JPS62138005A - Stopping method for traveling body - Google Patents

Abstract

PURPOSE:To ensure the soft and stable stoppage of a traveling body by controlling the conduction of a linear induction motor driving the traveling body and decelerating the traveling body. CONSTITUTION:A primary winding 3 for a linear induction motor is suspended and supported into a support frame 8 formed to the side walls 1d, 1e of a rail 1 to an inverted U-shape. On the other hand, front and rear wheels 12a, 12b are supported onto left and right track surfaces 1a, 1b for the rail 1 in a traveling body 2, a guide roller 13 is fitted rotatably into a clearance 1c in the rail 1, and a secondary conductor 14 for the linear induction motor is brought into contact lightly with position-regulating rollers 14 and stands still where separate by a fine air gap from the primary winding 3. The primary windings 3 are conducted in succession in the direction that the traveling body is made to travel. When beam projection and reception type photoelectric sensors 7a or 7b detect the traveling body, thrust by the primary windings 3 is directed in the opposite direction, and the traveling body is decelerated.

Description

[Detailed Description of the Invention] (Industrial Application Field) This invention provides a method for driving a traveling body by a linear induction motor to travel along a predetermined path, and stopping the vehicle by abutting against a stop wall at a stop position. This invention relates to a method for stopping a traveling body.

(Prior Art and its Problems) Such a traveling body can be used, for example, as a conveyance device for conveying an object to be transported along a fixed path in the air. In this case, the traveling body travels from the start point to the end point while supporting the transported object in suspension on a ladder installed at a predetermined location such as the ceiling.

At the end point, the traveling body comes into contact with the stop wall and stops at a predetermined position, but in order to avoid the traveling body colliding with the stop wall at this time, it is necessary to appropriately decelerate when approaching the stop wall. A mechanical brake may be provided, but in addition to a special gate structure, special means such as a drive device are required for this purpose, making the brake complicated and large.

(Objective of the Invention) In view of the above circumstances, the object of the present invention is to appropriately control the energization of the linear induction motor that drives the traveling body to decelerate the traveling body so that the traveling body can run without installing a special mechanism. The goal is to develop a stopping method for each running object that can ensure a flexible and stable stopping of the body.

(Means for achieving the objective) In order to achieve the above objective, the stopping method according to the present invention is as follows:
Applied to a traveling body that is driven by a linear induction motor and travels along a predetermined path, and stops by coming into contact with a stop wall at a stop position, and the primary winding of the linear induction motor is connected along the path. The traveling bodies are arranged at predetermined intervals along the stop wall and their secondary bodies are attached to the traveling body, and a sensor for detecting the arrival of the traveling body is arranged at a predetermined position near the stop wall, and the traveling body is connected to the stop wall. When the vehicle is traveling toward the vehicle, the driving direction of the predetermined primary reverse line near the stop wall and in front of the sensor is set to be opposite to the traveling direction of the vehicle, so that the sensor When the arrival of a body is detected, the drive direction of the predetermined primary winding is switched to the forward direction.

(Embodiment) FIG. 1 is an explanatory plan view showing the metallic appearance of an embodiment in which the method of stopping a traveling body according to the present invention is applied to the above-mentioned conveyance device. The rail 1 is installed in a desired manner at a desired location such as a ceiling. This rail 1 has a pair of left and right track surfaces 1a, 1b and a gap 1C formed between them.A running body 2 is placed on the rail 1 so as to be able to freely run along the rail 1. has been done. The running body 2 is driven using a linear induction motor composed of a primary winding 3 and a secondary conductor 4. The secondary conductor 4 is arranged on the upper surface of the running body 2, and a large number of primary windings 3 , 3 . . . are arranged at predetermined intervals along the upper rail 1 of the rail 1 so as to face the moving path of the secondary conductor 4. This predetermined interval (primary winding 3
The center-to-center pressure 111 [[) is approximately equal to the length of the secondary conductor 4, so that even if the traveling body 2 stops due to an unforeseen situation such as a power outage, it can be restarted. set equal. By sequentially energizing the primary windings 13, 3, . . . , thrust in the longitudinal direction of the rail 1 is applied to the traveling body 2. Shock absorbers 5a and 5b as stop walls are attached to both ends of the rail 1, and stoppers 6a and 5b acting on these shock absorbers 5a and 5b are attached to the front and contact portions of the traveling body 2. be. In addition, near both ends of the rail 1, the arrival of the running body 2 is detected and the energization of the primary windings 3゜3... is controlled in a predetermined manner as will be described later, so that the running body 2 can be stopped flexibly. Light emitting/receiving photoelectric sensors 7a and 7b are provided to ensure this.

