JP6117056B2 - Linear conveyor - Google Patents

Description

  The present invention relates to a linear conveyor.

  2. Description of the Related Art Conventionally, a linear conveyor that moves a slider as a transport carriage along a rail to transport parts has been used. In such a linear conveyor, for example, a unit-type stationary module is provided with a linearly extending rail and a stator that is fixed to the rail and includes a plurality of armature coils. On the other hand, the slider is provided with a rail guide fitted to the rail and a mover facing the stator, and a plurality of powerful permanent magnets are arranged on the mover to form a magnetic pole. During operation of the linear conveyor, a plurality of fixed-side modules are used in a connected form, and a plurality of sliders move on a rail that extends between the plurality of fixed-side modules.

  In such a linear conveyor, a linear scale for detecting the position of the slider moving along the rail is usually configured by a scale provided on the slider side and a sensor provided on the fixed module side. . However, due to manufacturing variations of the slider, an error may occur for each slider with respect to the mounting position of the scale provided on the slider side, which may cause a position detection error for each slider. For this reason, it is necessary to finely adjust the position of each slider each time the linear conveyor is operated to eliminate the position detection error.

  Patent Document 1 discloses a linear conveyor that can reduce the position detection error for each slider. In this linear conveyor, an IC tag is attached to each slider, error information for each slider included in the IC tag is transmitted to the control side during operation of the linear conveyor, and the error of the scale mounting position for each slider is corrected, thereby making the slider Each position detection error is reduced.

JP 2013-102562 A

  By the way, the position detection error for each slider is caused by the error of the scale mounting position for each slider, and in the fixed module assembled by connecting a plurality of units, the accuracy of the adjacent sensors between the adjacent fixed modules is increased. It has been found by studies by the present inventors that this is also caused largely.

  However, when the linear conveyor is operated, a plurality of fixed-side modules are connected and assembled on the user side, so that an assembly error tends to occur every time the assembly is performed. It was difficult to ensure the interval between adjacent sensors with sufficient accuracy.

  The present invention has been created in view of the above problems, and an object of the present invention is to provide a linear conveyor capable of reducing a position detection error for each slider.

  The linear conveyor according to the present invention is configured by connecting a plurality of fixed-side modules, each of which has a stator and rails each having a plurality of armature coils, and a movable frame having a plurality of magnetic poles. A slider and a rail guide fitted to the rail, and a slider arranged to be movable between the plurality of fixed-side modules along the rail by linear motor driving, and the fixed-side module includes the slider. A linear conveyor provided with a sensor for detecting a position, wherein the rail and the frame have different lengths along the extending direction of the rail, and the length of the rail and the frame is the length of the rail. A plurality of the fixed-side modules are arranged in a state where the longer one is in contact with each other, and the longer one is coupled to the longer one. Having characterized in that the positioning portion is provided for positioning the sensor Te.

  In the linear conveyor described above, a plurality of fixed-side modules are arranged in a state where the ends of the rail and the frame that are longer in the extending direction of the rail are in contact with each other, so that the longer length of the longer side Based on this, the interval between the fixed side modules is always determined. For this reason, even when a plurality of fixed-side modules are connected and assembled on the user side, an assembling error hardly occurs at each assembly, and the interval accuracy between the plurality of fixed-side modules connected can be improved. And since the positioning part for positioning a sensor is provided in the longer one made into the said reference | standard among a rail and a flame | frame, the space | interval precision of the adjacent sensor between adjacent fixed side modules can be improved. As described above, since the accuracy of the interval between adjacent sensors increases between adjacent fixed modules, the position detection accuracy of the slider when moving between adjacent fixed modules is increased. Can be reduced.

  A linear conveyor according to another aspect of the present invention is formed by connecting a plurality of fixed-side modules formed by fixing a stator and a rail having a plurality of armature coils to a linearly extending frame. The fixed-side module comprising: a mover having a magnetic pole; and a rail guide fitted to the rail, and a slider arranged to be movable between the plurality of fixed-side modules along the rail by a linear motor drive. Is a linear conveyor provided with a sensor for detecting the position of the slider, wherein the rail and the frame are different in length along the extending direction of the rail, and the rail and the frame A plurality of the fixed-side modules are arranged in a state in which the longer one of them is abutted against each other, and the length Shorter is always assembled to have a fixed positional relationship relative to the longer, the shorter towards, having characterized in that the positioning unit for positioning the sensor with respect to how have the short is provided.

