JP4096169B2 - Linear motor continuous transfer device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an application machine of a transfer device applied to high-speed positioning control of a high-speed transfer machine and other machines, and more particularly to a machine structure for increasing transfer efficiency and a control method thereof.
[0002]
[Prior art]
Conventionally, a conveyance machine using a linear motor and its control are as shown in FIG. 4A is a block diagram (A) and a side view (B), FIG. 4B is a top view, and FIG. 4C is a front view. In FIG. 4, 30 is a linear motor, 31 is a controller, 32 is a driver, 33 is a mover, 34 is a stator, 35 is a linear scale, and 36 is a position command setting display. In this example, using the position command and speed command set values set by the 36 position command setting display and the current position of the mover fed back from the 35 linear scale, the position is controlled by 35 controllers. Control is performed.
When a product is transported in one direction by this method, position control is performed using a mover velocity diagram as shown in FIG.
In FIG. 4, the mover 33 (FIG. 4) receives the product to be transported at the point A at the start of operation, then accelerates, reaches the steady speed and travels at a certain speed to the next process at the point B. hand over. After the mover 33 delivers the product, it starts decelerating and stops. Thereafter, the process returns to the point A where the next product is received at the designated speed.
[0003]
[Problems to be solved by the invention]
However, in such a conventional technique, when a large number of products must be transported in a short time, the product must be transported to the next process and then transported to the next product. Since it is necessary to decelerate and stop, accelerate, move, decelerate and stop in the reverse direction and accelerate again in the forward direction, when shortening the transfer time, the capacity of the linear motor must be increased and the speed must be increased. There is a problem that it is necessary to increase the rigidity of the entire machine because it is necessary to increase the rigidity.
Therefore, an object of the present invention is to increase the conveyance efficiency while maintaining the capacity of the linear motor.
[0004]
[Means for Solving the Problems]
In order to solve the above-described conventional problems, the linear motor continuous transfer device according to claim 1 is a linear motor structure in which two linear motors each including a transfer mover and a stator are bonded to each other, and the linear motor. A rotary drive body that rotates the structure half- way, and while the front side mover of the linear motor is moving in one direction, the back side mover is moved in the opposite direction, and the front side mover is In the linear motor continuous transfer device that reverses the front and back by half-rotating the linear motor structure with the rotary drive at the moment when the transfer is completed, a synchronization command is generated from the required transfer speed, and the synchronization command is used. In addition, the position of the plurality of transfer movers and the drive motor as the rotary drive body is controlled by electronic cam control .
[0005]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
FIG. 1 is a diagram showing a continuous conveyance device according to the present invention using a linear motor, where (a) is a block diagram (a) and a side view (b), (b) is a top view, and (c) is a front view. It is.
In the figure, reference numeral 10 denotes a linear motor structure, in which two linear motors each composed of a transfer mover and a stator are bonded to the front and back. Reference numeral 11 denotes a controller, and 12 denotes a driver, which are provided in a front movable element, a rear movable element, and a stator rotating motor. 13 is a stator rotating motor, 14 is a stator, 15 is a front movable element, 16 is a rear movable element, 17 and 17 'are linear scales, and 18 is a position command setting display. The controller 11 uses the position command and speed command set values set by the position command setting display 18 and the current positions of the front and back movable elements 15 and 16 fed back from the linear scales 17 and 17 '. The position control is performed at.
While the front-side movable element 15 is moving in one direction, the back-side movable element 16 is moved in the opposite direction, and at the moment when the front-side movable element 15 finishes the conveyance, the stator rotation motor (rotation drive body) 13 linearly operates. The motor structure 10 is rotated halfway so that the front and back sides are reversed, and then the back side movable element 16 contributes to the conveyance.
[0006]
FIG. 2 is a velocity diagram of the motor 13 for rotating the front movable piece 15, the back movable piece 16, and the stator 14 half of the linear motor of FIG. 1.
The front movable element 15 (FIG. 1) receives the product to be transported at the point A at the start of the operation, starts acceleration, and reaches the steady speed and passes the product to the next process at the point B that has traveled at that speed to some extent. .
After delivering the product, the front movable element 15 starts to decelerate and stops.
