JPS61285005A - Stopping device of moving body - Google Patents

Abstract

PURPOSE:To stop a car body at the target stopping position by effectively holding the body by pressing a pair of stopping members having 8-shaped oblique surfaces to a stopper by an elastic unit. CONSTITUTION:An electromagnetic stopper 9 mounted at the target stopping position of stopping positions ST1, ST2 is projected in advance. When a body 1 approaches from a leftward direction to the stopping position and travels from the leftward direction to the rightward direction while the oblique surface S of the forward stopping member 5a is contacting with the stopper 9, the member 5a rotates at a shaft 0 as a center in the inward direction of the body 1 to press an elastic unit. Thus, the speed of the car body 1 is decelerated. When the body 1 travels until the arcuate end of the outer periphery of the member 5a contacts the stopper 9, the member 5a rotates outward of the body 1, and the stopper 9 is grasped in the stopping gap between the projecting inner ends of the members 5a, 5b.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a stopping device for a moving vehicle body, such as a linear motor vehicle body or a moving trolley.

[Prior Art] Stopping devices for moving vehicles such as near motors and mobile carts that move on tracks, etc. include mechanical stopping means in addition to electrical stopping means having a complicated configuration controlled by, for example, servo motors. There is. Conventionally, as a mechanical stopping means, a relatively simple stopping device such as a means for absorbing the inertial energy of the vehicle body with a damper after cutting off the power source has been used.

[Problems to be Solved by the Invention] Among the conventional stopping devices for moving vehicle bodies as described above, especially mechanical stopping means, the inertial energy of the moving vehicle body is absorbed by a damper or the like. However, there is a problem in that the stopping position fluctuates due to the effects of bounce when the vehicle body collides with the damper, and as a result, it is not possible to accurately stop the vehicle at the desired stopping position.

The present invention was made to solve this problem, and an object of the present invention is to provide a stopping device for a moving vehicle body that can improve accuracy by using relatively simple means.

[Means for Solving the Problems] A stopping device for a moving vehicle body according to the present invention is provided with a stopper on the track side that can freely appear and retract from the vehicle body, and on the other hand, on the vehicle body side.
A pair of stop members each having a V-shaped inclined surface inclined with respect to the forward and backward direction of the vehicle body are provided, each of these stop members is biased against the stopper, and the protruding inner end of each stop member is biased against the stopper. A stop gap is maintained in between to hold the stopper.

[Operation] In this invention, since the elastic body presses and biases the pair of stop members having the V-shaped inclined surfaces against the stopper, when the vehicle body approaches the stop position, the inclined surfaces of the stop members and the stopper are pressed against each other to decelerate the vehicle body, and the stopper is clamped in the gap between the protruding inner ends of each stop member to stop the vehicle body at a stopping position.

[Embodiment] An embodiment of the present invention will be described below with reference to FIGS. 1 to 4. Note that FIG. 2 is an internal structure diagram taken along the line ■-■ in FIG. 1(a). (1) is the vehicle body moving along the track (2), (3) is the surface cover of the vehicle body (1), and (4) is the surface cover of the vehicle body (1).
) is the back cover of the car body (1), and (5a) and (5b) are biased by the elastic body (8) in the side direction of the track (2), and are tilted with respect to the forward and backward direction of the car body (1). These are a pair of opposing stop members having a V-shaped inclined surface (S), and are capable of swinging in the direction of the arrow about an axis (0). Further, the outer circumferential surfaces of the stop members (5a) and (5b) are partially arcuate, and a stop gap is maintained between the respective protruding inner ends in which the stopper (9) is clamped. (7) is installed upright on the front cover (3) and the back cover (4), and the stop members (5a) and (5b)
The stop member (5a) comes into contact with each protrusion (8) of the
, (5b) is a detent that functions to limit the swinging. The movable parts such as the stop members (5a) and (5b) and the elastic body (6) are sandwiched between the front cover (3) and the back cover (4). (8) is a stopper that is provided at a predetermined stopping position on the track (2) and can be moved in and out of the vehicle body (1), and in this embodiment, an electromagnetic stopper is used.

