JPH0724442B2 - Linear motor car speed controller - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a linear carrier in which a carrier having a secondary conductor (hereinafter referred to as a rotor plate) travels on a track (conveyance path) provided with a plurality of stators by exciting the stator. The present invention relates to a speed control device for a motor car, and more particularly to a speed control device for a linear motor car that can easily specify an instruction speed that matches the shape of a track.

[Background of technology]

A linear motor car as a transfer means is capable of high-speed transfer because it does not require a power source to be mounted on a carrier that is a moving body, and has been receiving attention in recent years. The linear motor car is
A plurality of stators are provided on the transport path, a secondary conductor (rotor plate) is provided on the carrier, and a magnetic force generated by excitation of the stator is applied to the rotor plate of the carrier to give a driving force to the carrier or stop the carrier. It is something that Therefore, the carrier to which the driving force is applied by the stator does not apply any external force to the next stator position, and freely travels on the transport path. At the stator position corresponding to the stop position, the carrier is stopped in a non-contact manner due to the reverse excitation of the stator.

Therefore, in the linear motor car, it is not necessary to mount a power source on the carrier itself, and the carrier can be moved by exciting the stator existing in the transfer path, so that high-speed transfer is possible and the structure of the carrier can be reduced. Therefore, the conveying means can be made small as a whole, and it is particularly suitable for conveying documents and the like in the office.

In such a linear motor car, the linear motor controller controls the respective stators on the conveying path to sequentially excite or reverse excite the carrier as the carrier travels, and starts the carrier.
Acceleration / deceleration and stop are performed, and the vehicle travels from a desired station to a predetermined station. Therefore, it is necessary for the linear motor controller to control each stator in accordance with the traveling of the carrier, and to control the speed when passing through the stator to a specified speed or stop control.

[Conventional technology and problems]

Stations including stators as shown in FIG.
In a system in which the carrier CR travels on the transport path RAL provided with STa to STg, when the carrier CR travels from the station STa to the station STg, the station STa is moved at the maximum speed as shown in FIG. 1 (B). Start, then pass stations STb and STc at maximum speed,
It is necessary to control the stator of each station such that the stations STd, STe, and STf sequentially decrease in speed to pass through, and the stations STg stop. That is, the station
Since STg is stopped in a non-contact manner, it is necessary to gradually reduce the speed and to control the speed to a level sufficient to stop the station just before STg. The speed curve is set in this way, and the linear motor controller controls each stator in accordance with the speed curve. In reality, however, the conveyance path is required according to a straight line, a curve, an upslope, or a downslope. Different speeds. For example, station STf and station S
If there is a straight line between Tg and station, the indicated speed Vl may be given to the station STf as shown in the figure, and control may be performed so that the carrier passing speed is Vl. Yes, Vf less than Vl at station STf
It is necessary to control the carrier passing speed at the same time, and there is a risk that the carrier will stop midway because this speed Vl is too slow on uphill slopes and curves, and station STf
It is also necessary to control the carrier passing speed to Vu above l.
Such a situation is the same in the transport path between other stations, and it is necessary to perform similar control depending on its shape. Therefore, the linear motor controller calculates the instructed speed given to each station according to the shape of the transport path between each station based on the basic speed control pattern of FIG. Need to order. Preliminarily, in a configuration where the start station and the stop station are fixed, there is no problem because this pattern is uniquely determined, but the start station and the stop station are not determined, and either start or stop In the configuration desired, the linear motor controller must calculate the instructed speed of each station in accordance with the basic control pattern.

Therefore, the linear motor controller requires a program for its calculation, and there is a problem that the load for the calculation is large. Moreover, since the instructed speed is not given until the end of the calculation, the time from the request of the conveyance to the start of the conveyance becomes long, which is one of the causes of impeding the high-speed conveyance as a whole.

[Object of the Invention]

An object of the present invention is to provide a speed control device for a linear motor car that can instruct a speed according to the shape of a conveyance path only by giving a basic speed control pattern from a linear motor controller.

[Structure of Invention]

In order to achieve the above-mentioned object, the present invention provides a carrier for mounting an object to be loaded, a plurality of stations provided along a transport path, each station including a stator and a controller, and a controller for giving an instruction speed to the stations. In the speed control device of the linear motor car in which the control unit controls the stator according to an instruction from the controller, the control unit of each station is configured to control the maximum speed according to the rail shape on both sides of the station. Store the minimum speed,
The controller transmits an instruction speed of each station related to traveling to the control unit according to a basic speed control curve,
The controller controls the maximum speed if the instructed speed is higher than the maximum speed, the instructed speed if the instructed speed is lower than the maximum speed and higher than the minimum speed, and the instructed speed is the minimum speed. If it is smaller, the minimum speed is determined as the control speed,
It is characterized in that the stator is excited to control the carrier to a control speed.

The present invention also provides a carrier for mounting an object to be mounted,
A linear motor car having a plurality of stations each provided along the transport path and including a stator and a control unit, and a controller that gives an instruction speed to the stations, and the control unit controls the stator according to an instruction from the controller. In the speed control device, the correction speed data according to the rail shapes on both sides of the station is stored in the control unit of each station, and the controller determines the commanded speed of each station according to the basic speed control curve. The control unit transmits the control speed to the control unit, and the control unit determines the control speed by adding or subtracting the correction speed data to the instruction speed, and controls the carrier to the control speed by exciting the stator. Characterize.

Example of Invention

 Hereinafter, the present invention will be described in detail with reference to Examples.

FIG. 2 is an overall block diagram of an embodiment of the present invention. In the figure, the same parts as those in FIG.
Is a system controller that controls the entire system based on a request from a transfer request source such as a window, 2 is a linear motor controller, and each station ST receives a transfer command from the system controller 1.
Controlling a to STn, 3a to 3n are control units, which are provided in each station STa to STn, and perform excitation control of the stator of each station according to a command from the linear motor controller 2 via the cable 4, It controls the traveling of the carrier CR and is composed of a microprocessor as described later.