Thereafter, an operation of returning to the point A at which the next product is received is performed at a designated speed. At this time, the linear motor 10 is reversed by the linear rotation drive motor 13, and the back movable element 16 waiting at the point A on the back surface is positioned on the front surface. The back surface movable element 16 receives the product, performs the same operation as the operation performed by the front surface movable element 15 and transports the product.
Hereinafter, by repeating this, it becomes possible to continuously convey products that could not be achieved in the past.
[0007]
Here, a simple embodiment of the electronic cam is shown.
FIG. 3 shows an embodiment of control of the electronic cam used in the present invention.
In the figure, 20 is an electronic cam controller, 27 is a servo drive speed control circuit, 28 is a servo motor, and 29 is a pulse generator. Inside the controller 20 is a cam data table 21, a differentiator 22, and a PI controller 23. Is provided.
Therefore, a function that generates an arbitrary cam data table 21 with θ as the position of the mover and X as the position command of the linear rotation motor, inputs the mover X, and outputs X as the position command of the linear rotation motor. It is assumed that a linear rotation motor position command 2 corresponding to the momentary position of the mover is generated. The position command 2 is differentiated by a differentiator 22 to generate a speed command 1, and PI control is performed by a PI controller 23 using the difference between the fed back position FB pulse 3 and the position command 2 of the linear rotation motor. The electronic cam control can be realized by calculating the correction amount and controlling the speed of the linear rotation motor using the command obtained by adding the speed command 1 as the speed command of the linear rotation motor.
As described above, using the linear motor continuous transfer apparatus according to the present invention shown in FIG. 1, a synchronization command is generated from the required transfer speed, and the transfer command is used for the transfer by the electronic cam control using the synchronization command. By controlling the position of the plurality of movers and the drive motor as the rotary drive body, it is possible to easily adjust the cam pattern with high control accuracy and continuous tracking of products.
[0008]
【The invention's effect】
As described above, according to the present invention, the linear motor structure 10 formed by sticking two linear motors composed of the transfer movers 15 and 16 and the stator 14 to the front and back, and the linear motor structure 10 is rotated halfway. In this case, while the front side mover 15 of the linear motor is moving in one direction, the back side mover 16 is moved in the reverse direction, and the front side mover 15 finishes the conveyance. At this moment, the linear motor structure 10 is rotated halfway by the rotary drive body 13 so that the front and back sides are reversed. Therefore, the continuous conveyance of the linear motor, which could not be realized conventionally, can be realized, and the conveyance efficiency can be improved. .
[Brief description of the drawings]
1A and 1B are diagrams showing a transport machine according to the present invention using a linear motor, wherein FIG. 1A is a block diagram (A), a side view (B), (B) is a top view, and (C) is a front view. is there.
2 is a diagram showing a linear rotation speed pattern of the linear motor movable element in FIG. 1; FIG.
FIG. 3 is an example of control of an electronic cam used in the present invention.
4A and 4B are diagrams showing a conventional transport machine using a linear motor, in which FIG. 4A is a block diagram (A) and a side view (B), FIG. 4B is a top view, and FIG. 4C is a front view.
5 is a diagram showing a linear rotation speed pattern of the linear motor movable element of FIG. 4;
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Speed command 2 Position command 3 Position fed back FB pulse 10 Linear motor structure 11 of the present invention 11 Controller 12 Driver 13 Rotating motor 14 Stator 15 Front movable element 16 Back movable element 17 Linear scale 18 Position command setting indicator 20 Electronic Cam Controller 21 Cam Data Table 22 Differentiator 23 PI Controller 27 Servo Drive Speed Control Circuit 28 Servo Motor 29 Pulse Generator 30 Conventional Linear Motor 31 Controller 32 Driver 33 Mover 34 Stator 35 Linear Scale 36 Position Command Setting Indicator

Claims (1)

A linear motor structure in which two linear motors each composed of a transfer mover and a stator are bonded to the front and back, and a rotary drive body that rotates the linear motor structure half a turn, and a mover on the front side of the linear motor Is moved in one direction, the back side mover moves in the opposite direction, and at the moment when the front side mover finishes transporting, the linear motor structure is rotated halfway by the rotary drive body to turn the front and back sides. In the linear motor continuous transfer device to reverse,
A linear command characterized in that a synchronization command is generated from a required transport speed, and the position of the plurality of transporting movers and the drive motor as the rotary drive body is controlled by electronic cam control using the synchronization command. Motor continuous transfer device.

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