JP2020017273A - 搬送ユニット及び衝突監視部を有する長固定子リニアモータを動作させる方法 - Google Patents
搬送ユニット及び衝突監視部を有する長固定子リニアモータを動作させる方法 Download PDFInfo
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- 238000004364 calculation method Methods 0.000 description 6
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G54/00—Non-mechanical conveyors not otherwise provided for
- B65G54/02—Non-mechanical conveyors not otherwise provided for electrostatic, electric, or magnetic
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/06—Linear motors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L13/00—Electric propulsion for monorail vehicles, suspension vehicles or rack railways; Magnetic suspension or levitation for vehicles
- B60L13/03—Electric propulsion by linear motors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/52—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices
- B65G47/64—Switching conveyors
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
- H02K41/02—Linear motors; Sectional motors
- H02K41/025—Asynchronous motors
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
- H02K41/02—Linear motors; Sectional motors
- H02K41/03—Synchronous motors; Motors moving step by step; Reluctance motors
- H02K41/031—Synchronous motors; Motors moving step by step; Reluctance motors of the permanent magnet type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0208—Control or detection relating to the transported articles
- B65G2203/0233—Position of the article
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2812/00—Indexing codes relating to the kind or type of conveyors
- B65G2812/99—Conveyor systems not otherwise provided for
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Control Of Conveyors (AREA)
- Non-Mechanical Conveyors (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
Claims (10)
- 少なくとも2つの搬送ユニット(TEi,TEi+1)が相前後して移動する搬送区間(2)を有する長固定子リニアモータの形態の搬送装置(1)を動作させる方法であって、両搬送ユニット(TEi,TEi+1)の移動時に、該両搬送ユニット(TEi,TEi+1)の衝突を回避するために、該両搬送ユニット(TEi,TEi+1)間のあらかじめ設定された最小間隔(M)が維持されるかどうかがチェックされ、該維持されるべき最小間隔(M)が、前記搬送区間(2)に沿った前記両搬送ユニット(TEi,TEi+1)の位置に依存して変更される、前記方法において、
前記最小間隔(M)が、搬送方向(x)における前記両搬送ユニット(TEi,TEi+1)の延長に基づいて算出され、位置割合(Δli,Δli+1)が、前記搬送ユニット(TEi,TEi+1)の位置及び/又は寸法に依存して、湾曲された搬送部分(FAk,FAk+1)における少なくとも1つの搬送ユニット(TEi,TEi+1)の延長へ加えられることを特徴とする方法。 - 前記維持されるべき最小間隔(M)が、前記両搬送ユニット(TEi,TEi+1)の寸法に依存して変更されることを特徴とする請求項1に記載の方法。
- 前方を走行する搬送ユニット(TEi)については、前記搬送方向(x)とは逆方向の、前記搬送ユニット(TEi)の基準点(RPi)に関して前記搬送ユニット(TEi)の最大の延長が算出され、後方を走行する搬送ユニット(TEi+1)については、前記搬送方向(x)の、前記搬送ユニット(TEi+1)の基準点(RPi+1)に関して前記搬送ユニット(TEi+1)の最大の延長が算出され、前記最小間隔(M)が、前記搬送方向(x)及び前記搬送方向(x)とは逆方向における前記両延長及び前記少なくとも1つの位置割合(Δli,Δli+1)の合計として算出されることを特徴とする請求項1又は2に記載の方法。
- 前記最小間隔(M)が、搬送方向(x)における前記両搬送ユニット(FAk,FAk+1)のそれぞれ半分の延長(li/2,li+1/2)及び前記少なくとも1つの位置割合(Δli,Δli+1)の合計として算出されることを特徴とする請求項3に記載の方法。
- 位置割合(Δli,Δli+1)が、搬送方向(x)に見て、前記搬送ユニット(TEi,TEi+1)の前後で異なることを特徴とする請求項3又は4に記載の方法。
- 湾曲された搬送部分(FAk,FAk+1)における1つの搬送ユニット(TEi,TEi+1)について、前記搬送部分(FAk,FAk+1)の湾曲円中心点を通る径方向の投影によって、前記搬送方向(x)における、基準経路(RA)へ投影された前記搬送ユニット(TEi,TEi+1)の延長(ei,ei+1)が算出され、最小間隔(M)が該投影された延長(ei,ei+1)を用いて算出されることを特徴とする請求項1又は2に記載の方法。