In the present invention, the stations STa to STn are provided with the control units 3a to 3n, respectively, to thereby control the speed.

Then, as shown in FIG. 2B, speed data for a straight line, a curve, an upslope, a downslope, and a rail shape that is a combination thereof (maximum speed, minimum speed, and correction value at which carrier can pass in the figure). ) Is prepared so that each station is selectively set according to the rail shapes on both sides of the station.

On the other hand, the linear motor controller 2 gives an instruction value of the basic speed control curve of FIG. 1 (B) to each station when the carrier is traveling, and the control units 3a to 3c make control speeds based on the instruction value and the speed data described above. Is decided.

As a method of setting this speed data, as will be described later, the linear motor controller 2 collectively transmits the table of FIG. 2 (B) to the control units 3a to 3n of all stations, and each station has rail shapes on both sides. Alternatively, the linear motor controller 2 may select and transmit the linear motor controller 2 according to the rail shape of each station based on the table shown in FIG.

FIG. 3 is an overall external view of one embodiment according to the present invention, showing a cash transport system in a bank store. In the figure, CT is a window for customers to request money processing deposit / withdrawal, transfer, etc., OTM is an online tellers machine, and teller is for inputting transaction data for processing requested by customers. Which has a keyboard, display and printer and is connected to a system controller (not shown). TAD is a teller depositing machine, in which the teller deposits the cash requested by the customer and counts the cash amount. STW is a terminal writer that prints transaction data on the passbook to be inserted. CA and CB are cash input /
It is an outlet for the teller to load cash into or remove cash from the carrier CR traveling on the transport route RAL. AC is a cash dispenser, which is composed of a cash dispensing machine ACU and a cash storage machine ADU, and sends cash from the cash dispensing machine ACU to the carrier CR on the transport route RAL in response to a dispensing command from a system controller (not shown). The cash on the carrier CR on the transport route RAL is stored in the cash storage machine ADU according to the loading and depositing command. CCU is a terminal for scrutiny,
It is composed of a display and a keyboard, and inputs a close inspection command or the like to a system controller (not shown) and outputs the close inspection result.

To explain the operation of this cash transport system, Carrier CR
Moves back and forth between the window CT and the cashier AC on the transportation route RAL, and carries cash between them. In case of deposit, carrier CR is cash input / exit CA or CB or Teller deposit machine TAD
After the deposit cash is loaded, the vehicle starts, moves on the transport route RAL, and stops at the cash storage machine ADU.
Stores the cash on the carrier CR, and the carrier CR
Is returned to the window CT. In the case of withdrawal, the carrier CR is the window
After starting from CT and stopping at the position of the cash dispensing machine ACU, the cash dispensed from the cash dispensing machine ACU is loaded, and after the loading, it starts and moves on the transport route RAL, and the requested cash Input / Exit C
Stop at the position of A or CB and let the teller collect the withdrawal cash on the carrier CR. In this way, the carrier CR is transferred to the carrier path RAL.
Since it starts, accelerates, decelerates, and stops with a linear motor above,
A station having a stator is arranged on the transport path RAL.

FIG. 4 is a layout of the stations in the configuration shown in FIG. 3, and the stations STa, STb, and STc have carrier CRs at the positions of the cash input / exit port CA, the teller deposit machine TAD, and the cash input / exit port CB, respectively. It is provided for starting, stopping, accelerating and decelerating, and stations STd, STe, STf, STg are provided for accelerating and decelerating the step CR of the transport path RAL and the carrier CR of the curved portion
The stations STh and STi are provided for starting, stopping and accelerating the carrier CR at the positions of the cash dispensing machine ACU and the cash storage machine ADU, respectively. Stations STa, STb, STc, STh,
The STi start / stop station is provided with a carrier lift mechanism described later.

This conveying path RAL is composed of the elements shown in FIG. 5, and includes a straight path RALL in FIG. 5 (A), a curved path (RALC) in FIG. 5 (B), and a curved path (RALC) in FIG. 5 (C). The required conveyance path RAL as shown in Fig. 4 is constructed by combining the stepped paths RALS.

FIG. 6 is a block diagram showing an embodiment of the carrier and the stator used in the present invention. FIG. 6 (A) is a perspective view of the carrier CR, and FIG. 6 (B) is a perspective view of the stator STAT provided in each station. It is a figure. In FIG. 6 (A), reference numeral 100 denotes an article storage unit for accommodating an article (cash), which is provided with a lid so that the article does not pop out during transportation. A support plate that supports the housing portion 100, 102 is a secondary conductor (rotor plate) that corresponds to the rotor of the linear motor, and is provided below the support plate 101, and 103 and 104 are Guide plates that are provided on both sides of the support plate 101, 105a and 105b are upper guide rollers, and 106a and 106b are lower guide rollers that are respectively provided on the guide plate 103 and sandwich rails described below from above and below. The horizontal guide rollers 105c and 106c guide sideways of a rail, which will be described later.
3 is provided in 3, 107 is a slit part, a guide plate
It is provided in 103 and is detected by a sensor described later for detecting position and speed.

The guide plate 104 also has guide rollers 105a to 105c, 106a.
~ 106c are provided.

In FIG. 6 (B), 110 and 111 are bases, respectively.
Reference numerals 2 and 113 are guide portions, respectively, and the rotor plate 10 of the carrier CR.
2 are arranged with a sufficient gap so that they can enter in a non-contact manner and have a core inside, and 114 and 115 are coil portions, each having a damping coil, a positioning coil and an acceleration / deceleration coil.

A linear motor including a carrier and a stator having the configuration shown in FIG. 6 will be described with reference to the operation description of FIG.

