JPH03200468A - Stop position determining device for linear truck - Google Patents

Abstract

PURPOSE:To enable highly accurate positioning by providing a device, for determining the stop positions of a linear truck utilizing magnetic force, with a magnetic flotation device for floating the linear truck by magnetic force at the time of determining the stop positions of the linear truck. CONSTITUTION:A linear truck 10 travelling by wheels 11 in a guide body 12 of approximately U-shaped cross section is provided with a load-carrying platform 13 at its upper part and the secondary conductor 14 of a linear motor at its lower face. The primary side of the linear motor is provided at the bottom center of the guide body 12. In this case, a total of sixteen positioning/braking iron cores, each set having four and four sets altogether on both longitudinal and lateral sides, are provided at the lower face of the secondary conductor 14. Also at the bottom part of the guide body 12, a total of sixteen positioning/ braking electromagnets 18 are provided in the stop positions of the linear truck 10, and that in the positions relative to the positioning/braking iron cores 17. Four floating permanent magnets 19 are further provided at the lower face of the secondary conductor 14, as well as floating electromagnets 20 are provided in the positions corresponding to the stop positions of the linear truck 10.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a stop positioning device for a linear trolley installed in a factory or the like and mainly used for clean transportation.

In particular, the present invention relates to a stop positioning device for a linear truck that can achieve highly accurate positioning with a simple configuration.

(Prior Art) Conventionally, devices as shown in FIGS. 2 and 3 have been proposed as a stop positioning device for a linear truck.

In the system shown in FIG. 2, a position sensor 2 such as a linear encoder is provided on a linear truck 1, and the position sensor 2 detects the position of the linear truck. When the position sensor 2 detects that the linear truck 1 has come to the position where it should stop, the L
I M (linear 1induction mot
The linear carriage 1 is stopped by switching the polarity of the linear induction motor (or: linear induction motor).

What is shown in FIG. 3 is that an electromagnet 4 is provided on a guide body 3 that guides the linear truck 1 at a position where the linear truck 1 is to be stopped, and an iron core 5 that is a magnetic material is attached to the linear truck 1.
are provided, and the linear truck 1 is positioned to stop by the centripetal force generated by the attractive force between the electromagnet 4 and the iron core 5.

(Problems to be Solved by the Invention) The conventional linear truck stop positioning device described above has the following problems.

That is, in the device shown in FIG. 2, the linear truck 1 must be stopped by switching the polarity of the LIM based on the output of the position sensor 2, which causes a problem in that the servo control becomes complicated.

Furthermore, in the device shown in FIG. 3, as shown in FIG.
When the displacement between the electromagnet 4 and the iron core 5 is 0, the centripetal force is also 0, so a positioning error occurs due to the frictional resistance, and there is a problem that accurate stop positioning cannot be performed.

An object of the present invention is to provide a stop positioning device for a linear truck that can solve the problems of the conventional devices as described above and realize highly accurate positioning with a simple configuration.

(Means for Solving the Problems) In order to achieve the above object, the present invention provides a stop positioning device in which the stop position of a linear truck that runs while being supported by wheels in contact with a guide body is determined using magnetic force. A stop positioning device for a linear truck is configured to include a magnetic levitation device that magnetically levitates the linear truck when positioning the linear truck to stop.

(Operations and Effects) Since the linear truck stop positioning device of the present invention has the above-described configuration, it has the following operations and effects.

According to the stop positioning device for a linear truck according to the present invention,
When determining the stop position of the linear carriage, the linear carriage is magnetically levitated. That is, a magnetic levitation device is provided at the linear truck stop position, and during positioning, the magnetic levitation device operates to levitate the linear truck. The linear truck is floating,
Stop positioning is performed by a magnetic stop positioning device.

Therefore, according to the present invention, it is possible to eliminate the positioning error caused by the frictional resistance of the wheels that has conventionally occurred, and it is possible to perform accurate stop positioning. Further, no complicated control means are required, and since there is no contact, no dust is generated. Furthermore, by performing levitation control, the trolley can maintain a stable posture even during delivery of cargo.

(Example) The illustrated embodiment will be described below.

