JPH0433503A - Fixed position stopping method of carrier in linear motor carrying system - Google Patents

Abstract

PURPOSE:To stop a carrier reliably at a fixed position at all times by down counting a set positioning amount, loaded with an output value from a speed sensor, thereby producing a speed command value to be fed to a drive power supply. CONSTITUTION:When a carrier 2 travels and arrives at the area of LIM1, a position sensor in a sensor unit SS1R produces a position signal Sp and a speed sensor starts outputting speed signals SA, SB. Consequently, a difference counter 13 starts down counting input pulses from a set positioning amount Q. Count in the difference counter 13 is converted through a D/A converter 14 into an analog signal which is then fed, as a speed command SKX, to a drive power supply 5. The drive power supply controls the driving voltage according to the difference between the speed command SKX and the speed signal fed from the speed sensor in a sensor unit SS2F. When the number of input pulses become equal to the set amount Q, the speed command value goes zero and the carrier 2 stops smoothly.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a method for stopping a transport vehicle in a fixed position in a linear motor type single general transport system.

[Conventional technology]

A linear motor type single general transport system has the primary side (stator) of a linear motor placed on the track side on which the first optimal carriage (carrier) runs, at a predetermined interval along the track, and the secondary side (
A moving element) is mounted on a transport vehicle, and when the moving element comes to a position facing the stator, a current is supplied to the stator to generate a moving magnetic field, and this moving magnetic field generates thrust in the moving element. The transport vehicle is made to run by

Figure 4 shows an example of this conveyance system.
The figure shows the relationship between the stator and the mover mounted on the carrier.

In both figures, L I M 1, LIM2 . LIM3 is a stator arranged at certain intervals along the track 1, and has a coil that generates a moving magnetic field, and each has a power switch (solid stay I/relay) SSRI,
Power is supplied from the drive power supply device 5 via 5SR2 and 5SR3. 2. A transport vehicle, which has a moving element (secondary conductor) 3 that receives the above-mentioned moving magnetic field and generates a thrust according to its strength, and holds a track 1 with a plurality of wheels 4. It runs on the 1M1L2 track.

5SIF,,5SIR,,582F-,,5S2R,,
5S3F and 5S3R are sensor units, which have a configuration shown by the symbol UNIT in FIGS. 5 and 6, and detect when the transport vehicle 2 enters or passes through the stator areas of LIM1, LIM2, and LIM3. It has a position sensor 8, and the position signal SP sent by each position sensor 8 is supplied to the power switches SSR1, 5SR2, and SSR3 as an opening/closing command signal, and is also transmitted to the controllers 1 to 6.

In addition, Sensu unit 5SIF, 5SIR, 5S2
If F, 5S2R, 5S3F, 5S3R, transport vehicle 2 is LI
MI, LIM2. It has an A-phase speed sensor 9A and a B-phase speed sensor 9B for detecting the speed when passing through the LIM 3, and the speed signals (A, B two-phase pulses) SA and S++ sent by these speed sensors are the driving power supply device 5. will be feedbanked. Note that the position sensor 8, speed sensors 9A, 9B
consists of a light emitting/receiving element.

The U N I 1'' consists of a slit plate 10 held on a transport vehicle 2, the position sensor 8, and speed sensors 9A and 9B, and the slit plate 10 has a slit row as shown in FIG. 7.Position signal SP, speed signal SA, Sa to the 8th
As shown in the figure.

P is the deceleration pattern desired for the transport vehicle 2, and L
Mover 3 by I M 1, L 1M2, L +M3
Based on this deceleration pattern, the thrust to be generated is set to the controller I/roller 6 as speed commands such as "1st speed", "2nd speed", "3rd speed", etc. For example, the sensor unit 5S2R When a position signal S is generated, L I
A size that sends the speed command SKK set for M2 to the drive power supply device 5 and makes the deviation between the value of the speed command of the drive power supply device 5 and the value of the speed signal fed back from 5S2R to O. The driving voltage of power switch 5SR2
is supplied to LIM2 through. In this example, LIMI,
The magnitude relationship of the speed commands selected for L I M 2 and I-I M 3 is L I M 1 < 1. ,
, I M 2 < 1. .

1M3 relationship, transport vehicle 2 becomes slow and LIM
Enter area I and stop within this area.

Either a method using a mechanical brake or a method using an electromagnetic brake is adopted to control the stop of the transport vehicle 2. When using an electromagnetic brake, the transport vehicle 2 When it reaches the center position, the electromagnetic brake position detector (proximity sensor) 7 generates a detection signal,
The electromagnetic brake operates.

[Problem to be solved by the invention]

Methods that use mechanical brakes are undesirable because they inevitably cause a shock when stopping. From this point of view, the electromagnetic Fregi method, which is a non-contact method, is superior, but with the electromagnetic brake method, the weight of the transported object is always constant. However, if the weight of the transported object is not constant, L I M
], There are variations in the speed when reaching -1-, and of course the speed within the LIMI area is also different, so
The distance that the transport vehicle 2 moves until the proximity sensor 7 generates a detection signal and the electromagnetic brake is activated varies, and the stop position is overrun or undershot (overrun, show 1-).

The present invention has been made to solve the above-mentioned problems, and an object of the present invention is to provide a method for stopping a transport vehicle in a fixed position in a linear motor type transport system, which can always and reliably stop the transport vehicle in a fixed position. .