FIG. 2 is an explanatory diagram of the rail 1 viewed from a physical perspective. As shown in the figure, the rail 1 has a side wall 1d.

1e, and the primary winding 3 of the linear induction motor is suspended and fixed within a support frame 8 formed in an inverted U shape on these side walls 1d and le. In addition, the side walls 1d and 1e of the rail 1 can be attached to the ceiling or other required locations.
It also acts as a joint with a suspension support member (not shown) when constructing.

The support frame 8 is shown in the plan view of FIG.
As shown in the explanatory view on the right side of the figure, there is a pair of front and rear inverted U-shaped frames 8a and 8b, and two beams Bc extending between them at the center in the 00 rearward direction.

8d, and an inverted U-shaped frame 8a, 8
The lower end of the rail 1 is bolted and fixed to the side walls 1d and 1e of the rail 1. The primary winding 3 is fixed on both sides to the side plates 9a and -9b of the installation frame 9 with bolts, and the upper plate 9C of the frame 9 is connected to the support frame 8 from the beams 8c and 8d. Each of the primary windings 3 is suspended and fixed by two poles 1 to 1, and thus the primary winding 3 is positioned and fixed within the support frame 8.

The panels 9d are installed at the center of the front and rear ends of the frame 9.

A pair of rollers 14 for regulating the position of the secondary conductor 4 are rotatably attached to the lower ends of the rollers 9e, one on each side.

On the other hand, FIG. 5 is an explanatory view of the right side of the traveling body 2, and FIG.
3 and FIG. 2, the traveling body 2 is constructed around a main member 10. As shown in FIG. 1 above this main member 10
, a flat plate-shaped secondary conductor 4 is arranged horizontally, and the main member 1
A stopper 6 made of an elastic body is provided on the front and (side) sides of 0.
a and 6b are attached respectively. Also main member 1
A support member 11a is provided near the lower front end and rear end of the
, 11b, the axles of a pair of left and right front wheels 12a and a single wheel 12b are respectively supported. These supporting members 11a and 11b are made of cross-shaped members as shown in FIG. I try to support them. Support member 11a.

11b is mounted on the lower surface of the main member 10 so as to be rotatable around a mounting shaft 11C protruding from the center of the cross.

When the traveling body 2 having such a configuration is placed on the rail 1, as shown in FIG.
The left and right wheels of b (only the front wheel 12a is visible in Figure 2) are on the left and right track surfaces 1a, 1b of the rail 1, respectively.
, Jy-, the guide roller 13 is rotatably integrated in the gap 1C of the rail 1, and the secondary conductor 4 is
It is in light contact with the positioning current control roller 14 at a place separated from the horizontal line 3 by a minute gap and is stationary.

In this state, an object to be transported, for example, a container 1G, is held on the lower surface of the traveling body 2 via the breather members 15a and 15b as shown in the side view of FIG. 6 and the front view of FIG. let Brackets 16 are provided at the upper ends of the suspension members 15a and 15b.
Bolts 17a and 17b are attached via bolts a and 16b, respectively, and the lower ends of the suspension members 15a and 15b are formed into flat surfaces, on which the container 16 is placed.

To attach the traveling body 2 to the lower surface, for example, a bolt hole (not shown) is provided in the center of the lower surface of the cross-shaped support members 11a and 11b pivotally supported on the lower surface of the traveling body 2, and a The bolts 17a and 17b may be connected through the gap 1c of the rail 1, respectively.