  In the linear conveyor described above, a plurality of fixed-side modules are arranged in a state where the ends of the rail and the frame that are longer in the extending direction of the rail are in contact with each other, so that the longer length of the longer side Based on this, the interval between the fixed side modules is always determined. For this reason, even when a plurality of fixed-side modules are connected and assembled on the user side, an assembling error hardly occurs at each assembly, and the interval accuracy between the plurality of fixed-side modules connected can be improved. In addition, a positioning part for positioning the sensor is provided on the shorter side of the rail and the frame so that the shorter one always has a fixed positional relationship with the longer one that is the reference. It is assembled to. Here, in this specification, the shorter one is assembled in such a way that it always has a fixed positional relationship with respect to the longer one. In other words, it is assembled so as to have a certain positional relationship. Accordingly, since the sensors are assembled in a fixed positional relationship with respect to the longer one that is the reference in each of the plurality of fixed-side modules, the spacing accuracy between adjacent sensors is increased between adjacent fixed-side modules. Can do. As described above, since the accuracy of the interval between adjacent sensors between adjacent fixed modules increases, the position detection accuracy of the slider moving between adjacent fixed modules is increased, and the position detection error for each slider is reduced. be able to.

  In the linear conveyor, the sensor is mounted at a predetermined position and includes at least one substrate attached to the fixed module, and a positioned portion corresponding to the positioning portion is provided on the substrate. May be.

  The linear conveyor includes a substrate on which a sensor is mounted at a predetermined position determined in advance, and a positioned portion corresponding to the positioning portion is provided on the substrate, and the sensor is connected to the positioning portion via the positioned portion. A configuration positioned with respect to it can be realized. In this case, since the interval between the fixed side modules is always determined, the interval accuracy between adjacent substrates between the fixed side modules is increased, and accordingly, the interval accuracy between adjacent sensors between the fixed side modules is also increased. The position detection error can be reduced.

  In the linear conveyor, the positioned portion is a through hole provided on the substrate, and the positioning portion is positioned through the through hole and pinned to either the rail or the frame. It may be a pin.

  In the above linear conveyor, the positioning pin and the through hole are adjusted by adjusting the inner diameter of the through hole and the outer diameter of the positioning pin so that the positioning pin as the positioning part penetrates the through hole as the positioned part with almost no gap. Can be assembled in a fixed positional relationship. As a result, it is possible to realize a specific configuration for accurately positioning the positioned portion with respect to the positioning portion and accurately positioning the substrate on either the rail or the frame.

  In the linear conveyor, the through holes may be provided in at least two places on the substrate along the extending direction.

  When the through hole is provided only at one location on the substrate, the substrate pinned to the fixed module may rotate around the axis of the positioning pin, and the substrate may be displaced with respect to the fixed module. . According to the above linear conveyor, the substrate is pinned to the fixed side module at at least two places, so that the substrate can be prevented from being displaced with respect to the fixed side module due to the rotation. As a result, the substrate can be positioned more accurately in the positioning unit, and the position detection error for each slider can be further reduced.

  In the linear conveyor, the positioning portion is provided with a contact portion, and the substrate is provided with an overhang portion that protrudes from an outer end of the substrate and that can contact the contact portion in the extending direction. The substrate may be positioned with respect to the positioning portion by the protruding portion contacting the contact portion.

  In the above linear conveyor, since the overhanging portion provided on the substrate comes into contact with the abutting portion, the overhanging portion is positioned without any gap with respect to the abutting portion. It can be assembled in the positional relationship. For this reason, a specific configuration for accurately positioning the substrate in the positioning portion can be realized.

  According to the technique disclosed in the present specification, it is possible to provide a linear conveyor capable of reducing a position detection error for each slider.

Perspective view of linear conveyor Perspective view of fixed side module with slider attached Side view of fixed module with slider Rear view of slider Top view of fixed module Front view of fixed module The front view which expanded one end face of the rail in FIG. Top view of two fixed modules connected Front view of two fixed modules connected The front view which expanded the connection part of the stationary side module in FIG. Top view of fixed-side module according to Embodiment 2 Front view of fixed-side module according to Embodiment 2 The front view which expanded the vicinity of the positioning part in FIG.

