JPS58148125A - Multifunction conveyor using linear stepping motor - Google Patents

Abstract

PURPOSE:To position and carry a truck in the orthogonal direction by forming grooves, which cross at right angles in the direction of drive and correspond mutually, by the linear stepping motor to a primary-side winding magnetic core and a secondary side in the titled device for a processing assembly line. CONSTITUTION:The grooves are formed to a groove section 8' as the secondary side of the linear stepping motor and the magnetic core 5' of a winding section in parallel in the progressive direction. According to the constitution, righting moment of which the concave sections of the groove section 8' and the magnetic core 5' are opposed in front functions when the pallet truck is displaced in the lateral direction in a station. Consequently, the translational displacement and righting moment at a predetermined position of the pallet truck are displayed under a noncontact state without adding a special guide mechainsm. Accordingly, righting moment in the lateral direction can be set properly by adequately selecting the ratios of the number of the grooves 8' to the width of convex sections among the grooves.

Description

[Detailed Description of the Invention] This invention provides a transport i! using a linear step motor used in processing assembly lines, etc. Second, it relates to a conveyor electric manufacturing system having the ability to set X and Y positions within a processing and assembly station.

In the case of conveyance using a linear step motor, like conveyance by a conveyor, (1) it can only move in one direction, and (2) the entire object is always conveyed at a constant speed of 1. ■ Even with intermittent feeding, it is difficult to stop and position the transported object.
It also does not have the disadvantages of transport using a linear induction motor, such as (1) impossible to position the transported object, and (2) poor control of the axillary speed and stop of the transported object.

The inventor of the present invention focused on such characteristics of the linear step motor, arranged a station part on the track side, provided a secondary part on the conveyed cart, and performed machining with this linear step motor.・In addition to precisely determining the position of the cart at the assembly station, we also developed the transport f2@ so that the transport between stations would be driven by inertia caused by acceleration at the station. (Patent application 1972-
No. 1114035) The present invention further improves the invention and provides a transport i! that is capable of positioning and transporting a trolley in a direction perpendicular to the traveling direction of the trolley. It is an attempt to obtain electricity.

A detailed explanation will be given below with reference to the drawings.

In the conveyor V & stomach that was taken out earlier, the objects to be processed or the assembled semi-finished products are fixed or placed on a pallet truck, and are moved on guide tracks arranged across the processing and assembly line.

At the station where processing and assembly work is carried out, as shown in Fig. 1, tracks 2P & 1llV with lateral guide
r% as appropriate ■Number 1 For example, the winding part 3 of 8 linear step motors is 6i! , 111. This winding portion 3 also has a magnetic core 5 having a central part 414, and the orbits 2 and II l! l
K electricity is distributed.

A six-carry pallet truck 7 travels on the track 2, and on its lower surface, at a position facing the magnetic core 5, there are provided bay portions 8 with equal pitches, which serve as the secondary side of the linear step motor. 9
This is a lateral guide car.

Normally, linear step motors are often of the type where the @ side moves, but in the case of the ``@'' side, conversely, by fixing the winding part on the track side, there is no need to supply power to the 0 bogie side, and the bogie can be moved over long distances.

■The bogies are easy to handle, such as being able to freely remove them from the track.■The number of bogies running on the line can be increased freely.■In the T-assembly line, the intervals between stations are not that wide, so If the stations are made to travel by inertia, the equipment cost will not increase so much because it will be sufficient to arrange the winding #S and the stations 1 and 2, and the more the number of carts that can be handled increases, the more advantageous it will be.

It has the advantages of being a township.

Furthermore, as is well known, the linear step motor sequentially switches the windings to be energized so that the carriage moves accordingly. If this excitation phase switching is performed in accordance with a predetermined program and by so-called open-loop drive using pulses from an external transmitter or position calculator, etc., the positioning of the cart within the station can be performed numerically. control 111], the cart can be used as the processing/assembling table D and VC. 1f positioning semen for tricks
? j is determined by the structure of the linear step motor, the pitch of the special K111 part 8, and the number of phases of the winding. In simple terms, since one tooth of the groove 8 opposes the excited magnetic core 5, it comes to rest at a position where the trolley rests, tFi, at discrete positions according to the pitch between the magnetic core 5 and the groove 8, but this is not necessary. It becomes possible to position the excitation of the adjacent magnetic core 5 at any position between the adjacent magnetic core 5 by looking at the flow balance and excitation when the opening is open. By exciting the magnetic core, it is possible to determine the first position and at the same time obtain the force to hold the truck in the set position. When some strong external force such as processing force is applied, the position of the cart can be detected and used as a feedback signal to prevent the cart position from shifting.

@Figure 2 has almost the same IIF structure as Figure 1, and the bogie 6f.
This is an example in which the pallet 10 is provided with grooves 8 instead of providing the fi 17, and the movement of the pallet is by means of rollers 11 arranged in fractions of the path.

Lateral guidance is also not dependent on the guide car 9r.

This is due to the guide rollers 12 that come into contact with the pallet 111 surface.

Other parts having the same structure as in the tX1 diagram are given the same reference numerals. Such a moat operates in exactly the same way as the example shown in FIG. 1, and can be controlled in the same way. In the present invention, the term "pallet truck" is used not only in this sense but also in many variations. .