After making the traveling body 2 carry the object in this way,
The direction in which the traveling object should travel (#I forward).

The primary winding of the linear induction motor is 3°3...
When the current is sequentially applied to the running body 2, as is well known, the traveling magnetic field generated by the primary valley line and the secondary current generated in the secondary conductor interact to cause the running body 2 to move in the length direction of the rail 1. (
Thrust in the forward and backward directions acts, and the traveling body 2 is attached to the rail 1 and moves forward or backward in a desired direction. This results in
The conveyed object (container 16 in the illustrated example) carried by the traveling body 2 is conveyed through the air along a predetermined route.

The power is sequentially supplied to the primary windings 3, 3, etc., for example, by a sensor (not shown) that detects the arrival of the traveling body 2 for each primary winding.
In addition to pulling the installation number, one side wall of rail 1 (for example +1
! I wall 1d) has a power supply board for each primary winding (see figure d).
is installed, and the feed z is determined based on the detection output of the sensor.
1 switching can be performed under the control of the main controller. There is no need to supply power to the running body 2, and therefore there is no need to provide electrical contacts such as current collectors that are easily damaged. In addition, since the linear induction motor has no rotating parts, there is almost no noise Δ during operation, and since the running body 2 and the primary windings 3, 3, etc. are contained inside the rail 1, the Safety can be ensured by connecting the primary windings 3, 3... and the secondary conductor 4, regardless of the load of the transported object carried by the traveling body 2. It is always maintained constant by the movement of position regulating rollers 14 attached before and after each of the primary windings 3, 3, . . .

FIG. 8 is an explanatory diagram schematically showing how the traveling body 2 passes through a curved portion of the rail 1.

(A) shows a state in which both the front wheels 12a and rear wheels 12b are in a straight line, (B) shows a state in which only the front wheels 12a have entered a curved part, and (C) shows a state in which both front wheels 12a and 11 wheels 12b have entered a curved part. Each is illustrated. Front/rear wheel 12
Supporting portions 4411a that pivotally support the width axes a and 12b, respectively.
, 11b move along the rail 1 while being guided by the guide roller 13 rotatably fitted in the gap 1C of the rail 1 at the front and rear of the axle. A change in direction is given to the axles of the front and rear wheels 12a and 12b, and as a result, the directions of the axles are as shown in (B), (C) and (7) the dashed lines 7J.
J: Always coincides with the radial direction of the curve. Therefore, smooth passage of the traveling body 2 through the curve can be achieved. At this time, the center line of the traveling body 2 is displaced as shown by the dotted line in the figure, and the center line of the traveling body 2 is displaced as shown by the dotted line, and the mounting position of the mounting part J3 of the traveling body 2, the front and rear wheels 12a and 12b, and the entire width of the rail 1 and the curve. By appropriately designing the curvature in advance, collision between the side walls 1d, le and the traveling body 2 can be avoided.

FIG. 9 is an explanatory diagram showing a state in which the traveling body 2 is stopped at one end of the rail 1 provided with the shock absorber 5a, for example. In FIG. 9, for convenience of explanation, the primary windings t7fA3.3.
3a, in order from the shock absorber 5a side.
3b and 3C are attached and shown.

Shift absorber 5 in which the traveling body 2 acts as a stop wall
When moving to the right on the drawing toward a, <A)
As shown, the primary swallow glands 3a and 3C have a rightward thrust, 1
The next volume VA3t) is energized so that a leftward 11 force is generated. Therefore, when one body 2 reaches jjll,
The rightward thrust is still moving in the running body 2, and the running fJ body 2 is sent in the right direction 1j. Note that it is desirable that the rightward force (1) by the primary winding 3a be set relatively weaker than the rightward force (11) by other primary windings such as the primary winding 3C.