<Embodiment 1>
(Overall configuration of linear conveyor)
Embodiment 1 will be described with reference to the drawings. In the embodiment, a linear conveyor 1 that is driven by linear motor driving is illustrated. A part of each drawing shows an X-axis, a Y-axis, and a Z-axis, and each axis direction is drawn in a common direction in each drawing. Of these, the X-axis direction coincides with the conveying direction of the linear conveyor 1, and the Z-axis direction coincides with the up-down direction.

  As shown in FIG. 1, the linear conveyor 1 is installed on the base 2, and two linear conveyance parts 4A and 4B extending along the X-axis direction are arranged in two upper and lower stages. A plurality of sliders 10 are attached to each of the linear conveyance units 4A and 4B, and are movable along the X-axis direction. A pair of slider elevating devices 6A and 6B are provided on both ends of each of the linear conveyance units 4A and 4B.

  The two linear transport units 4A and 4B extend with an equal length and are arranged so as to overlap in the vertical direction. The slider 10, which has been moved along one linear conveyance unit 4 </ b> A (4 </ b> B) and has reached one end thereof, is placed on the slider lifting / lowering device 6 </ b> A (6 </ b> B) and lifted / lowered to one end of the other linear conveyance unit 4 </ b> B (4 </ b> A). The And the advancing direction is reversed and the slider 10 moves the other linear conveyance part 4B (4A). That is, in the linear conveyor 1, the conveyance path | route of the slider 10 circulated by two linear conveyance parts 4A and 4B and a pair of slider raising / lowering apparatus 6A and 6B is comprised.

  In the linear conveyor 1 having such a configuration, the slider 10 is stopped at a predetermined component supply position on the conveyance path, and operations such as component supply, screw tightening, and sealing are performed.

(Configuration of fixed module)
Each linear conveyance part 4A, 4B consists of the four fixed side modules 20 connected over the conveyance direction, respectively. As shown in FIG. 2, each fixed-side module 20 includes a rail 22 arranged along the moving direction (X-axis direction) of the slider 10, a frame 24, and a linear motor stator 26.

  As shown in FIGS. 2 and 3, the frame 24 is obtained by cutting an aluminum alloy extruded product into a predetermined length, and has a long and narrow pedestal shape that extends to the left and right along the moving direction of the slider 10. The frame 24 includes an installation portion 24A installed on the base 2, a rising portion 24B that rises upward from a substantially center in the front-rear direction of the installation portion 24A, and a rail fixing portion 24C that is provided at the upper end of the rising portion 24B. Composed. The installation portion 24 </ b> A has a flat plate shape parallel to the plate surface of the base 2 so that it can be installed on the base 2. The rising portion 24B is composed of two flat plate-like members that rise substantially perpendicularly to the installation portion 24A and whose plate surface is oriented in the front-rear direction (Y-axis direction). The rail fixing portion 24C is a plate-like member that is disposed in parallel with the installation portion 24A and has a shorter front-rear direction dimension than the installation portion 24A.

  On the rail fixing portion 24C, the rail 22 and the stator 26 extending in the left-right direction are arranged adjacent to each other in the front-rear direction. The extending lengths (dimensions in the transport direction) of the rail 22 and the stator 26 are equal to each other. Both the rail 22 and the stator 26 are firmly fixed to the rail fixing portion 24C, and thereby the positional relationship between the rail 22 and the stator 26 with respect to the frame 24 is ensured with good accuracy.

  The rail 22 has an elongated, substantially prismatic shape whose end surface is rectangular. The rail 22 is provided with a recessed portion 22A that is slightly recessed on both front and rear side surfaces, and a guide groove 13A of a rail guide 13 of the slider 10 described later is fitted into the recessed portion 22A. The rail 22 functions as a guide member that guides the slider 10 along the rail 22 and the stator 26 by being fitted to the guide groove 13A of the slider 10 disposed on the rail 22.

  The stator 26 has an elongated and substantially prismatic shape whose end surface is rectangular like the rail 22. A plurality of armature coils 25 arranged side by side along the extending direction are fixed to the stator 26 so as to be embedded in the stator 26. In the linear conveyor 1, the current supplied to the plurality of armature coils 25 is controlled so that the slider 10 attached to the fixed-side module 20 moves along the rail 22 and the stator 26 by linear motor driving. It has become. In addition, the detailed configuration of the fixed module 20 will be described in detail later.