As shown in FIG. 7 (C), a pair of U-shaped rails 120 and 121 are fixed on both sides of the transport path RAL. At each station, a stator STAT is provided between the rails 120 and 121. In each station, four transmission type photoelectric sensors S1, S2, S3 and S4 are provided on the rail 120. Sensor S1, S4
Is provided before and after the stator STAT, detects the slit portion 107 of the carrier CR to detect whether the carrier CR enters or leaves the station, and the sensors S2 and S3 are provided at the positioning position of the station. The outputs of these sensors S1 to S4 are also used to detect the velocity of the carrier CR.

The carrier CR is shown in FIG. 7 (A) for the rails 120 and 121.
As shown in (B), the upper and lower guide rollers 105a, 10a
5b sandwiches the top of rail 120 and side guide roller 1
05c is provided so as to hit the side surface of the rail 120, whereby the carrier CR is guided in the upward, downward, and lateral directions by the rails 120 and 121, and can travel along the rails 120 and 121. In this state, the carrier CR rotor plate 102
Is placed between both guide portions 113 and 114 of the stator STAT so as to be able to receive the magnetic flux from the stator STAT, and the slit portion 107 of the carrier CR is placed at a position across the sensors S1 to S4.

Therefore, when the stator STAT is excited, the carrier CR is started, accelerated, decelerated, or stopped along the rails 120 and 121. At the same time, the position and speed of the carrier CR are measured by the sensor S1.
~ Detected by S4.

Figures 8, 9 and 10 are stations with the configuration shown in Figure 4.
It is a block diagram of a carrier lift mechanism, a rail lid mechanism, and a shutter opening / closing mechanism provided in STa, STb, STc, STh, and STi.

In FIGS. 8 and 10, 130 and 131 are a pair of guide pillars, which serve as guides for moving the carrier CR up and down, and 132 and 133 are slider blocks, respectively.
A rail element 120 which is guided by 130, 131 and moves up and down, and which forms a part of the rails 120, 121 at the tip.
a, 121a, 134 is a link mechanism, 13
5 is a lift motor, 136 is a gear, the link mechanism 134 has its tip connected to the slider block 131, its rear end fixed to the shaft of the gear 136, and the rotation of the lift motor 135 causes the gear 136 to rotate. The link mechanism 134 operates. SW
Reference numerals 1 and SW2 are rising point and falling point detection switches, respectively, which are operated by the slider block 133 and detect the arrival of the lifting mechanism at the rising point and the falling point. These constitute a carrier link mechanism.

In FIGS. 8 and 9, 140 and 141 are rail lid levers, respectively, which have rail elements 120b and 121b at their tips and which can be rotated around fulcrums G1 and G2, and 142 and 143 are link mechanisms. And those for rotating the rail lid lever, 144 and 145 are gears, respectively.
2, 143 to which one end is connected, 146 is a motor for a rail lid and drives a gear 144, 147 is a frame, which is a motor 146, gears 144, 145, rail lid lever 14
It supports 0 and 141. MS is a rail lid open / close detection switch, which is operated by the rotation of the rail lid lever 140 to detect the positions of the rail elements 120b and 121b. The rail lid mechanism is constructed by these,
The rail elements 120b and 121b are always retracted as shown in FIG. 8, and the rail elements 120a and 121a are linked by the link mechanism.
Is raised, and when it is removed from the rails 120 and 121, it operates as shown in FIG. 9 and compensates for this so as not to hinder the movement of other carriers CR. Incidentally, carrier
Not required if there is only one CR.

Reference numeral 150 is a shutter, which is equivalent to the lid of the cash withdrawal / insertion port CA (CB), 151 is a shutter motor, which opens and closes the shutter 150, and 152 is a link mechanism,
MW is a shutter opening / closing detection switch that operates by rotation of the motor 150 to open / close the shutter 150, and engages with a part of the shutter 150 to detect opening / closing of the shutter 150. These make up the shutter opening / closing mechanism,
It is provided only at stations STa and STb that have cash withdrawal / input ports CA and CB.

Next, the operation of FIGS. 8, 9 and 10 will be described. Normally, the rails 120, 1 are in the state as shown in FIG.
A part of 21 is composed of rail elements 120a and 121a. When the carrier CR is stopped and positioned by the stator STAT in this state, the lift motor 135 rotates from the state shown in FIG. 10 (A) as shown by the arrow in FIG. The slider block 132, 133 is moved up along the guide columns 130, 131 by operating the slider 134. As a result, the carrier CR has the rail element 120a,
It rises every 121a. When the slider block 133 reaches the ascending point, the switch SW2 operates and the rotation of the motor 135 stops,
Stop at the position shown in FIGS. 9 and 10 (B). As a result, a part of the rails 120 and 121 has been cut off by the rail elements 120a and 121a, so that other carriers cannot pass through this station. Therefore, the motor 146 of the rail lid mechanism rotates in the direction of the arrow in FIG. 9 to rotate the gear 144 and also the gear 145 engaging with the gear 144.
As a result, the links 142 and 143 operate to move the rail lid levers 140 and 141 from the state shown in FIG. 8 to the state shown in FIG.
Rotate around G1 and G2, and move each rail lid lever 140, 14
The rail elements 120b and 121b provided at the tip of 1 complement the missing portions of the rails 120 and 121.

On the other hand, when the carrier CR reaches the ascending point, the motor 150 rotates, the link 152 is operated, and the shutter 150 is opened as shown in FIG.

As a result, the teller can put the conveyed product in the carrier CR or take out the conveyed product from the carrier CR.

To return the carrier CR to the rails 120 and 121 and start it, the reverse process, that is, the process shown in FIGS. 9 to 8 may be followed.

