 6, it is possible to cope with the change without changing the travel drive control means of the travel body 4 by satisfying the predetermined condition. Specifically, when the travel path 3 is changed, it is not necessary to change the travel drive control means of the travel body 4 as long as communication between the control units 28, 29, and 31 can be ensured with the minimum necessary.

  FIG. 7 is a schematic view of a conveying apparatus showing another embodiment of the present invention. Hereinafter, a different part from embodiment shown in FIG. 1 thru | or 6 is demonstrated. In the example shown in FIG. 7, when the two linear blocks 1 and 1 are connected in series and linearly in the extending direction of the guide rail 8, the two linear blocks 1 and 1 are connected via the transfer block 26 having the linear guide rail 23. Blocks 1 and 1 are connected.

  Moreover, in the example of the figure, the four linear blocks 1, the two transfer blocks 2 having the linear guide rails 23, and the two transfer blocks 2 having the semicircular curved guide rails 23 are used as a single unit. In addition, an annular travel path 3 is formed, and a transport mechanism 26 is provided for each travel point P of the four transport blocks 2.

  By configuring as described above, the processing flow of the linear block control unit 28 and the transfer block control unit 29 can be shared by a processing flow in which steps S1 and S7 to S10 are omitted from the processing flow shown in FIG. This further simplifies the algorithm. Incidentally, the processing flows of FIGS. 5 and 6 can be applied as they are.

  In the above example, the annular traveling path is formed in a plan view. However, the moving mechanism 26 is configured by an elevator so that the traveling body 4 can be moved in the vertical direction, and the traveling path 3 is formed in an annular shape in a side view. It is also possible. In addition, a transport belt or the like may be used as the transfer mechanism 26.

  In the above example, a pair of guide rails 8 and 8 of the linear block 1 and a pair of guide rails 23 and 23 of the transfer block 2 are used, but a single one may be used.

  In the above example, an optical type is used as the linear encoder 19, but a magnetic type may be used.

  Furthermore, in the above-described example, the two linear blocks 1 and 1 are connected by one transfer block 2, but the two linear blocks 1 and 1 may be connected via a plurality of transfer blocks 2. In that case, the transfer block 2 in which the guide rail 23 is linear may be used, the transfer block 2 in which the guide rail 23 is curved, or a combination thereof. Good.

It is a perspective view of the conveying apparatus to which this invention is applied. It is a partial section perspective view of a linear block, a run, and a linear motor. It is the schematic of this conveying apparatus. (A) is a control block diagram of a linear block, (B) is a control block diagram of a transfer block, and (C) is a control block diagram of a work machine. It is a processing flow figure of the control part for linear blocks. It is a processing flow figure of the control part for transfer blocks. It is the schematic of the conveying apparatus which shows the other Example of this invention.

Explanation of symbols

1 Linear block (block)
2 Transfer block (block)
3 traveling path 4 traveling body 6 work (object to be processed)
7 Base part 8 Guide rail (Linear block side guide rail)
9 Coil body (fixed electromagnet, fixed magnet, stator)
14 Magnet (movable permanent magnet, movable magnet, mover)
18 Linear motor 19 Linear encoder (Position detection means, optical linear encoder, encoder)
23 Guide rail (Transfer block side guide rail)
24 Base body (base part)
26 Transfer Mechanism 28 Linear Block Control Unit (Control Unit)
29 Control unit for transfer block (control unit)
P Running point (point)

Claims (6)

  A plurality of linear blocks (1) having linear guide rails (8) extending on the base portion (7), a plurality of traveling bodies (4) slidably guided on the guide rails (8), Linear composed of a plurality of fixed electromagnets (9) arranged in parallel in the extending direction of the guide rail (8) on the linear block (1) side, a movable permanent magnet (14) provided on the traveling body (4) side, etc. A motor (18), and a control unit (28) for controlling the output of the linear motor (18) to drive the traveling body (4) along the guide rail (8), the plurality of linear blocks ( 1) In a work transfer device capable of performing a flow operation of an object to be processed (6) conveyed by a traveling body (4) along a single travel path (3) formed by connecting 1). , The travel path formed by the linear block (1) ( ) Is divided into a plurality of points (P), position detection means (19) is provided for detecting which point (P) the traveling body (4) is at, and the control unit (28) is provided with the current state of the traveling body (4). By judging that the work at the point (P) is completed or unnecessary, and detecting that there is no other traveling body (4) at the next point (P), the traveling body (4) Is a work transfer device that displaces to the next point (P).   A transfer block (2) provided with a transfer mechanism (26) for extending the guide rail (23) and transferring the traveling body (4) to the base portion (24) is connected to the linear block (1). 2. The work conveying device according to claim 1, wherein a single traveling path (3) is formed.   The work conveying device according to claim 2, wherein an annular traveling path (3) is formed by connecting a plurality of transfer blocks (2) having guide rails (23) formed in a curved shape to the linear block (1).   The work conveying apparatus according to claim 2 or 3, wherein two linear blocks (1) are connected via a transfer block (2) in which guide rails (23) are formed linearly.   The work conveying apparatus according to claim 2, 3 or 4, wherein no work is performed on the workpiece (6) being conveyed on the transfer block (2).   6. The work transfer device according to claim 1, 2, 3, 4 or 5, wherein a control section (28), (29) is provided for each block (1), (2).

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