A pallet truck controlled by a linear step motor like the one shown in the figure has a restoring force that controls movement and maintains its position in the direction of movement (in the direction of the arrow B), but in the direction perpendicular to this (in the direction of the arrow B). Regarding the winding part: 3F, there is almost no Z+ u electric holding force.

Therefore, in order to guide the pallet truck within the station in the lateral direction shown by arrow B, and to accurately position and hold it, it is generally necessary to use a bearing between the reference surface of the station and the side surface of the pallet truck. A method is adopted in which the pallet loading ratio is guided in the lateral direction through, for example, and,
External forces (In order to maintain the position, a method is used in which one side of the pallet truck is pressed against the reference surface of the station in some way after it has come to rest. However, such lateral guidance and holding method There were disadvantages such as the structure of the station becoming complicated, and the addition of carts and pallets within the station (accompanied by energy loss).

The pallet truck of the present invention, the above-mentioned O item D! ＃、While holding the location, enter the station in the m direction and the location. The holding force is also obtained by the four magnetic forces r of the paddle magnet used for other purposes. Therefore, a third
As shown in the figure, it has a rim cut parallel to the direction of travel.

In this way, the magnetic flux from each electromagnet will form a magnetic path in the collar with as little magnetic resistance as possible.') Hara EIK
Therefore, when the pallet truck tries to shift laterally within the station, a restoring force acts so that #1III8' and the convex portion of the magnetic core 5' directly face each other.

As a result, the translational shift of the pallet truck and the restoring force at the fixed position can be obtained in a non-contact manner without adding any special guide.

This lateral restoring force can be set appropriately depending on the number of grooves cut parallel to the direction of travel and the ratio of the width of the groove to the convex part created by W#r. conveyance (in the direction perpendicular to the groove 8 provided in order to obtain the necessary propulsive force) (wI#), the propulsive force of the groove 8' of the present invention is reduced by the amount that the area of the D tooth is reduced. It is conceivable that the guide bearing 12 for lateral guidance
If it is given as a substitute for Since an elastic restoring force is obtained due to the electromagnetic force, #A is used to perform four folds such as #Iff and processing on the goods on the pallet truck.
In addition, it is possible to prevent damage to the product by allowing the trolley to escape even if excessive force is applied, and it is also possible to automatically adjust WIA for slight deviations in the process. produce an effect.

View of conveyance of the present invention! However, a few modifications can bring many advantages to the furnace. In other words, in the 116% case where the groove 8' of the pallet truck (the lattice pattern provided is the same in two orthogonal directions and a square tooth row is created), the pallet truck is rotated 9 degrees on one side of the water. DIIR transmission and position control are possible in exactly the same way even in a pigeon coop.This only means that it allows for more freedom in addition and assembly at the station, and there are many things that are not possible in the above example. v#4 function can be provided.

E　4i Pallet truck K with two square tooth rows.

The stations shown in FIG. 4 are combined. @4 At the station shown in figure, the primary winding section 3 of the linear step motor
winding parts 3 and 3 of the two windings in which thrust in the vertical direction is obtained from each other.
In the illustrated embodiment, the winding section 3' and f are divided into four sections, and two sets of winding sections 3' and f are arranged axially symmetrically.

According to such a combination, the movement of the pallet cart in two directions at YC in the station (position 1 decision) is from 0T to
In addition to being able to serve as a branching point for transportation, the pallet truck can also be used as a high-precision X and Y table. It is also possible to apply thrust in the opposite direction to each half of the pallet truck, thereby applying one rotational force.

In the above example, it is not necessary to rotate the pallet truck 90 (ro) to use it, and the pitch of - is always maintained in the two vertical directions, and the same pitch is required in each direction. Needless to say, it is good if the TK*s and en parts are not formed so as to form a linear step motor. 7) Ladle with a spherical roller that allows the free rotation of the 13-piece pallet 10.

The beak direction guide of the orbital part outside the station is omitted.

4. Figure @vtlA-Force explanation Figures 1 and 2 show the transport i! with a unidirectional linear step motor. FIG. 3 is an elliptical cross-sectional view of the conveying device of the present invention, and FIG. 4 is a cross-sectional view of the station portion of another embodiment.

l: Guide 2: Track 3: Winding section 4: Winding 5: Magnetic core
6: Trolley 7: Car 8: Secondary @ Groove 9: Lateral guide car
1O: Pallet 11: Roller 12: Lateral guide roller 13: Spherical roller patent developer TR Technology Development Corporation

Claims (1)

[Claims] l) A station part (-next @winding part) on the track is provided, and the above-mentioned -next winding is carried out in a transport port using a linear step motor in which a secondary part is provided on a pallet truck running on the track. The magnetic core of the wire portion and the secondary side portion are perpendicular to the driving direction by the linear step motor and correspond to each other.
It uses a linear step motor that is equipped with lf. #! , transport m12) In transport 1111 using a linear step motor in which a primary 914% m part is provided in the station part on the track, and a secondary part is provided in a pallet truck running on the core track, the primary part in the station part is The side winding part has a plurality of 111s that can be driven E2 in multiple directions.
A versatile conveyance device using a linear step motor, characterized in that the secondary side portion of the pallet truck is also composed of groove portions corresponding to the plurality of winding portions.