JPH07193917A - Position correcting mechanism for moving truck - Google Patents

Abstract

PURPOSE:To allow quick and accurate positional correction of a truck moving along a guide rail. CONSTITUTION:A guide rail 3 for a moving truck 1 is provided with a switch operating section 6 for stopping the truck and a switch operating section 8 for deceleration is disposed while being spaced apart appropriately therefrom. A memory means 7 for registering the absolute position is disposed closely to the switch operating section for stopping the truck. The moving truck is provided with switches 9, 10 being operated by respective switch operating sections, means for controlling the stopping operation depending on the state of the switches, and means 11 for reading out the content stored in the memory means at a stop position determined by the switch operating section for stopping the truck.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a position calibrating mechanism for a mobile carriage.

[0002]

2. Description of the Related Art As a conventional method for calibrating the position of a moving carriage that moves along a guide rail, there are generally the following three methods.
There are two mechanisms. A method of calculating the position by providing a rotary encoder on the rotating shaft of the moving carriage and counting the rotation accompanying the movement. It consists of a stop switch operation unit on the guide rail and a deceleration switch operation unit provided at a position appropriately separated from this, and the speed of the moving carriage is decelerated by the deceleration switch operation unit to move at a very low speed. A method of calibrating by resetting the position information inside the moving carriage to a predetermined value, for example, zero reset, when the stop switch operating unit accurately stops the position information. Of the rotary encoder and the position calibrating switch operating unit provided on the guide rail. During calibration, the moving carriage is decelerated to move at a very low speed, and when the switch operating unit operates, the position of this switch operating unit is changed. , The method of calibrating by considering it as the position of the switch operating part that is closest to the position of the rotary encoder.

[0003]

Each of these methods has the following problems. In the rotary encoder, an error is inevitably caused due to a slip of the shaft, a play of a gear, etc. Therefore, unless calibration is performed, the error is accumulated and accurate positioning cannot be performed. Since the switch operation unit resets the position information to a predetermined value, the position can be calibrated at only one position in principle. Since the vehicle travels at a low speed to the switch operating unit for position calibration, the average moving time becomes long if the distance between the switch operating units is long. Further, when the output of the rotary encoder is greatly deviated, such as when the memory in the moving carriage is cleared due to a power failure or the like, accurate position calibration cannot be performed. The present invention aims to solve such problems.

[0004]

In order to solve the above-mentioned problems, according to the present invention, a guide rail of a movable carriage is provided with a trolley stop switch operating portion, and is appropriately separated from the trolley stop switch operating portion for deceleration. A switch operating unit is provided, and storage means for registering an absolute position is provided in the vicinity of the bogie stop switch operating unit, and a switch operated by the bogie stop switch operating unit and the deceleration switch operating unit is provided on the moving vehicle. Then, a position calibrating mechanism for a moving carriage is proposed, which is provided with a control means for performing movement stop control according to the state and a reading means for reading the registered contents of the storage means at the stop position by the carriage stopping switch operating part.

According to the present invention, in the above structure, the storage means is a memory device capable of reading and writing data in a contactless manner by electromagnetic induction, electromagnetic waves, light, etc., and the reading means is a reading and writing device of the memory device. It is proposed to configure by.

[0006]

In the position calibrating work, the moving carriage can move without decelerating until it reaches the deceleration switch operation unit. When the deceleration switch operation unit is reached, the moving carriage is decelerated and moved at a slow speed,
The trolley stop switch operation unit can be accurately stopped.

At the stop position by the trolley stop switch operating unit, it is possible to read the registered contents of the storage means and obtain the absolute position of the stop position.
It can be calibrated to this absolute position.

Next, an embodiment of the present invention will be described with reference to the schematic views of FIGS. In the figure, reference numeral 1 is a moving carriage, and this moving carriage 1 is configured to be movable along a guide rail 3 by wheels 2. In the figure, one of the wheels 2 is configured as a drive wheel, and this is configured to be driven by a motor 4 provided in the moving carriage 1. A rotary encoder 5 is provided between the motor 4 and the drive wheel 2.

The guide rail 3 is provided with a trolley stop switch operation section 6, and a storage means 7 for registering an absolute position is provided in the vicinity thereof. Further, a deceleration switch operation unit 8 is provided at a position apart from the truck stop switch operation unit 6 by a predetermined distance. A plurality of sets of these switch operating parts 6 and 8 and the storage means 7 are installed for each predetermined distance of the guide rail 3.