FIG. 11 is a detailed block diagram of an embodiment of the control unit according to the present invention, and is a detailed block diagram of the control units 3a to 3n in FIG.
In the figure, the same components as those shown in FIGS. 2, 7, and 8 are designated by the same symbols, and 30 is a main control (station) processor, which has a memory 30a inside. , Linear motor controller 2 via cable 4 (Fig. 2)
To exchange data and commands with each other, and to exchange a motor processor and a mechanical control processor, which will be described later, with a flag and data, which mainly act as a relay processor, 31 is a motor control processor, and a main control In response to an instruction from the processor 30, the stator STAT is excited and controlled, and has a carrier speed measurement counter 31a and a memory 31b therein. 32 is a multiplexer for detecting the slit portion 107 of the carrier CR. The output of the sensors S1 to S4 to be selected according to the selection signal SEL of the motor control processor 31 and output to the motor control processor 31, 33 is a rail shape setting switch, and the operator operates both sides of the station. The rail shape is viewed, the shape (straight line, curve, vertical gradient, etc.) is set and input to the motor control processor 31. 34 is a coil driver, composed of each solid state relay,
The driver 34a drives the AC coil 114b for acceleration / deceleration of the stator STAT in accordance with the direction (right, left) instruction from the motor control processor 31, and the driver 34b drives the positioning single-phase coil 114a of the stator STAT for motor control processor 31. Driven according to the positioning instruction PCMD from, driver 34
c is for driving the positioning damping coil 114c of the stator STAT by a damping command SCMD from the motor control processor 31. Reference numeral 35 denotes an interface circuit, which has flag units 35a and 35b for transmitting and receiving flags to and from the main control processor 30, and registers 35c and 35d for transmitting and receiving commands and data to and from the main control processor 30, and 36 is The first bus is used for exchanging flags, data, and commands between the main control processor 30 and the interface circuit 35. 37 is a second bus for exchanging flags, data, and commands with the main control processor 30 and an interface circuit of a mechanical control unit, which will be described later. 38 is a mechanical control processor, which has a memory 38a inside. Which controls the motors 135, 146, 151 of the link mechanism, rail lid mechanism, and shutter opening / closing mechanism described in FIG. 8, 39 is an interface circuit, and a flag is supplied via the main control processor 30 and the bus 37. Flag units 39a and 39b for transmitting and receiving data, and registers 39c and 39d for transmitting and receiving commands and data via the main control processor 30 and the bus 37.

Note that 135a, 146a, 151a are drivers for the motors 135, 146, 151, respectively, and the memory control unit MCC is a station provided with a lift mechanism or the like, for example, the station ST in FIG.
It is provided only in a, STb, STc, STh, and STi. Next, the operation of the embodiment shown in FIG. 2 and FIG. 11 will be described with reference to the transmission / reception operation explanatory diagram of FIG.

First of all, the linear motor controller 2 connects the cables 4 to the control units 3a to 3n of all stations STa to STn at the initial time.
The control data reception command RECV and the speed data of each rail shape shown in FIG. 2 (B) are transmitted via FIG. 12 (A). In this speed data, each rail shape,
That is, the correction value (used when the next station is a stop station) is included in addition to the maximum speed and the minimum speed of a straight line, a curve, an upslope, a downslope, a curve + upslope, a curve + downslope.

At each station, the main control processor 30 receives this, stores it in its own memory 30a, and then stores it in the bus 3
Transfer to the motor control processor 31 via 6. Handshake control is used for transfer control via the bus 36, and the main control processor 30 sets a transfer flag in the flag section 35a of the interface circuit 35 via the bus 36,
Set speed data in register 35c. The motor control processor 31 looks at the flag section 35a, detects that there is a transfer, and reads the contents of the register 35c. After reading,
The motor control processor 31 sets the flag portion 35b, notifies the main control processor 30 via the bus 36, and waits for the next data. The motor control processor 31 sequentially stores the speed data thus obtained in the memory 31b, and FIG.
It is stored in the table format as shown below.

In this way, the speed data of each rail shape is stored in the memories of the control units of all stations.

On the other hand, the operator sets the rail shapes on both sides of each station by using the rail shape setting switch 33 at the factory or on-site when hitting the device on the transport path. This allows the motor control processor 31 to know the rail shapes on both sides of its own station. For example, the station ST in Figure 4
In e, the right side is set to curve and the left side is set to uphill.
The rail motor shape may be notified to each station from the linear motor controller 2.

Next, when a travel command is given from the system controller 1 to the linear motor controller 2, as shown in FIG. 12 (B), a carrier acceleration / deceleration command SPC is given to the acceleration / deceleration station. For example, as shown in FIG. 1A, when the station STa is the starting position and the station STg is the stop position, the stations STb, STc, STd, STe, and STf are acceleration / deceleration stations, and the linear motor controller 2
And carrier acceleration / deceleration command SPC and Fig. 1 (B)
Give the indicated speed Vc according to the basic speed control curve of.

Processor 30 for main control of each acceleration / deceleration station STb to STf
Receives this command SPC and instructed speed Vc via the cable 4, and transfers it to the motor control processor 31 via the bus 36 and the interface circuit 35 in the same manner as described above.

As will be described later, the motor control processor 31 has four controls: a neutral mode in which no control is performed, an acceleration / deceleration mode in which acceleration / deceleration control is performed, a start mode in which start control is performed, and a stop mode in which stop control is performed. Have a mode,
It is set to either mode by an external command.

Therefore, the acceleration / deceleration command SPC from the main control processor 30
When receiving, the motor control processor 31 switches from the neutral mode to the acceleration / deceleration mode.

When switching to the acceleration / deceleration mode, the motor control processor 31 notifies the main control processor 30 via the interface circuit 35 and the bus 36 that the acceleration / deceleration mode is set, and stores the instruction speed Vc in the memory 31b.