[Means to solve the problem]

In order to achieve the above-mentioned object, the present invention loads a positioning setting amount into a counter when it is detected that the transport vehicle has passed through a stator area preceding a predetermined stator area where the transport vehicle is to be stopped. When the entry of the transport vehicle into a predetermined stator area is detected, the counter subtracts the output value of the speed sensor that detects the speed of the fastest vehicle from the positioning setting amount. The output of the counter is given to the drive power supply device as a speed command value.

[Effect]

In the present invention, a counter subtracts the time integral value of the speed of the transport vehicle after it enters a predetermined stator area from the positioning setting amount, and the output of the counter becomes the speed command value, so the speed command value becomes 0 value. The distance traveled by the transport vehicle until
It can be kept constant without being affected by speed when entering an area.

〔Example〕

Hereinafter, one embodiment of the present invention will be described with reference to the drawings.

In FIG. 1, reference numeral 11 denotes a positioning device, and as shown in FIG. The output of the D/A converter 14 is sent to the drive power supply device 4 as a speed command SKX. The pulse of the speed signal passed through the deviation counter 13 and the multiplier synchronization circuit 15 is input to the down terminal. This positioning device 11 receives a positioning start command signal from the controller 6 and starts its operation, and the controller 6 detects that the output of the position sensor of the sensor unisol l-S S 2 F has changed to rLJ level. A positioning start command signal is generated. The rest of the configuration is the same as the conventional one shown in Figure 4, so the same components are denoted by the same reference numerals.]
It is shi.

Next, the operation of this embodiment will be explained as shown in FIG.
Explain with reference to.

Assuming that the transport vehicle 2, which has been traveling toward LIMI on track 1-, passes through the area L I M 2 at time t1, then at time 1. The position signal S, which was being sent by the SENZA UNISOTO 582F, changes to rLJ level, and the speed
Stop sending out j (pulse) SA and sB. The controller 6 gives a positioning start command signal to the positioning device 11 in synchronization with the timing when the position signal changes to the SPrL level.
The positioning set amount Q is loaded into the deviation counter 13.

When the transport vehicle 2 travels a distance ρ and reaches the area L TM ], the position sensor 8 of the sensor Unisoto 5SIR
generates position signals M, 3F, and speed sensors 9A,
9 B begins to send out speed signals SA and SR (time t2), pulses of this speed signal begin to arrive at the deviation counter 13, and the deviation counter 13 subtracts the input cabling from the positioning set amount Q in J-. Start counting operation.

The count value of the deviation counter 13 is converted into an analog signal by the D/A converter 14 and given to the drive power supply device 5 as a speed command SKX, and the drive power supply device 5 receives this speed command SKX.
The drive voltage to be sent out is controlled according to the deviation between the value of When the speed command value becomes equal to the positioning set amount Q, the speed command value sent out by the deviation counter 13 becomes l-Oj, and the transport vehicle 2 stops smoothly.

In this embodiment, the deceleration of the first fastest bogie 2 changes depending on the magnitude of the arrival speed of the L I M 1 area of the first fastest bogie 2, and when the arrival speed is low, the deceleration is small, and becomes large when the speed is high, so the first fastest bogie 2 smoothly stops at a predetermined position, regardless of the magnitude of the speed at the time of arrival.

〔Effect of the invention〕

As explained above, in the present invention, when the transport vehicle enters the stator area where the transport vehicle is stopped, the counter causes the
By subtracting the time integral value of the conveyance vehicle speed from the positioning setting amount loaded in advance into the counter, and applying the output of this counter as a speed command to the drive power supply device, the stop+h control of the conveyance vehicle is performed. Even if the speed at which the conveyance vehicle enters the stator area varies depending on the weight of the conveyed object, etc., the conveyance carriage can always be smoothly stopped at a fixed position.

[Brief explanation of drawings]

Fig. 1 is a block diagram showing an embodiment of the present invention; Fig. 2 is a block diagram of the positioning device according to the above embodiment;
Figure 1 is a signal time chart 1 for explaining the operation of the above embodiment, Figure 4 is a block diagram showing the configuration of a conventional transport system, and Figure 5 is a diagram for explaining the relationship between the transport vehicle and the track. , FIG. 6 and FIG. 7 are configuration diagrams of the sensor unit, and FIG. 8 is a diagram showing the output signal of the sensor unit. 1-track, 2-transportation truck, 3-mover, 4-wheel, 5-
Drive power supply device, 6-controller, 11-positioning device, 12-positioning position setting device, 13-deviation counter.

Claims (1)

[Scope of Claims] Stators of linear motors are sequentially arranged along a track on which a transport vehicle travels, and a movable element of the linear motor is mounted on the transport vehicle, and the stator area of each stator is A linear motor conveyance system that supplies a drive voltage to the stator in the stator area it is passing through from a drive power supply device based on a speed command value preset for the stator while the conveyance vehicle is passing through. In this step, when it is detected that the transport vehicle has passed through a stator area preceding the predetermined stator area where the transport vehicle is to be stopped, a positioning setting amount is loaded into a counter, and the positioning amount is loaded into a counter. When the entry of the transport vehicle is detected, the counter subtracts the output value of the speed sensor that detects the speed of the transport vehicle from the loaded positioning setting amount, and outputs the output value of the counter as the speed command value. A method for stopping a conveyance vehicle at a fixed position in a linear motor type conveyance system, characterized in that the stator power supply voltage of the predetermined stator area is controlled by applying the above drive power supply to the drive power supply device.