(Slider configuration)
Next, the configuration of the slider 10 that moves on the rail 22 along the linear conveyance units 4A and 4B will be described. In the following description, the X-axis direction is the left-right direction of the slider 10, the Y-axis direction is the front-rear direction of the slider 10, and the Z-axis direction is the up-down direction of the slider 10. As shown in FIG. 3, the slider 10 has a substantially L-shape when viewed from the side, and the rectangular upper plate portion 11 disposed on the rail 22 and the stator 26 when attached to the fixed-side module 20. And a rectangular side plate portion 12 disposed to face the front side surface of the frame 24.

  As shown in FIG. 5, a plurality of attachment holes 11 </ b> A are provided on the surface of the upper plate portion 11 for attaching components mounted on the slider 10 and conveyed.

  As shown in FIG. 4, two rail guides 13 extending along the transport direction are respectively disposed on the back surface of the upper plate portion 11. Each rail guide 13 is formed with a guide groove 13A that opens downward and extends in a groove shape along the extending direction of the rail guide 13, that is, the conveying direction. When the rail 22 is inserted into the guide groove 13A, a large number of balls arranged along the guide groove 13A are in contact with the rail 22 and roll.

  A plurality of permanent magnets (not shown) covered with the mover cover 14 are arranged on the back surface of the upper plate portion 11 along the long side direction (left-right direction) of the upper plate portion 11. The plurality of permanent magnets constitute a plurality of magnetic poles of the mover 16. The mover cover 14 is fixed to the upper plate portion 11 by bolting, and the portion covering the plurality of permanent magnets is a flat surface that is flat along the plate surface direction of the upper plate portion 11.

  Of the both ends in the front-rear direction of the upper plate portion 11, the end portion opposite to the side on which the side plate portion 12 extends is a bent portion 11B that is bent downward and slightly extends (see FIG. 3). The mover 16 and the mover cover 14 are arranged inside the bent portion 11B. The rear side of the movable element 16 and the movable element cover 14 is protected by the bent portion 11B.

  As shown in FIG. 3, the side plate portion 12 is provided with three magnetic scales (an example of a scale) 17A, 17B, and 17C arranged on the back surface thereof in the vertical direction. Each of the magnetic scales 17 </ b> A, 17 </ b> B, and 17 </ b> C extends along the left-right direction of the slider 10 and is covered with a scale cover 18 fixed to the side plate portion 12. Each of the magnetic scales 17A, 17B, and 17C includes a back yoke and a magnet such as a neodymium magnet attached to the back yoke.

  The magnetic scales 17A, 17B, and 17C are provided at positions facing the magnetic sensors 31A, 31B, and 31C on the sensor substrate 30 in a state where the slider 10 is attached to the stationary module 20. A predetermined signal for detecting the position of the slider 10 is output from the sensor substrate 30 by detecting the magnetic scales 17A, 17B, and 17C that the magnetic sensors 31A, 31B, and 31C of the fixed module 20 face each other. It is like that.

  The slider 10 configured as described above has a posture (see FIG. 3) in which the upper plate portion 11 of the slider 10 and the rail fixing portion 24C of the fixed module 20 are parallel to each other. By fitting the groove 13 </ b> A with the rail 22 of the fixed module 20, the groove 13 </ b> A can be attached to the fixed module 20. The slider 10 attached to the fixed-side module 20 slides on the rail 22 fitted with the guide groove 13A, so that the left-right direction on the fixed-side module 20, that is, the extending direction of the linear transport portions 4A and 4B. Move along.

(Detailed configuration and connection mode of fixed module)
Next, a detailed configuration of the fixed module 20 and a connection mode when a plurality of fixed modules 20 are connected will be described. 5 and 6 show the stationary module 20 in a state where the stator 26 and a plate member 32 described later are removed. As shown in FIG. 6, on the front side of the fixed module 20, four sensor substrates (an example of a substrate) 30 are arranged at a predetermined position so as to cover the front surface of the rising portion 24B. . The sensor substrates 30 are arranged in parallel along the transport direction, and are fixed to the rising portion 24B in a posture in which the plate surface is directed in the front-rear direction. These sensor substrates 30 constitute a linear scale for detecting the position of the slider 10 with the magnetic scales 17A, 17B, and 17C of the slider 10.