Next, the linear motor controller 2 sends a sense command SNS to these acceleration / deceleration stations STb to STf via the cable 4 to read the operation mode of the motor control processor 31. This sense command SNS is sent to the main control processor 30, and the above-notified mode is sent to the cable 4
The linear motor controller 2 is notified as a response via. From this response, the linear motor controller 2 confirms whether or not the acceleration / deceleration stations STb to STf are in the designated operation mode (acceleration / deceleration mode).

Next, the linear motor controller 2 sends a stop command STP to the stop station (STg in FIG. 1A).

Similarly, in the stop station, the main control processor 30 receives the stop command STP and transfers it to the motor control processor 31. If the motor control processor 31 is normal, the main control processor 30 switches from the neutral mode to the stop mode. This operation mode is notified from the motor control processor 31 to the main control processor 30 as described above.

The linear motor controller 2 sends a sense command SNS to this stop station to cause the main control processor 30 to notify the operation mode as a response via the cable 4. As a result, the linear motor controller 2 confirms whether the stop station is in the designated stop mode.

In this way, a command is given to the acceleration / deceleration and stop station before the carrier travels to switch to the specified operation mode, and it is checked whether the station is in the specified operation mode. Such control confirms that the interface including the cable 4 and the station are not abnormal before the carrier travels, and sets the station to the instruction operation mode. Therefore, it is possible to prevent the carrier from going out of control due to the interface or station abnormality. Can be prevented.

Next, after completion of the above-mentioned confirmation check, the linear motor controller 2 starts the start station (ST in FIG. 1 (A)).
Send a start command STR (including specification of start direction) to a). In the start station, the main control processor 30 receives the start command STR via the cable 4, notifies the motor control processor 31 of this in the same manner as described above, and changes the operation mode of the motor control processor 31 from the neutral mode to the start mode. Fake.

As soon as the motor control processor 31 enters the start mode, the start control of the carrier CR is performed as described later, and the carrier CR is controlled.
To start.

The start station is automatically switched to the stop mode after the start control is completed.

After that, the carrier CR runs, and the acceleration / deceleration is controlled at the acceleration / deceleration station as described later. Along with this, the linear motor controller 2 sends a sense command SNS to each station related to traveling through the cable 4 to detect the state of each station, and whether the carrier has normally traveled,
Check if it has stopped.

The acceleration / deceleration station is automatically switched to the stop mode after the acceleration / deceleration control is completed.

In this way, by switching the start / acceleration / deceleration station to the stop mode after the end of control, the carrier that has passed through the station is repulsed by the next station, or does not reach the next station And an extremely safe configuration is possible.

From such a point, if the stop command STP is also given to the station STh next to the station (STg in FIG. 1 (A)) where the original stop before the carrier travels and the stop mode is set, the original stop will occur. Even if an abnormality occurs after the station STg is set to the stop mode, the carrier CR is stopped at the next station STh, so that the runaway of the carrier can be prevented.

Next, the operations in the start mode, the acceleration / deceleration mode, and the stop mode described above will be described with reference to the processing flowcharts of FIGS. 13, 14, and 15.

(A) Start mode (Fig. 13) A-1) In the above steps, the motor control processor 31
Is set to launch mode, the processor 31
Examine the contents of b and check the speed data (maximum speed, minimum speed)
Is set, and if it is not set (if there is no speed data), the process ends as an error. If it is set, check whether the carrier CR is in the starting position. That is, when the carrier CR is between the sensors S2 and S3 and the detection output of the slit portion 107 of the carrier CR is generated from the sensors S2 and S3, it is determined that the carrier CR is at the starting position. Therefore, the processor 31 examines the outputs of the sensors S2 and S3, and when both outputs are generated, determines that the carrier CR is in the starting position and the starting control is possible. Otherwise, it is not in the starting position and the starting control is not possible. Ends with an error.

A-2) When it is determined that the carrier CR is in the starting position, the processor 31 determines the control speed.

The processor 31 examines the memory 31b and determines whether or not there is the instructed speed SVc. As described in the above step, the linear motor controller 2 transmits the start command STR and, if necessary, the start instruction speed SVc. When the start instruction speed is transmitted, the processor 31 stores it in the memory 31b. Therefore, when the processor 31 checks the memory 31b and has the instruction speed SVc, it checks whether the vehicle can start at this instruction speed SVc.

Therefore, the processor 31 compares the instruction speed SVc with the maximum speed VMX. That is, the processor 31 reads the rail shape in the starting direction from the setting switch 33, reads the read rail-shaped maximum speed VMX from the table (FIG. 2B) of the memory 31b, and compares it with the instructed speed SVc.

By this comparison, the maximum speed VMX is faster than the instruction speed SVc,
That is, if it is determined that VMX> SVc (see FIG. 16), the indicated speed SV
Even if you start at c, you can run to the next station without derailing, so decide the indicated speed SVc as the control speed (data),
set.

A-3) Conversely, there is no command speed SVc (not commanded)
Or, the indicated speed SVc is faster than the maximum speed VMX, that is, SVc ≧ VMX
If it is judged that this maximum speed VMX that can run to the next station without derailing is determined as the control speed (data),
set.

A-4) When the control speed is determined in this way, the processor 31 starts excitation of the motor. That is, the processor
31 applies a drive signal of RIGHT (right) or LEFT (left) to the driver 34a according to the starting direction to excite the acceleration / deceleration coil 114b. As a result, the carrier CR starts.