The stop members (5a) and (5b) are biased by the elastic body (8) in opposition to the direction in which the stopper (8) is suppressed when protruding. (10) is a position detector fixed on the track (2) side to detect the position of the vehicle body (1), and in this embodiment, a reflective photoelectric switch is used. (11
) is a reflecting plate that reflects the light beam emitted from the reflective photoelectric switch (10), and is attached to the vehicle body (1) and moves together with the vehicle body (1). This reflective photoelectric switch (
lO) is an ON switch that receives the reflected light from the reflector plate (11) and outputs a signal when the vehicle body (1) stops at the desired stop position.
On the other hand, when the vehicle body (1) is running or stopped at a position other than the intended stop position and does not receive reflected light from the reflector plate (11), it is in an OFF state in which no signal is output. (12) is a controller that controls the entire stopping device. (STI).

(Si2) are the predetermined stopping positions of the vehicle body (1), and in FIGS. 1 and 3, the vehicle body (1) is at the stopping position (STI).
) indicates a stopped state.

Therefore, in the moving vehicle body stopping device configured as described above, first, the stopping position (STI) is determined.

(Si2) of the desired stopping position (in this example, (S
The electromagnetic stopper [8] installed at the TI)) is made to protrude in advance. The vehicle body (1) approaches this stopping position i (STI) from the left, and a pair of stopping members (5a), (5b
), the inclined surface (S) of the front stop member (5a) contacts the electromagnetic stopper (8) and rotates the vehicle body (1) due to inertia.
When the vehicle runs from the left to the right, this stop member (5a
) is pressed by the electromagnetic stopper (8), so this stop member (5a) rotates inward of the vehicle body (1) about the axis (0), and the elastic body (8) ).

As a result, the repulsive force of the compressed elastic body (8) causes the vehicle body (
1) gradually decreases its speed.

Eventually, when the vehicle body (1) travels until the arcuate end of the outer periphery of the stop member (5a) comes into contact with the electromagnetic stopper (8), the elastic body (8) that had been pressed against the electromagnetic stopper (8)
) causes the stop member (5a) to rapidly rotate toward the outside of the vehicle body (1), but the protrusion (8) prevents the rotation (
7), the rotation of the stop member (5a) is stopped, and therefore the stop member (5a) returns to its original position before contacting the electromagnetic stopper.

Moreover, since the rear stop member (5b) also remains stationary with its protrusion (8) in contact with the detent (7), the arc portion of the outer circumference of this stop member (5b) Pa (
8) to stop the progress of the vehicle body (1).

Moreover, since the stop member (5a) has returned to its original resting position, the vehicle body (1) does not move backward.

As shown in FIGS. 1(a) and 1(b), the vehicle body (1) has the electromagnetic stopper (8) facing each stopping member (
It completely stops at the stop position (STI) while being clamped in the stop gap between the protruding inner ends of 5a) and (5b).

By the way, the entire stopping device is controlled by a controller (12) based on input information from a reflective photoelectric switch (10) as shown in FIG. This controller (12)
is a central processing unit (hereinafter referred to as CPυ), an input interface (hereinafter referred to as human power I/F), and an output interface (hereinafter referred to as CPυ).
It consists of an output I/F (hereinafter referred to as an output I/F), a memory, and a linear motor control section. Below, the vehicle body (1) is moved to the stop position (S
TI) to the next target stop position (SiT2) and stop it will be explained with reference to the control block diagram of FIG.

First, when the control start signal is input from the outside, the output 1/
F causes the electromagnetic stopper (8) at the stop position (STI) to retreat, and the electromagnetic stopper (9) at the target stop position (Si2) to protrude.

After confirming that the electromagnetic stoppers (9) and (9) have completed their operations, the CPU issues a command to the linear motor control section to move the vehicle body (1) to the stop position (Sr1).

This movement of the vehicle body (1) is carried out, for example, by energizing the track (2), and then a timer is started based on predetermined data stored in the memory. After a certain period of time has elapsed, the vehicle body (1) moves from the stop position 11 (STI) to the stop +j- position (Si2
), as explained above, the electromagnetic stopper (9)
When stopped by the action of the stopping device composed of stopping members (5a), (5b), etc., this stopping position (Si2
) is turned ON when the reflective photoelectric switch (lO) receives the reflected light from the reflector plate (11) attached to the vehicle body (1).
This ON state signal is output to the CPU via the input I/F. Based on this signal and the timer time, the CPU calculates the actual running time of the vehicle body (1), compares this calculated value with the time of the data stored in the memory in advance, and if the two match, the running is normal. The vehicle body (
The movement in 1) is completed. On the contrary, it is still at the stop position (Si2)
If the reflective photoelectric switch (10) does not output a signal, the CPU determines whether the time measured by the timer is smaller than the limit time stored in advance in the memory. If the time measured by the timer is smaller than the limit time, the vehicle body (1) is still moving, so the signal from the reflective photoelectric switch (work 0) is constantly detected and its output is awaited. On the other hand, if the time measured by the timer is longer than the limit time, it means that the movement is taking too long, and an error signal indicating a running abnormality of the vehicle body (1) is output. These controls are CP
This is done by a controller (12) centered around U.