  Each sensor substrate 30 is provided with three magnetic sensors (an example of sensors) 31A, 31B, and 31C arranged in a vertical direction at a predetermined interval. These magnetic sensors 31A, 31B, and 31C are composed of Hall elements, MR elements, and the like that can detect the magnetic scales 17A, 17B, and 17C of the slider 10, and are arranged at common positions on the sensor substrates 30. The magnetic sensors 31A, 31B, and 31C are provided at positions facing the magnetic scales 17A, 17B, and 17C of the slider 10 when the slider 10 is attached to the stationary module 20.

  In the present embodiment, among these magnetic sensors 31A, 31B, and 31C, the magnetic sensor 31A disposed at the uppermost position (hereinafter referred to as a detection sensor 31A) is used as a sensor for detecting the position of the slider 10. The A predetermined signal for detecting the position of the slider 10 is output from the sensor substrate 30 by detecting the magnetic scale 17 </ b> A of the slider 10 facing the detection sensor 31 </ b> A.

  In the present embodiment, the detection sensor 31 </ b> A has detection units 34 and 35 on both ends in the transport direction of the sensor substrate 30, as shown in FIG. 6. In FIG. 6, the magnetic sensors 31B and 31C are not shown. Each of the detection units 34 and 35 includes two reading units (34A and 34B shown in FIG. 5 in the example of the first reading unit 34) arranged in parallel along the transport direction. The detection sensor 31A detects the accurate position of the slider 10 by reading the magnetic flux from the magnetic scale 17A of the slider 10 with the two reading units 34A and 34B, respectively.

  Further, as shown in FIGS. 2 and 3, a plate member 32 that covers the front surface of the rising portion 24 </ b> B is disposed on the front side of the fixed side module 20. The plate member 32 is erected on the installation part 24A, and is fixed to the installation part 24A and the rising part 24B. The plate member 32 includes a first plate portion 32A extending in parallel with the plate surface of the sensor substrate 30 along the vertical direction, and a second plate portion 32B extending slightly downward from the lower end of the first plate portion 32A and extending downward. And. The plate member 32 functions as a protective member for protecting the slider 10 from interfering with each sensor substrate 30 when the slider 10 is attached to the stationary module 20, for example.

  At the front side of the sensor board 30 and at the same height as the second plate portion 32B of the plate member 32, the power supply to the armature coil 25 and the connector 27 for the sensor board 30 are arranged vertically. Each is provided in an oval shape. Moreover, the position which overlaps with these connectors 27 in the 2nd plate part 32B is opening, and is in the state exposed ahead. Thus, the connector 27 can be connected to the connection destination connector.

  Further, as shown in FIGS. 6 and 7, a positioning portion 24 </ b> D for positioning each sensor substrate 30 when the sensor substrate 30 is attached to the frame 24 is provided at the upper part on the front side of the frame 24. In the present embodiment, the positioning portion 24D is provided with a through hole (not shown) for pinning. On the other hand, in two upper portions on the plate surface of each sensor substrate 30, positioning pins that pass through the through hole and are pinned to the frame 24 at positions corresponding to the positioning portion 24D (an example of a positioned portion) 36 are arranged. Each sensor substrate 30 is fixed to the frame 24 by being pinned to the frame 24 by positioning pins 36. Note that the connectors 27 and the like are arranged below the sensor boards 30, but these are not shown in FIG.

  The inner diameter of the through hole and the outer diameter of the portion that penetrates the through hole in the positioning pin 36 are substantially equal, and each sensor substrate 30 is fixed to the frame 24 without rattling. Therefore, each sensor substrate 30 is positioned and fixed with high positioning accuracy with respect to the frame 24. For this reason, high positioning accuracy is ensured between the frame 24 and the detection units 34 and 35 provided on the sensor substrates 30.

  Note that when the stationary module 20 is manufactured, the four sensor substrates 30 are positioned and fixed with respect to the frame 24 at a predetermined interval. Here, if the sensor substrate 30 is fixed to the frame 24 only at one location on the plate surface, the sensor substrate 30 is mounted around the pin axis of the positioning pin 36 when the sensor substrate 30 is attached to the frame 24. May cause an attachment error between the sensor substrates 30. In this regard, in the present embodiment, each sensor substrate 30 is fixed to the frame 24 at the upper two positions on the plate surface, so that an installation error is prevented or suppressed between the sensor substrates 30. It is possible to fix each sensor substrate 30 to the frame 24 while positioning with high accuracy. As a result, in one fixed-side module 20, the interval between the four sensor substrates 30 is ensured with high accuracy.