A-5) The processor 31 next detects the carrier CR speed from the outputs of the sensors S1 to S4. This is detected by the processor 31 counting the pulse width generated by the slit portion 107 of the carrier CR crossing the sensors S1 to S4 with the counter 31a. For example, if the carrier CR starts from the sensor S3 in the direction of S4 (that is, to the right), the processor 31
Selects the output of the sensor S3 to the multiplexer 32 according to the output from the sensor S3.
Then, the output pulse of the sensor S3 is input from the multiplexer 32, and the width is counted by the counter 31a to detect the speed. While doing so, the slit part 10 of the carrier CR
When the tip of 7 reaches the sensor S4 and an output is generated from the sensor S4, the processor 31 receives this and the multiplexer 31 receives the output.
A selection signal SEL is applied to 32 so as to select the output of the sensor S4, the output pulse of the sensor S4 is input from the multiplexer 32, and the width is counted by the counter 31a to detect the speed.

The processor 31 further counts the number of output pulses from the multiplexer 32 and detects the position of the carrier CR.

A-6) The processor 31 starts counting the counter 31 after starting the excitation.
The actual speed of the carrier CR is detected from the contents of a and compared with the control speed described above. By this comparison, if the actual speed is equal to or lower than the control speed, the position of the carrier CR is further detected from the number of output pulses described above to check whether the carrier CR has reached the excitation end position.

A-7) If the excitation end position has not been reached, continue the excitation and return to step (A-6).

A-8) On the other hand, when the control speed becomes equal to or higher than the actual speed, even if the carrier CR has not reached the excitation end position, the drive signal is dropped and the excitation of the acceleration / deceleration coil 114b is stopped and terminated.

Similarly, even when the carrier CR reaches the excitation end position, it is useless to continue the excitation, and the drive signal is dropped and the excitation of the acceleration / deceleration coil 114b is stopped and terminated.

In this case, the carrier CR has started before the control speed was reached by the start control.

Thus, in the start mode, the control speed is determined immediately after receiving the start command STR, the acceleration / deceleration coil 114b of the stator STAT is excited, and the excitation is continued until the carrier CR reaches the control speed.

When the start control is completed, the mode is switched to the stop mode shown in FIG. 15 described later.

(B) Acceleration / deceleration mode (Fig. 14) B-1) When the motor control processor 31 is switched to the acceleration / deceleration mode in the above step, the processor 31 determines that the carrier CR is the station where the carrier CR is based on the outputs of the sensors S1 to S4. Check if it is above, and if the Carry CR is in its own station, exit with an error.

B-2) On the other hand, if there is no carrier CR in its own station, the processor 31 determines the control speed.

That is, the processor 31 checks whether the next station in the traveling direction is the stop position. Therefore, the linear motor controller 2 attaches a flag when transmitting the acceleration / deceleration command SPC described above, and immediately before the stop station (in FIG. 1,
STf). The processor 31 decodes the acceleration / deceleration command with this flag and detects whether or not its own station is just before the stop station.

If the own station is just before the stop station, the processor 31 reads the correction value from the speed table of the memory 31b from the setting rail shape from the setting switch 33 and sets it as the control speed. This correction value is the passing speed of the station so that the approaching speed to the stop station is within a predetermined value, and it is necessary to control it accurately. Therefore, as described above, the linear motor controller 2
Sent from the initial.

B-3) If the processor 31 determines that its own station is not before one of the stopped stations, the processor 31
Examines the memory 31b and determines whether or not there is an instruction speed Vc. The linear motor controller 2 gives an acceleration / deceleration command when instructing the maximum speed. Since the instruction speed is not attached to the SPC, it is determined that the maximum speed is instructed when there is no instruction speed Vc.

Then, when there is no instruction speed Vc, the processor 31 reads the maximum speed MX from the speed table of the memory 31b by the setting rail shape from the setting switch 33, sets the maximum speed VMX to the low speed side of the control speed, and sets it to the high speed side. Set VMX + α faster than the maximum speed MX.

B-4) On the other hand, when the processor 31 has the instruction speed Vc, the processor 31 reads the maximum speed VMX from the speed table of the memory 31b according to the setting rail shape from the setting switch 33. Then, the processor 31 compares the instructed speed Vc with the maximum speed VMX.

By this comparison, the maximum speed VMX is faster than the instruction speed Vc,
That is, when it is determined that VMX> Vc (see FIG. 16), the instruction speed V
Even if you start at c, you can run to the next station without derailing, so set the instructed speed Vc as the control speed (data) and set it to the higher speed side.

Conversely, if the commanded speed Vc is faster than the maximum speed VMX, that is, if Vc ≧ VMX, it is determined that this maximum speed VMX that can travel to the next station without derailing is set as the control speed (data) and set to the high speed side. To do.

Next, since the processor determines the low speed side control speed, the processor 31 reads the minimum speed VMN from the speed table of the memory 31b according to the setting rail shape from the setting switch 33. Then, the processor 31 compares the instructed speed Vc with the minimum speed VMN.

By this comparison, the minimum speed VMN is slower than the instruction speed Vc,
That is, if it is determined that Vc> VMN (see FIG. 16), the indicated speed V
Even if you start at c, you can travel to the next station without stopping, so set the instructed speed Vc as the control speed (data) and set it to the low speed side.

Conversely, the indicated speed Vc is slower than the minimum speed VMN, that is, Vc ≧ VMN
If it is determined that the minimum speed VMN that can travel to the next station without stopping is determined as the control speed (data),
Set to the low speed side.

B-5) In this way, the steps (B-2) or (B-
When the control speed is determined in 3) or (B-4), the carrier CR entry waiting state is entered.

That is, the processor 31 observes the output of the sensor S1 or S4,
Determine whether the carrier CR has entered the station. Then, when the entry of the carrier CR is detected by the output of the sensor S1 or S4, the carrier CR is detected first by the output of the sensor S1 or S4.
Detects the approach speed of. In the same manner as the method described in the step (A-4) of the stop mode described above, the sensor S1 having an output
Alternatively, the output of S4 is selected by the multiplexer 32 and the pulse width is counted to detect the actual speed.