In addition, Fig. 3 shows the vehicle body (1) moving from the stop position (STI) to (
This shows the state immediately before starting the control for moving to S-2).

Note that by making it possible to change the spring constant of the elastic body (6), it is possible to adjust the degree of deceleration of the vehicle body (1).

Further, in the above embodiment, the position detector (10) is a reflector (1
Although the case of a reflective photoelectric switch using 1) has been described, a transmission type, refraction type, etc. other than the reflective type may be used.
Instead of being optical, it may be electrical, for example.

The position of the stopper (θ) may be on both sides of the track (2) as shown in FIG. 1(b), only on one side, above, below, etc. ) may be fixed to the track (2) as in the above embodiment, or may be movable relative to the track (2), as long as it can freely appear and retract from the vehicle body (1).

Further, the stopper (8) is preferably of an electromagnetic type, but may be of a mechanical type such as an air cylinder type or a hydraulic cylinder type.

In addition, this embodiment shows a case where a pair of stop members (5a) and (5b) are provided on both sides of the vehicle body (1), but if there is more than one pair, it is possible to stop only on one side, not on both sides. Alternatively, it may be only downward.

Further, the present invention uses a relatively simple so-called latch mechanism having a speed reduction mechanism, and the vehicle body (1) is connected to each stop member (5a),
The vehicle body (1) is stopped by securely fitting the stopper (9) in the stop gap between the protruding inner ends of the vehicle body (5b), thereby preventing the vehicle body (1) from shaking after stopping at the desired stopping position. This has the effect of improving stopping accuracy.

In this embodiment, a device for stopping the vehicle body (1) when a moving vehicle body without wheels, such as a linear motor, moves along a track has been described. Needless to say, this method can also be applied when moving along the road.

Furthermore, although the above embodiment has been described with respect to the case where the vehicle body (1) moves from the left direction to the right direction, the pair of stopping members (5a
) and (5b) each have a V-shaped inclined surface (S) that is inclined with respect to the forward and backward direction of the vehicle body (1).
Similar operations are performed when the vehicle body (1) moves in the opposite direction, and the effects are also the same.

Furthermore, although the above embodiment has shown the case where the stop members (5a) and (5b) are rotatably attached to the shaft (0),
In the case of a pair of stop members having a V-shaped inclined surface (S), the stop members are slidably attached along a guide groove or the like in a direction substantially perpendicular to the traveling direction of the vehicle body (1), It may be pressed against the stopper (8).

[Effects of the Invention] A simple method is to provide a pair of stop members on the vehicle body side that are pressed and biased and have a V-shaped inclined surface, and maintain a stop gap between the protruding inner ends of each stop member. This configuration has the effect of gradually decelerating the traveling vehicle body while reliably clamping and stopping the vehicle body at the desired stopping position.

[Brief explanation of drawings]

FIGS. 1(a) and 1(b) are a side view and a plan view showing one embodiment of the present invention, with some parts omitted. Figure 2 is an internal structure diagram along the line ■-■ in Figure 1 (a), Figure 3,
FIG. 4 is a control circuit diagram and a control block diagram showing an embodiment of the present invention, and a part of the trajectory is omitted in FIG. 3. In the figure, (1) is the vehicle body, (2) is the track, (5a),
(5b) is a stop member, (8) is a stopper, and (S) is an inclined surface. In each figure, the same reference numerals indicate the same or corresponding parts. Deputy Masuo Oiwa 2nd
figure

Claims (1)

[Claims] A stopper that can freely extend and retract from the car body is provided on the track side, and a pair of stop members each having a V-shaped inclined surface that is inclined with respect to the forward and backward direction of the car body are provided on the car body side. A stopping device for a moving vehicle body, characterized in that the stopper is biased against the stopper, and a stop gap is maintained between the protruding inner ends of each stop member to clamp the stopper.