  Next, the connection aspect at the time of connecting the some fixed side module 20 on the user side is demonstrated. Here, in the present embodiment, as shown in FIGS. 6 and 7, the dimensions (lengths along the extending direction of the rails 22) in the transport direction between the rails 22 and the frames 24 constituting the stationary module 20 are mutually equal. It is different. Specifically, the rail 22 is slightly longer in the transport direction than the frame 24, and the end 22B in the transport direction of the rail 22 is outside the end 24E in the transport direction of the frame 24. (See FIG. 7). The end 22B of the rail 22 is a flat surface orthogonal to the extending direction of the rail 22, and the flatness accuracy is ensured.

  When connecting the plurality of fixed-side modules 20, first, the end portions 22B of the rails 22 of the adjacent fixed-side modules 20 are abutted against each other, and the plurality of fixed-side modules 20 are arranged in that state (FIGS. 8 and 9). State shown in). As described above, the end portions 22B of the rails 22 are flat surfaces that ensure the accuracy of flatness, so that the end portions 22B of the adjacent rails 22 can be abutted without gaps. Thereafter, adjacent fixed side modules 20 are connected and fixed by a connecting member (not shown) while maintaining the state. By doing so, as shown in FIG. 10, the adjacent fixed-side modules 20 are adjacent to each other with the end portions 22 </ b> B of the adjacent rails 22 in contact with each other and a predetermined gap C is formed between the adjacent frames 24. Are concatenated.

  As described above, the end portions 22B of the rails 22 that are ensured to be flat are brought into contact with each other, and the adjacent fixed side modules 20 are connected to each other on the basis of the end portions 22B. The interval accuracy between the adjacent sensor substrates 30 between the adjacent fixed-side modules 20 can be ensured. For this reason, every time the user performs a connection operation on the plurality of fixed-side modules 20, it is possible to prevent a variation in the interval S <b> 1 (see FIG. 10) between the adjacent sensor substrates 30 between the adjacent fixed-side modules 20. Or can be suppressed.

  Further, in each fixed side module 20, since the positional relationship of the rail 22 with respect to the frame 24 and the positional relationship of the sensor substrate 30 with respect to the frame 24 are ensured with good accuracy, as described above, the rail 22 and the sensor substrate are secured. The positional relationship between the detection units 34 and 35 provided at 30 is also ensured with good accuracy. Since the interval accuracy between the adjacent sensor substrates 30 is ensured between the fixed modules 20 connected to each other as described above, the interval accuracy between the adjacent detection units 34 and 35 can be ensured. As a result, it is possible to prevent or suppress the occurrence of variations in the interval between the detection units 34 and 35 between the adjacent fixed side modules 20 each time the user performs a connecting operation of the plurality of fixed side modules 20. .

(Effect of Embodiment 1)
As described above, in the linear conveyor 1 according to this embodiment, the rail 22 of the rail 22 and the frame 24 has a slightly longer length along the extending direction (X-axis direction) of the rail 22. Then, by arranging the plurality of fixed side modules 20 in a state where the end portions 22B of the rails 22 which are the longer ones are abutted with each other, the interval between the fixed side modules 20 is determined based on the length of the rails 22. It will always be determined. For this reason, even when a plurality of fixed-side modules 20 are connected and assembled on the user side, an assembly error hardly occurs at each assembly, and the interval accuracy between the plurality of fixed-side modules 20 connected can be improved. In addition, for positioning the sensor substrate 30 provided with the magnetic sensor 31A on the frame 24 whose length along the extending direction (X-axis direction) of the rail 22 is shorter between the rail 22 and the frame 24. A positioning portion 24D is provided, and the frame 24 is assembled so as to always have a fixed positional relationship with respect to the reference rail 22. Accordingly, the magnetic sensor 31A is assembled in a fixed positional relationship with respect to the reference rail 22 in each of the plurality of fixed side modules 20, so that the detection of the magnetic sensor 31A between the adjacent fixed side modules 20 is performed. The interval accuracy between the parts 34 and 35 can be increased. As described above, the accuracy of the interval between the detection units 34 and 35 of the magnetic sensor 31A between the adjacent fixed-side modules 20 is increased, so that the position detection accuracy of the slider 10 that moves the fixed-side modules 20 that are connected in a line. The position detection error for each slider 10 can be reduced.