B-6) Then, the processor 31 compares the actual approach speed with the set high-speed side control speed. If the actual approach speed is faster than the high-speed side control speed, the processor 31 decelerates to the high-speed side control speed, and the processor 31 reversely excites. To start. That is, the processor 31 gives a drive signal to the driver 34a, reversely excites the acceleration / deceleration coil 114b, and decelerates the carrier CR.

B-7) The processor 31 also detects the actual speed during this period and determines whether the speed is slower than the control speed on the high speed side.

B-8) On the contrary, when it is not delayed, the carrier CR which the processor 31 counts and detects the output pulse of the multiplexer 32 is detected as in the step (A-5) of the stop mode.
It is detected whether the position of has reached the passing position (position of the sensor S4 or S1), and if it has reached, it is useless to continue the reverse excitation any more, so the excitation is stopped and terminated.

B-9) On the other hand, when the processor 31 determines that the carrier CR has not reached the passing position, it determines whether it is the acceleration mode or the deceleration mode. If it is the deceleration mode, the process returns to step (B-7), and if it is the acceleration mode, the step (B-7). Go to B-11).

B-10) In step (B-6) described above, if the actual approach speed is slower than the high speed side control speed, the processor 31 compares the approach speed and the low speed side control speed.

If the actual approach speed is faster than the low speed side control speed, the actual approach speed is between the high speed side control speed and the low speed side control speed.
There is no need for acceleration / deceleration, and the process ends without exciting the acceleration / deceleration coil 114b.

On the contrary, if the approach speed is slower than the low speed side control speed, the processor 31 starts the excitation for acceleration to the low speed side control speed.
That is, the processor 31 gives a drive signal to the driver 34a,
The acceleration / deceleration coil 114b is excited to accelerate the carrier CR.

B-11) The processor 31 detects the actual speed also during this period, determines whether the actual speed becomes faster than the low speed side control speed, and if so, stops the excitation and terminates.

On the contrary, if the actual speed does not become higher than the control speed on the low speed side, the process returns to step (B-8) to continue the acceleration control.

In this way, in the acceleration / deceleration mode, the control speed is determined after receiving the acceleration / deceleration command SPC, and the carrier enters the waiting state. When the carrier enters, the acceleration / deceleration control is performed according to the actual speed of the carrier.

When this acceleration / deceleration control is completed, the mode is switched to the stop mode shown in FIG. 15 described later.

(C) Stop mode (Fig. 15) C-1) In the above step, when the motor control processor 31 is switched to the stop mode, the processor 31 outputs the carrier CR on its own station from the outputs of the sensors S1 to S4. If it is on its own station, the positioning process, that is, the processor 31 drives the drivers 34b and 34c to excite the positioning coils 114a and 114c, and ends.

C-2) On the contrary, if the carrier CR is not on its own station, the processor 31 checks the memory 31b for the judgment speed data. As shown in FIG. 17, this judgment speed data is set to change the stop control condition according to the weight because the force required for the stop varies depending on the weight of the carrier CR and the approach speed, and normally the step The standard (for example, medium weight) determination speed data (threshold speed for high speed stop and middle speed stop and threshold speed for middle speed stop and low speed stop) is sent together with the speed data described in 1. It is stored in. On the other hand, if the article mounted on the carrier CR is light or heavy, the linear motor controller 2 sends a stop command STP with a designated determination speed according to this.

Therefore, the processor 31 stores the designated determination speed data in the memory 31.
If it is in b, this is set as control stop data, and if it is not, the previously sent standard judgment speed in the memory 31b is set as control stop data.

C-3) When the control stop data is set in this way,
The carrier CR is waiting to enter.

That is, the processor 31 observes the output of the sensor S1 or S4,
Determine whether the carrier CR has entered the station. Then, when the entry of the carrier CR is detected by the output of the sensor S1 or S4, the entry speed of the carrier CR is first detected from the output of the sensor S1 or S4. The stop mode step (A
-4) The sensor S1 or
The output of S4 is selected by the multiplexer 32, the pulse width is counted, and the actual speed is detected.

C-4) Next, the processor 31 determines the high side determination speed Vh (threshold value for high speed stop and medium speed stop) and the low speed determination speed Vl (threshold value for middle speed stop and low speed stop) of the control stop data. )When,
Compare with the actual speed VR, if VR> Vh, stop at high speed, Vh ≧ VR> Vl
If so, it is determined to be a medium speed stop, and if Vl ≧ VR, it is determined to be a low speed stop.

When the processor 31 determines that the vehicle has stopped at high speed, the carrier CR enters (that is, the outputs of the sensors S1 and S4 are generated), and a driving signal is sent to the driver 34a to decelerate and accelerate the acceleration / deceleration coil 114b, and the sensors S2 and S3. When both of the outputs are generated and the carrier CR reaches the positioning position, the drivers 34b and 34c are driven to excite the positioning coils 114a and 114c and stop the positioning.

The processor 31 determines that the vehicle is stopped at medium speed, drives the drivers 34b and 34c as the carrier CR enters, and moves the positioning coil.
Excite 114a and 114c to stop them.

When the processor 31 determines that the vehicle has stopped at a low speed, the driver 34b, 34c is driven to stop the driver by exciting the positioning coils 114a, 114c at the positioning position after the carrier CR enters, that is, when both the outputs of the sensors S2, S3 occur. .

In this way, in the stop mode, after the stop command STP, the stop control data is determined, the carrier enters the waiting state, and when the carrier enters, the braking force is applied according to the inertial force of the carrier to stop the carrier stably. . For this reason, when the carrier is light, the braking force is too large and the carrier is repulsed and does not return, and when the carrier is heavy, the braking force is too small and the carrier passes without stopping. Can also be prevented.

Next, the operation of the mechanical control unit MCC will be described. When the carrier CR stops at the stop station in this way, the linear motor controller 2 gives a lift-up command to the main control processor 30 via the cable 4, and the processor 30
Transfers it to the mechanical control processor 38 via the bus 37 and the interface 39.