FIGS. 1(a), 1(b), and 1(c) are a front view, a plan view, and a side view, respectively, showing an embodiment of a stop positioning device for a linear truck according to the present invention. In each figure, - group members are omitted.

In each figure, numeral 10 is a linear truck, and wheels 11 are used to form a U-shaped guide body 12 whose cross section is open upward.
The vehicle runs in a recess 12a provided on the inner side of the vehicle. In addition, a loading platform 13 is provided on the top of the linear truck 10, and a secondary conductor 14 of a beam linear motor is provided on the bottom surface. Guide body 1
A primary side 15 of a beam near motor is provided at the center of the bottom of the motor. 16 is a guide roller. Other mechanisms will be omitted.

Reference numeral 17 denotes a positioning braking iron core, which is a cylindrical body made of a ferromagnetic material, typically iron, that protrudes downward from the secondary conductor 14. A total of 16 positioning braking iron cores 17 are provided in groups of four, four on the front, rear, left and right sides. At the stop position of the linear truck 10, sixteen positioning braking electromagnets 18 are provided at positions facing the positioning braking iron core 17.

18 is a permanent magnet for levitation, and 4
There are one. At the stop position of the linear truck 10, four levitation electromagnets 20 are provided at positions facing the levitation permanent magnets 19. This levitation permanent magnet 19
The set of levitation electromagnets 20 and 20 is for magnetic levitation, and poles of the same type face each other so as to repel each other. In other words, they are N-pole comrades or S-pole comrades. Furthermore, if the levitation permanent magnet 19, the levitation electromagnet 20, and the positioning braking electromagnet 18 are made of the same type of pole, the positioning braking electromagnet 18 and the levitation permanent magnet 19 will not attract each other.

Next, the operation of the above linear truck stop positioning device will be explained.

When the linear truck 10 is in a normal running state and passes through a set stop position, the positioning braking electromagnet 18,
The levitation electromagnet 20 is not energized. Therefore, the linear truck IO is not prevented from passing by the magnetic force of the positioning braking electromagnet 18 and the levitation electromagnet 20.

When stopping the linear truck 10, the linear truck 10
starts traveling and when it reaches near the stop position, - next side 15
The linear truck 10 is decelerated to the creep speed by speed feedback control. This process is performed using means such as the above-mentioned linear encoder.

When the linear carriage 10 approaches the set stop position, the positioning braking electromagnet 18 is energized, attracting the positioning braking iron core 16 and braking the linear carriage 10, and at the same time braking the linear carriage 10 by the amount of frictional resistance shown in FIG. Positioning is performed to the position where the error occurred.

While the positioning braking electromagnet 18 is still energized,
The levitation electromagnet 20 is energized. The linear truck 10 floats due to the repulsive force of the floating permanent magnet 19 and the floating electromagnet 20, and the wheels 11 rise from the lower surface of the recess 12a of the guide body 12. Therefore, since the frictional resistance of the wheels 11 is eliminated, the positioning error corresponding to the frictional resistance can be eliminated. Of course, the repulsive force generated by the levitation permanent magnet 19 and the levitation electromagnet 20 is larger than the attraction force generated by the positioning brake iron core 17 and the positioning brake electromagnet 18, and the linear truck 10 is levitated against the attraction force. It must be large enough to allow

Although one embodiment of the present invention has been described above, it goes without saying that the present invention is not limited to the above-described embodiment and can be modified as appropriate within the scope of the gist of the present invention.

[Brief explanation of drawings]

1(a), 1(b), and 1(c) are a schematic side view and a schematic front view, respectively, showing a linear bogie to which an embodiment of the stop positioning device for a linear bogie according to the present invention is applied, FIG. 2, and 3.
Each figure is a schematic front view of a conventional device, and FIG. 4 is an explanatory diagram of the conventional example shown in FIG. Iron core for braking, 18... Electromagnet for positioning braking, 19
... Permanent magnet for levitation, 20... Electromagnet for levitation.

Claims (1)

[Claims] A stop positioning device in which the stop position of a linear bogie running supported by wheels in contact with a guide body is determined using magnetic force, characterized by including a magnetic levitation device that magnetically levitates the linear bogie when determining the stop position of the linear bogie. Stop positioning device for linear trolleys.