  Further, the linear conveyor 1 of the present embodiment includes four sensor substrates 30 on which the magnetic sensor 31A is mounted at a predetermined position and attached to the fixed module 20. Each sensor substrate 30 is provided with a positioned portion corresponding to the positioning portion. For this reason, the interval between the fixed-side modules 20 is always determined, so that the accuracy of the interval between the adjacent sensor substrates 30 between the fixed-side modules 20 is increased, and accordingly, the interval between the adjacent sensor substrates 30 between the fixed-side modules 20. Since the accuracy also increases, the position detection error for each slider 10 can be reduced.

  Further, in the linear conveyor 1 of the present embodiment, the positioned portion 24D is a through hole provided on the sensor substrate 30, and the positioned portion passes through the through hole and is pinned to the frame 24. 36. For this reason, the positioning pin 36 and the through hole are assembled in a fixed positional relationship by adjusting the inner diameter of the through hole and the outer diameter of the positioning pin 36 so that the positioning pin 36 passes through the through hole with almost no gap. Each sensor board 30 can be assembled to the frame 24 in a fixed positional relationship.

<Embodiment 2>
A second embodiment will be described with reference to the drawings. In the second embodiment, the arrangement of the rails 122 with respect to the frame 124 and the positioning mode of the sensor substrate 130 are different from those in the first embodiment. Since the other configuration is the same as that of the first embodiment, description of the structure, operation, and effect is omitted. 11, 12, and 13, the parts obtained by adding the numeral 100 to the reference numerals in FIGS. 5, 6, and 7 are the same as the parts described in the first embodiment except the parts described below. is there.

  In the stationary module 120 according to the second embodiment, as shown in FIG. 11, the rail 122 is arranged near the front end on the rail fixing portion 124 </ b> C. In the present embodiment, as shown in FIGS. 12 and 13, a positioning portion 124 </ b> D for positioning each sensor substrate 130 is provided not on the frame 124 but on the front surface of the rail 122 and below the recess portion 122 </ b> A. . That is, in the present embodiment, the positioning portion 124D is provided directly on the rail 122 that is used as a reference when a plurality of the fixed side modules 120 are connected. Specifically, the positioning portions 124 </ b> D are provided at positions corresponding to both sides in the left-right direction at the upper end portion of each sensor substrate 130. That is, each sensor substrate 130 is positioned by two positioning portions 124D.

  As shown in FIG. 13, the positioning portion 124 </ b> D in the rail 122 is provided with a contact portion 122 </ b> C that opens downward and is notched in a concave shape. On the other hand, each sensor substrate 130 has an overhanging portion (an example of a positioned portion) 130A that projects upward from the outer end of the plate surface of the sensor substrate 130 to a portion corresponding to the positioning portion 124D provided on the rail 122. Are provided. These overhanging portions 130 </ b> A have a substantially rectangular shape when viewed from the front shown in FIG. 13, and can be brought into contact with the contact portion 122 </ b> C in the transport direction, that is, the extending direction of the rail 122.

  Each sensor substrate 130 is positioned by contacting one of the two overhanging portions 130 </ b> A with a contact portion 122 </ b> C provided on the rail 122. In the example illustrated in FIG. 13, of the two projecting portions 130 </ b> A projecting from the outer end of the sensor substrate 130, the left projecting portion 130 </ b> A is in contact with the contact portion 122 </ b> C in the left-right direction. Thereby, the sensor substrate 130 is positioned and fixed with high positioning accuracy without shaking in the left-right direction.

  As described above, the linear conveyor according to the present embodiment has a configuration in which the positioning portion 124D is directly provided with respect to the rail 122 used as a reference when connecting a plurality of fixed-side modules 120 out of the rail and the frame. Yes. In the positioning portion 124D, the two protruding portions 130A provided on each sensor substrate 130 come into contact with the contact portion 122C provided on the rail 122, so that the protruding portion 130A is opposed to the contact portion 122C. Positioned without gaps. Thereby, each sensor board 130 can be assembled with high accuracy in a fixed positional relationship with respect to the contact portion 122, that is, a part of the rail 122. As a result, it is possible to increase the interval accuracy between the detection units 134 and 135 of the adjacent magnetic sensors between the fixed side modules 120, and to reduce the position detection error for each slider 110.

