JPS61270664A - Detecting device for direction and speed of movement of moving body of conveying device - Google Patents

Abstract

PURPOSE:To detect the speed and direction of the movement of a moving body by forming plural slits in two upper and lower arrays in specific phase relation along the moving direction of the moving body. CONSTITUTION:Plural slits 10a and slits 10b are formed in two upper and lower arrays in an L-sectioned slit plate 10 fitted to a flank of a carriage 5. The slits 10a and 10b are 90 deg. out of phase with each other; the slits 10a are detected by the projector 12 and photodetector 13a of a transmission type photosensor 11 fixed on a conveyance path and the slits 10b are detected by a projector 12b and a photodetector 13b. Pulses AP and BP outputted by the photodetectors 13a and 13b corresponding to passing slits 10a and 10b are converted by an F/V converter 15 into a speed signal +V or -V having a voltage corresponding to the moving speed of the carriage 5. Thus, the moving speed of the carriage 5 is detected from the output speed signal +V or -V of the converter 15 and the moving direction is detected according to whether the speed signal is positive or negative.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a conveyance device for conveying articles in a warehouse, warehouse, etc., and particularly to a detection device for detecting the moving direction and speed of a moving body.

``Prior Art'' Conventionally, as a conveyance device in a product assembly conveyance line, etc., an LIM type conveyance device using a single-sided linear induction motor (hereinafter abbreviated as T', L, IM) as a power source has been known. There is. As shown in FIGS. 2(a) and 2(o), this conveyance device consists of a rail 1 arranged along a conveyance path and fixed LIMs arranged at multiple locations along the conveyance path and responsible for generating a traveling magnetic field. It is supported movably along the rail 1 by a child (hereinafter referred to as a stator) 2 and wheels 3.
A1 consists of a trolley 5 to which a reaction plate (secondary side conductor) 4, which serves as a movable part of the IM, is attached. Then, the excitation of each stator 2 is appropriately controlled based on the detection signal of a sensor (not shown) that detects the passage of the cart 5 placed at each location on the conveyance path, and the cart 5 is moved to a predetermined value θ)(,"
! The article is moved at position 1', loaded onto the cart 51, and the object to be transported is transported at position 4.1'. In this case, there is a
l? i In the 4-speed acceleration section, the speed is increased by stage 2.
), the thrust is applied and the acceleration is accelerated.
．． After passing (7), in the coasting section, the coasting section (7, then the next speed) / 2 and the vertically opposing 4 - acceleration section, it will accelerate again. 1
Repeat acceleration and coasting at rIH i) Repeat 1
- Driving 4 degrees in the driving pattern. In addition, the trolley 5 is equipped with a station (a place for loading and unloading objects to be transported), etc.
] Positive n to 8, 1' at 1.1 place, reverse energized and braking force is applied to noni stator 2 at 1) A1, to which k
i), slow down (ku-ichi・1゛).

[Problem 1 that the invention seeks to solve] -1, In the LIM type conveying device from iIL mentioned above, 1) The f'4 movement speed of the trolley 5 is affected. ■
The conveyance path ζ is placed at a predetermined location on the side surface of the platform i1j5.
The touch roller is in contact with the contact surface, and the electric current is proportional to the rotational speed of the touch roller. ``Set up the pulse encoder'' and set it at the end of the 5th or 4th day of passing the trolley.
4) Detect the moving speed of the platform I11'5 from the rotational speed, or O) If > -v on the conveyance path. At a predetermined interval l
A real contact sensor such as a foot sensor to detect the passage of the trolley 5 is installed at two points (J).
The method of determining the running speed of 1 = generally adopted B:, 4q
Tesh) Only 1. Therefore, in the above method (■), it is possible to determine whether an error occurs due to (J, touch [using the frictional force between Nora and the cart 5, so C to 4') or due to wear of the touch roller. The disadvantage of Yota's method is that it is difficult to accurately detect speed due to errors in starting and ending timing. Furthermore, the cart 5 is positioned and stopped 1. After sufficiently decelerating the trolley 5 at the 11th point, move the trolley 5 forward and backward by +3.
If the motor is moved and the center is stopped at the position 0, this θ), then 11 will detect an extremely low moving speed just before stopping 1. , it is necessary to detect the direction of movement, and the methods described in (1) and (2) could not fully satisfy these requirements.

This invention was made in view of a series of circumstances, and it is possible to detect the moving speed of a moving object with high precision, and also to detect the moving direction of the moving object in a conveying device that can detect the same direction every 6 times. An object of the present invention is to provide a moving direction speed detection device for a moving body.

[Means for Solving the Problems] The present invention is provided in a moving object, and a plurality of slits are provided in a moving body along the direction of movement of the object, and a plurality of slits strike a predetermined trust relationship in 7i. The slit plates formed in the lower two rows of the slit plates 1 and 1 are arranged in the subordinate rows of the conveyance path, and the slit plates I and 1 of the lower two rows of the slit plates are respectively detected without contact. A detection means,
1. Conversion means for converting the output signal of the detection means into a detection signal corresponding to the moving direction and speed of the moving body and outputting the detection signal. ing.