- 相前後して走行する2つの搬送ユニット(TEi,TEi+1)が2つの搬送部分(FAk,FAk+1)を有する分岐器(W)を通過し、該搬送ユニット(TEi,TEi+1)のそれぞれが分岐器(W)の範囲で異なる搬送部分(FAk,FAk+1)において移動する場合に、前記各搬送部分(FAk)における1つの搬送ユニット(TEi)がそれぞれ他の搬送部分(FAk+1)へ投影され、前記投影された搬送ユニット(TEi’)と前記他の搬送ユニット(TEi+1)の間の前記最小間隔(M)の維持がチェックされることを特徴とする請求項1〜6のいずれか1項に記載の方法。
- 前記分岐器(W)の範囲における前記最小間隔(M)の算出時に、前記分岐器(W)の幾何形状が考慮されることを特徴とする請求項7に記載の方法。
- 少なくとも2つの搬送ユニット(TEi,TEi+1)が相前後して移動する搬送区間(2)と、両搬送ユニット(TEi,TEi+1)の移動時に、該両搬送ユニット(TEi,TEi+1)の衝突を回避するために、最小間隔(M)の維持をチェックする衝突監視ユニット(7)とを有する長固定子リニアモータの形態の搬送装置であって、前記維持されるべき最小間隔(M)が、前記搬送区間(2)に沿った前記両搬送ユニット(TEi,TEi+1)の位置に依存して、前記衝突監視ユニット(7)において変更可能である、前記搬送装置において、
前記最小間隔(M)を、搬送方向(x)における前記両搬送ユニット(TEi,TEi+1)の延長に基づいて算出し、位置割合(Δli,Δli+1)を、前記搬送ユニット(TEi,TEi+1)の位置及び/又は寸法に依存して、湾曲された搬送部分(FAk,FAk+1)における少なくとも1つの搬送ユニット(TEi,TEi+1)の延長へ加えるように設定されていることを特徴とする搬送装置。 - 前記維持されるべき最小間隔(M)が、前記両搬送ユニット(TEi,TEi+1)の寸法に依存して、前記衝突監視ユニット(7)において変更可能であることを特徴とする請求項9に記載の搬送装置。
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EP18185540.4 | 2018-07-25 | ||
EP18185540.4A EP3599127B1 (de) | 2018-07-25 | 2018-07-25 | Verfahren zum betreiben eines langstatorlinearmotors mit transporteinheiten und kollisionsüberwachung |
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JP2020017273A true JP2020017273A (ja) | 2020-01-30 |
JP7368128B2 JP7368128B2 (ja) | 2023-10-24 |
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US (1) | US10994943B2 (ja) |
EP (1) | EP3599127B1 (ja) |
JP (1) | JP7368128B2 (ja) |
KR (1) | KR20200011897A (ja) |
CN (1) | CN110798120B (ja) |
CA (1) | CA3050468A1 (ja) |
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AT523810A1 (de) * | 2020-04-27 | 2021-11-15 | B & R Ind Automation Gmbh | Führungsvorrichtung für Shuttles eines Planarmotors |
JP2022184755A (ja) * | 2021-05-31 | 2022-12-13 | ベーウントエル・インダストリアル・オートメイション・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツング | 衝突監視装置を有する搬送システム及び当該搬送システムを稼働させるための方法 |
US11884493B1 (en) * | 2021-11-22 | 2024-01-30 | Amazon Technologies, Inc. | Container shuttles having omnidirectional wheels |
WO2024166142A1 (en) * | 2023-02-10 | 2024-08-15 | G.D S.P.A | Linear transport system for transporting articles and method for the linear transport of articles |
CN116620802B (zh) * | 2023-07-19 | 2023-10-24 | 中建安装集团有限公司 | 一种利用室内施工智能物料运输系统的运输方法 |
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- 2018-07-25 EP EP18185540.4A patent/EP3599127B1/de active Active
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- 2019-07-16 JP JP2019131165A patent/JP7368128B2/ja active Active
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- 2019-07-24 US US16/520,855 patent/US10994943B2/en active Active
- 2019-07-25 CN CN201910675973.8A patent/CN110798120B/zh active Active
Patent Citations (3)
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JP2008171088A (ja) * | 2007-01-09 | 2008-07-24 | Murata Mach Ltd | 走行車システム |
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EP3599127B1 (de) | 2022-10-05 |
CA3050468A1 (en) | 2020-01-25 |
CN110798120A (zh) | 2020-02-14 |
EP3599127A1 (de) | 2020-01-29 |
KR20200011897A (ko) | 2020-02-04 |
CN110798120B (zh) | 2024-01-09 |
US10994943B2 (en) | 2021-05-04 |
JP7368128B2 (ja) | 2023-10-24 |
US20200031591A1 (en) | 2020-01-30 |
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