Further, the movable carriage 1 is provided with a carriage stop switch 9 which operates corresponding to the carriage stop switch operating section 6,
The deceleration switch 10 that operates corresponding to the deceleration switch operating unit 8 and the reading unit 1 that operates corresponding to the storage unit 7.
1 and the control means 12 for controlling the movement stop of the motor 4 by using these signals as control signals.

With the above construction, the moving carriage 1 can move toward the calibration position at high speed until the deceleration switch 10 operates as shown in FIG. In this way, when the moving carriage 1 moves at a high speed and the deceleration switch 10 reaches the position of the deceleration switch operation unit 8 as shown in FIG. 2 and the deceleration switch 10 is turned on, the control means 12 controls the motor 4. The mobile trolley 1 is decelerated, and the movement is continued in the decelerated state.

In this way, when the moving carriage 1 moves to the right in the drawing in the decelerated state and the carriage stop switch 9 reaches the position of the carriage stop switch operating portion 6 as shown in FIG. 3, the carriage stop switch 9 is turned on. Since it is turned on, the control means 12 controls the motor 4 to stop the moving carriage 1. At this stop position, the reading means 11 corresponds to the storage means 7, so that information such as the absolute position registered in advance in the storage means 7 can be read by the reading means 11, and thus the control means 12 has The position information can be calibrated to the read absolute position.

Here, the deceleration switch 10 and its operating unit 8 must be constructed as a switch mechanism that operates reliably even when the moving carriage 1 is moving at high speed, and the carriage stopping switch 9 and its switch 9 The operating unit 6 needs to be configured as a switch mechanism with high accuracy in the operating position.
These switch mechanisms can be configured by appropriately using mechanical limit switches, magnetic switches, optical switches, and the like. For example, the deceleration switch 10 and its operating unit 8 can configure the above-described switch mechanism by a method of lengthening the operating unit 8 to widen the operating range.

On the other hand, the storage means 7 has a structure in which at least the absolute position on the guide rail 3 can be registered and the registered contents can be read by an external reading device, for example, by electromagnetic induction, electromagnetic waves, light or the like. The memory device can read and write data in a contactless manner.

As the registered contents of the storage means 7, in addition to the indispensable absolute position as described above, the plant number at that position and the information of the equipment at that position can be applied.

[0016]

As described above, the present invention has the following effects. The absolute position of the mobile carriage can be calibrated accurately at any position provided in a proper number along the guide rail. In the position calibration work, the moving carriage is decelerated only between the deceleration switch and the carriage stop switch, and in addition to this point, the time required for calibration can be greatly shortened compared to the conventional method. . Not only the absolute position but also various information about each position can be notified to the moving carriage side.

[Brief description of drawings]

FIG. 1 is an explanatory diagram showing the configuration and operation of an example of a position calibration mechanism according to the present invention.

FIG. 2 is an explanatory diagram showing a state of progressing from FIG.

FIG. 3 is an explanatory diagram showing a state of progressing from FIG.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Moving carriage 2 Wheels (driving wheels) 3 Guide rail 4 Motor 5 Rotary encoder 6 Bogie stop switch operating unit 7 Storage means 8 Deceleration switch operating unit 9 Bogie stop switch 10 Deceleration switch 11 Reading means 12 Control means

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁶ Identification code Office reference number FI technical display location // B65G 43/00 E

Claims (2)

[Claims] 1. A guide rail of a movable carriage is provided with a trolley stop switch operating section, and a deceleration switch operative section is appropriately separated from the trolley stop switch operating section, and is provided in the vicinity of the trolley stop switch operating section. Is provided with a storage means for registering an absolute position, and the movable carriage is provided with a switch operated by the carriage stop switch operation portion and the deceleration switch operation portion, and a control means for performing movement stop control depending on the state, Position calibrating mechanism for a mobile trolley, which is provided with reading means for reading the registered contents of the storage means at the stop position by the trolley stop switch operating part. 2. The memory means comprises a memory device capable of reading and writing data in a contactless manner by electromagnetic induction, electromagnetic waves, light, etc., and the reading means comprises a read / write device of the memory device. The position calibration mechanism for a movable carriage according to claim 1.