[For A-1: From the detection signal output from the conversion means, in addition to the ever-changing moving speed of the moving object, the moving direction of the moving object can be obtained.

[Embodiment 1] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

FIGS. 1(A) and 1(B) are diagrams showing the configuration of essential parts of an embodiment of the present invention. In these figures, the IO is a slit plate with a 17-shaped cross section attached to the side surface of the cart 5, and this slit plate 10 is attached to the side surface of the cart 5. ) along with a plurality of slits i0a, 10a... and a sleeve I.
I O+), ] Oh are formed in two rows of −1− nodes, respectively. In this case, -1 lower slit 1°a and IOb
They are formed so that their phases are slightly shifted by 90 degrees.

On the other hand, 11 is a transmission type photosensor fixed to the conveyance path, and includes light emitters 12a and 12b and light receivers 13a and l.
The sleeve t-10a is detected by the combination of emitter 12a and receiver 13a, and the sleeve t-10a is detected by the combination of emitter 12b and receiver 131).
101) is arranged so that it can be detected. Man 215
(It is a F/\l (frequency/1Jil'l-) converter, passing (and outputting from the receiver 13a corresponding to the slit 10a) A-phase pulse, P, passing 1. h The light receiver 13b or J is output in response to I Ob, and the I3 phase pano [sl (l) is output in response to the moving speed of the truck 5.
The speed signal of the 4° filter voltage is converted to \l -4'. In the case of the negative direction, the speed signal -■ or the output diagonal 1 and 3. In the above configuration, the F/V converter 15 outputs the speed signal 1v or (]-■ From the voltage value, the moving speed of the trolley 5, which changes momentarily by -4, is obtained A1.Furthermore, the moving direction of the trolley 5 is determined from the positive/negative of the speed signal V or - to l.

1-8- According to the embodiment, the moving speed of the cart 5 can be detected and measured in a non-contact manner.1. Therefore, unlike the case of using the conventional touch "Nola", there is no occurrence of errors due to aging or wear, and it is possible to move the cart 5 back and forth, position it at a station, etc., and stop it. In this case, it is possible to detect the extremely low moving speed of the trolley 5 immediately before it stops and to detect the moving direction of the trolley 5 with high precision.

In addition, in the above-mentioned embodiment (J-shaped plate 10
As a means of detecting the slit l(]a, 1.Ob of
Although the transmission type photosensor 11 is used, other non-contact sensors such as magnetic sensors may also be used.

In addition, in this embodiment, the reaction plate 4 is fixed along the conveyance path, and the stator 2 is mounted on the F side of the trolley 5.
Of course, it is also possible to apply the present invention to a J-digit LIM type conveyance device.

"Effects of the Invention" As explained above, the present invention has the following advantages:
), and a plurality of slit plates 17 each having a predetermined positional relationship with each other along the direction of movement are arranged in two rows of slits, and are arranged at a position on the conveyance path, and the slits are -1-lower two rows of slides) on the plate are detected in a non-contact manner by a shift detection means, and an output signal of the detection means is converted into a detection signal corresponding to the moving direction and speed of the moving body and output r. Since the moving body is provided with a zero conversion means, not only the moving speed of the moving object can be detected with high precision, but also the direction of movement can be detected as zero, thereby achieving the desired effect.

[Brief explanation of the drawing]

Figures 1 (a) and (b) show a schematic configuration of the main parts of an embodiment of the invention;
2) Stator (-next side), 4... Reactor pump [)-1, (゛- next side), 5... trolley (moving object),
IO... Pickpocket...! l・board, IOa, IOb...
Slit, 11...Transmission type A-foot sensor (detection means), 12a, 12h-throwing) L device, 13a, 13h
- photoreceiver, +5- F/V converter (conversion means) 4,

Claims (1)

[Claims] A primary side of a linear induction motor is provided on a conveyance path or a movable body that is movable along this conveyance path, and a secondary side of the linear induction motor is provided on the moving body or on the conveyance path with a predetermined gap from the primary side. In the conveying device for loading and conveying objects on the movable body, a plurality of slits are provided on the movable body and have a predetermined positional relationship with each other along the moving direction, and are arranged in two rows, upper and lower. a slit plate formed on each of the slit plates, a detection means arranged at an arbitrary location on the conveyance path for detecting the upper and lower two rows of slits of the slit plate in a non-contact manner, and an output signal of the detection means to be transmitted to the moving body. 1. A moving direction speed detection device for a moving body in a conveying device, comprising a converting means for converting into a detection signal corresponding to the moving direction and moving speed of the moving body and outputting the detected signal.