The processor 38 drives the lift motor 135 via the driver 135a, and as shown in FIG. 8, the slider block 133 is driven.
To raise the carrier CR. Processor
38 looks at the signal of the detection switch SW1 and detects the detection switch SW1.
When it is detected that the ascending point is reached by the output of, the drive of the lift motor 135 is stopped.

Next, the processor 38 drives the motor 146 to drive the driver 146a, operates the rail lid mechanism, replenishes the rail, and drives the motor 151 via the driver 151a to release the shutter 1
Open 50.

In this way, it is possible to take out or put in the object from the take-out / input port CA, CB on the carrier CR.

On the other hand, in order to load the article into the carrier CR and start the article, the linear motor controller 2 issues a lift down command, and the control in the reverse process is the mechanical control processor 38.
The carrier CR is lowered and returned to the rail. After that, the same traveling control as described above is performed, and the carrier CR starts.

As described above, in order to cancel the setting of each station to the stop mode, the linear motor controller 2
By sending the specification release command CAN from, each station receives and returns to the neutral mode.

In the above-described embodiment, the maximum speed and the minimum speed are used as the speed data by way of example, but this may be used as the correction data.
That is, the standard speed control curve described above is prepared in the case where all the conveyance paths are straight paths, and the correction data for other rail shapes (curve, upward slope, etc.) for this is obtained in advance,
The correction data is transmitted as speed data and stored as a speed table, and the control speed is calculated by adding (or subtracting) the correction data according to the rail shape to the instruction speed according to the standard speed control curve sent from the linear motor controller 2. May be determined.

Further, the linear motor controller 2 may send necessary correction data to each station according to the rail shapes on both sides of each station.

Although the present invention has been described with reference to the embodiments, the present invention can be variously modified according to the gist of the present invention, and these modifications are not excluded from the present invention.

〔The invention's effect〕

As described above, the present invention has the following effects.

The controller automatically determines the control speed according to the rail shape at each traveling station by simply sending the command speed according to the basic control curve. Therefore, the controller calculates the instruction speed in consideration of the rail shape. There is no need, the load on the controller side is reduced, and high-speed traveling start and high-speed transport control can be performed.

Even if the rail shapes on both sides of the station are changed by changing the layout, it is not necessary to change the controller side, so that a highly versatile system configuration is possible and an inexpensive system can be provided.

Since the speed corresponding to the rail shape is stored, it is not necessary for the vehicle (carrier) to detect it and can be easily realized.

[Brief description of drawings]

FIG. 1 is an explanatory view of a conventional speed control method, FIG. 2 is an overall explanatory view of an embodiment of the present invention, FIG. 3 is an overall external view of an embodiment of the present invention, and FIG. 4 is a configuration of FIG. Station layout, FIG. 5 is a rail configuration diagram used in the configuration of FIG. 3, FIG. 6 is a configuration diagram of an embodiment of a carrier and a stator used in the present invention, and FIG. 7 is an operation explanatory diagram of the configuration of FIG. FIG. 8 is FIG. 9 and FIG. 10 is a configuration diagram of the carrier lift mechanism, rail lid mechanism and shutter opening / closing mechanism in the embodiment of FIG.
2 is a detailed block diagram of an embodiment of a control unit in the configuration shown in FIG. 2, FIG. 12 is a transmission / reception operation explanatory diagram of the configuration of FIG. 2, FIG. 13 is a flow chart of a start mode in the configuration of FIG. 11, and FIG. FIG. 11 is a flow chart of acceleration / deceleration mode in the configuration, FIG. 15 is a flow chart of stop mode in the configuration of FIG. 11, FIG. 16 is a flow chart of control speed determination, and FIG. 17 is a stop condition in the flow of FIG. FIG. In the figure, CR …… Carrier, STa-STn …… Station, RA
L: Transport path, 2 ... Linear motor controller, 3a to 3
n: control unit, STAT: stator.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Hiroshi Kawashima 1015 Kamiodanaka, Nakahara-ku, Kawasaki City, Kanagawa Prefecture, Fujitsu Limited (72) Inventor Yoshitaka Murakawa 1015, Kamedotachu, Nakahara-ku, Kawasaki City, Kanagawa Prefecture, Fujitsu Limited

Claims (2)

[Claims] 1. A controller comprising: a carrier for mounting an object to be mounted; a plurality of stations each provided along a transfer path and including a stator and a control unit; and a controller for giving an instruction speed to the stations. In the speed control device of the linear motor car in which the control unit controls the stator in response to an instruction from, the maximum speed and the minimum speed corresponding to the rail shapes on both sides of the station are stored in the control unit of each station. The controller transmits an instruction speed of each station involved in traveling to the control unit according to a basic speed control curve, and the control unit determines the maximum speed if the instruction speed is higher than the maximum speed. If the speed is less than the maximum speed and greater than the minimum speed, the commanded speed is controlled; if the speed is less than the minimum speed, the minimum speed is controlled. Determined as speed,
A speed control device for a linear motor car, wherein the stator is excited and controlled to control the carrier to a control speed. 2. A controller comprising: a carrier for mounting an object to be mounted; a plurality of stations each provided along a transport path and including a stator and a control unit; and a controller for giving an instruction speed to the stations. In the speed control device of the linear motor car in which the controller controls the stator in response to an instruction from the controller, the controller of each station stores the corrected speed data according to the rail shapes on both sides of the station, and the controller According to the basic speed control curve, the instructed speed of each station related to traveling is transmitted to the control unit, and the control unit determines a value obtained by adding or subtracting the correction speed data to the instructed speed as a control speed, A speed control device for a linear motor car, wherein the stator is excited and controlled to control the carrier to a control speed.