(Other embodiments)
The present invention is not limited to the embodiments described above and with reference to the drawings. For example, the following embodiments are also included in the technical scope of the present invention.
(1) In each of the above-described embodiments, the configuration in which the length of the rail and the frame along the rail extending direction is longer in the rail is exemplified, but the configuration in which the frame is slightly longer is illustrated. It may be. In this case, the end portions of the frame are brought into contact with each other, and the plurality of fixed-side modules are arranged in this state, so that the interval accuracy of the plurality of fixed-side modules can be ensured with reference to the frame.

(2) In each of the above embodiments, a magnetic sensor is shown as an example of the sensor, and a magnetic scale is shown as an example of the scale. However, the configuration of the sensor and scale constituting the linear scale is not limited. For example, an optical sensor as a sensor and an optical scale as a scale may be provided.

(3) In each of the above-described embodiments, the configuration in which the magnetic sensor is provided on the substrate is illustrated. However, the configuration in which the magnetic sensor is directly provided in the fixed-side module may be used. Even in this case, it is possible to increase the interval accuracy between the adjacent magnetic sensors between the fixed side modules by increasing the interval accuracy between the adjacent fixed side modules.

  As mentioned above, although embodiment of this invention was described in detail, these are only illustrations and do not limit a claim. The technology described in the claims includes various modifications and changes of the specific examples illustrated above.

DESCRIPTION OF SYMBOLS 1 ... Linear conveyor 2 ... Base 4A, 4B ... Linear conveyance part 6A, 6B ... Slider raising / lowering device 10 ... Slider 11 ... Upper plate part 11A ... Mounting hole 11B ... Bending part 12 ... Side plate part 13 ... Rail guide 13A ... Guide groove 14 ... Mover cover 16, 116 ... Mover 17A, 17B, 17C ... Magnetic scale 20,120 ... Fixed side module 22,122 ... Rail 22A, 122A ... Depression 22B, 122B ... (Rail) end 24,124 ... Frame 26 ... Stator 24D, 124D ... Positioning part 30, 130 ... Sensor substrate 32 ... Plate member 34, 35, 134, 135 ... Detection part 36 ... Positioning pin 122C ... Contact part 130A ... Overhang part

Claims (6)

A frame extending in a straight line is connected to a plurality of fixed-side modules, each of which has a stator and a rail each having a plurality of armature coils, and is fitted to the rail having a plurality of magnetic poles. A slider that is movably disposed between the plurality of fixed side modules along the rail by linear motor driving, and a sensor that detects the position of the slider is provided in the fixed side module. A linear conveyor,
The rail and the frame have different lengths along the extending direction of the rail,
A plurality of the fixed-side modules are arranged in a state where the longer one of the rail and the frame abuts the ends of the rail and the frame. A linear conveyor provided with a positioning portion for positioning the. A frame extending in a straight line is connected to a plurality of fixed-side modules, each of which has a stator and a rail each having a plurality of armature coils, and is fitted to the rail having a plurality of magnetic poles. A slider that is movably disposed between the plurality of fixed-side modules along the rail by linear motor driving, and a sensor that detects the position of the slider is provided on the fixed-side module. A linear conveyor provided,
The rail and the frame have different lengths along the extending direction of the rail,
A plurality of the fixed side modules are arranged in a state where the longer one of the rail and the frame abuts the end portions of the rail and the frame, and the shorter one is relative to the longer one. A linear conveyor which is assembled so as to always have a fixed positional relationship, and a positioning portion is provided on the shorter side to position the sensor with respect to the shorter side. The linear conveyor according to claim 1 or 2,
A linear conveyor in which the sensor is mounted at a predetermined position and includes at least one substrate attached to the stationary module, and a positioned portion corresponding to the positioning portion is provided on the substrate. . The linear conveyor according to claim 3,
The positioned portion is a through hole provided on the substrate, and the positioning portion is a positioning pin that passes through the through hole and is pinned to either the rail or the frame. Conveyor. The linear conveyor according to claim 4,
The said through-hole is a linear conveyor provided in the at least 2 places on the said board | substrate along the said extension direction. The linear conveyor according to claim 3,
A contact portion is provided in the positioning portion,
The substrate is provided with an overhanging portion that protrudes from the outer end of the substrate and can abut on the contact portion in the extending direction,
The positioned portion is the overhang portion,
The said board | substrate is a linear conveyor by which the said overhang | projection part is positioned with respect to the said positioning part by contact | abutting with the said contact part.

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