Next, as shown in (B), when the running body 2 reaches the lower side of the primary winding 3b, thrust in the opposite direction (leftward) acts on the running body 2 as a brake, and the running body 2 is gradually decelerated.Then, when passing through the primary winding 3b and reaching the lower side of the primary trough line 3a at a sufficiently decelerated, weak rightward speed, the traveling body 2 is moved by the primary winding 3a. The resulting weak rightward thrust causes it to be carried to the right at a reduced speed.

Eventually, the traveling object 2 interrupts the optical axis of the light emitting/receiving photoelectric sensor 7a as shown in (C), and at this time, a detection signal for detecting the arrival of the traveling object 2 is output from the charging sensor 7a, and this detection signal In response to
(rightward). FIG. 10 shows an example of a circuit for performing this switching, in which a detection signal operates a reversible relay 18 to switch a relay contact 18a. When the power is turned on for the first time in a night, the reversible relay 18 is not activated, and the three-phase power supplies R, S, and T are connected in the positive direction of R-IU, S→V, and T→W as shown in the diagram. At this time, the primary winding 3b generates a leftward thrust. Next, when the photoelectric sensor 7a is activated and a detection signal is output, the sensor contact 19 is closed in response to this, and the reversible relay 1B is activated. At this time, relay contact 18a switches, and reversible relay 18 is latched in that state. As a result, the three-phase power supplies R, S, and T are connected in the opposite direction: R-U, 5-1W, T→■, and the primary winding 3b is switched to the right direction (1 (power).

The traveling body 2 is weakly driven to the right by the primary winding 3a, and eventually bounces off the shock absorber 5a.

Now, even if the traveling body 2 rebounds to the bottom of the primary winding 3b as shown in (D>), the primary winding 3b has switched to rightward thrust as described above, so The traveling body 2 is moved rightward again, and eventually comes into contact with the shock absorber 5a and stops while being weakly urged rightward by the primary winding 3a.

In the above description, an embodiment in which the present invention is applied to a conveyance device for conveying articles has been described in detail, but the present invention can be widely used in all cases where a traveling body is driven by a linear induction motor. In this case, the same effect as in the first embodiment is achieved. In addition, the primary winding to which the thrust direction should be switched may be a predetermined one near the stop wall. You can configure it as follows.

(Effects of the Invention) As explained above, according to the present invention, a traveling body can be stopped flexibly and stably by simple electrical control without providing a special brake mechanism. It is possible to realize the following stopping method.

[Brief explanation of drawings]

Fig. 1 is an explanatory plan view showing the overall appearance of an embodiment in which the present invention is applied to a conveyance device, Fig. 2 is an explanatory view of the rail viewed from the front, and Fig. 3 is a plan view of the primary winding attachment part. Explanatory diagram,
Fig. 4 is an explanatory right side view of the primary winding attachment part, Fig. 5 is an explanatory right side view of the moving body, Figs. 6 and 7 are a side view and a front view of the container suspension member, respectively, and Fig. 8 9 is an explanatory diagram showing the state when the traveling body is stopped, and FIG. 10 is a circuit diagram showing an example of a circuit for switching current to the primary winding. DESCRIPTION OF SYMBOLS 1...Rail, 2...Running body 3...Primary winding, 4...Secondary conductor 5a, 5b...
・Shock absorber 7a, 7b...photoelectric sensor

Claims (2)

[Claims] (1) A method for stopping a traveling object which is driven by a linear induction motor, travels along a predetermined path, and comes into contact with a stop wall at a stop position, the method comprising: Secondary windings are arranged at predetermined intervals along the route and their secondary conductors are attached to the traveling body, a sensor for detecting the arrival of the traveling body is disposed at a predetermined position near the stop wall, and When the traveling body is traveling toward the stop wall, the driving direction of the predetermined primary winding near the stop wall and before the sensor is set to be opposite to the traveling direction of the traveling body, and the A method for stopping a traveling object, characterized in that a driving direction of the predetermined primary winding is switched to a forward direction when a sensor detects the arrival of the traveling object. (2) The driving force of the primary winding between the predetermined primary winding and the stop wall is set to be relatively weaker than the driving force of other primary windings. Method for stopping a traveling body as described in section.