JPS62166707A - Magnetic levitation type conveyor using linear motor - Google Patents

Abstract

PURPOSE:To enable the levitation quantity of a mover to be kept in a proper state, by putting a sensor not to be positioned at the joint section of a mover guide among two gap sensors, in a detection-working state. CONSTITUTION:By gap sensors S1, S2 arranged in the front and rear of electromagnets M1, M2 a gap between a mover and a mover guide 2 is detected, and via a sensor change-over circuit 15, the output of gap detection information P is generated. By an electrical conduction control circuit 16, the electrical conduction of the electromagnets M1, M2 is controlled so that the gap detection information P may come to a set value Ve. When the gap detection information P comes to a level equal to or lower than a set value Pref, then by a comparator 17, it is discriminated that the gaps sensor under usage is positioned at the joint section J of the mover guide 2, and a flip-flop 18 is inverted and the change-over circuit 15 is changed.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention provides a magnetic levitation type moving body for transporting various workpieces between load transfer stations in a factory, for example. Regarding magnetic levitation type conveyance equipment using a linear motor that uses a motor to move, in detail, a moving body guide is provided along a moving path of a moving body for transportation, and the moving body is moved along the moving body guide. an electromagnet that levitates the movable body relative to the movable body guide, a gap sensor that detects a levitation amount of the movable body relative to the movable body guide, and a gap sensor that maintains the levitation amount within a set range. In order to achieve this, the present invention relates to a magnetically levitated conveyance facility using a linear motor, which is provided with energization control means for controlling energization to the electromagnets based on information detected by the gap sensor.

[Conventional technology]

In the above-mentioned magnetic levitation transfer equipment that uses a linear motor, a gap sensor installed on the moving object side detects the floating height of the moving object to prevent the moving object from coming into contact with the moving object guide during movement. The energization of the electromagnet is controlled so that the floating height of the moving object relative to the moving object guide is maintained within a set range, and the moving object levitated relative to the moving object guide is controlled by a linear motor. The movable body is moved along the movable body guide in a state where the resistance required for the movement can be ignored.

In order to construct the movable body guide, a plurality of guide portions are joined together to form the movable body guide.

By the way, in the above-mentioned transport equipment, by controlling the energization of the electromagnet for levitation based on the detection information of the flying height of the moving body by the gap sensor provided on the moving body side,
Since the structure is designed to maintain the flying height of the moving object in an appropriate state, if a large gap occurs in the moving object guide at the joint, the gap sensor will detect when the moving object passes through the joint. There is a risk that the detected flying height may suddenly change significantly and malfunction, causing the moving object to collide with the moving object guide.

For this reason, conventionally, construction has been carried out with high precision so that large gaps do not occur at the joints of the movable body guide over the entire movement route.

In addition, it may be necessary to provide a movable guide part to switch the movement path of the moving object, but even in such cases, construction should be done so that there are no large gaps at the joints. Of course.

[Problem that the invention seeks to solve]

In order to avoid creating large gaps at the joints of moving body guides, it is necessary to install each of the many guide parts lined up along the moving route of the moving body with high precision, and the movement of the moving body guides is difficult. Due to construction, the cost of the entire equipment was high.

In addition, in order to prevent large gaps from occurring at the joints in the movable guide part for switching the movement path of the moving object, it is necessary to have a structure that supports the movable guide part movably and to move the movable guide part. Each structure to be operated,
It is necessary to manufacture and install the equipment with extremely high precision, which also increases the cost of the entire equipment.

The present invention has been made in view of the above-mentioned circumstances, and its purpose is to simplify the construction of a moving object guide while also reducing the flying height of the moving object even if the moving object guide has a joint. The purpose is to maintain it in proper condition.

[Means for solving problems]

The characteristic configuration of the magnetic levitation type conveyance equipment using a linear motor according to the present invention is that a joint detection means for detecting a joint location of the movable body guide is provided, and two of the gap sensors are spaced apart from each other in the longitudinal direction of the movable body. and selectively put both the gap sensors into the detection action state based on the detection information of the seam detection means, in order to switch the one of the two gap sensors that is not located at the joint location of the movable body guide into the detection action state. The present invention is provided with gear switching and sensor selection means, whose functions and effects are as follows.

[For production]

That is, of the two gear knob sensors located apart from each other in the longitudinal direction of the moving body, the gear knob sensor that is not located at the joint of the moving body guide is selectively switched to a detecting state, and the gear knob sensor located at the joint of the moving body guide is selectively switched to the detection state. The energization to the levitation electromagnet is controlled based on detection information from a gap sensor that is not located.

[Effects of the Invention] Therefore, even if there is a large gap at the joint of the movable body guide, the movable body can be appropriately levitated while the floating amount of the movable body relative to the movable body guide is appropriately detected. Therefore, it is possible to install a large number of guide parts on a moving object so that they are lined up along the moving route without particularly improving the accuracy. It has become possible to do this without improving accuracy, making it possible to reduce the cost of the entire equipment.

〔Example〕

Embodiments of the present invention will be described below based on the drawings.

As shown in Fig. 5, the load transfer station (S 1
A moving body guide (A) is provided along the moving path of a moving body (V) for transporting goods to be moved between It is configured such that the article can be transported while being driven by the moving body (V.
) on which the movable guide part (A1
).

As shown in FIGS. 2 to 5, the movable body guide (A) is made of a magnetic material such as iron and has a cross-sectional shape of approximately U.
A main body (2) formed in a letter shape is provided, and a support member (3) for the main body (2) is provided. and,
The negative side coil (CI) of the linear motor (1'+6), (
Cg) is the installation.

That is, in the station (ST) and the switch section (outside), the primary coil (C1) for decelerating, stopping and accelerating the moving body (V), and the station (
A relay primary coil (C2) for accelerating the moving body (V) is attached to the moving body guide (A) midway between ST).

However, when the moving body (V) is allowed to pass through the station (ST) without stopping, the station primary coil (C3) is operated as the relay primary coil.

The movable body guide (A) has a joint portion (indicated by (J) in FIG. 5) by sequentially connecting guide portions formed in advance at appropriate lengths during construction of the conveyance equipment. It will be installed at By the way, the moving object guide (A
) and the switch part (SW), there will inevitably be a joint because the guide part (A1) in the switch part (SW) is configured to be rotatable.

In addition, in the figure, (paste) and (Bz) indicate the secondary coil (C
I), (C2) is a linear motor drive device that controls the driving, and (F) is the linear motor drive device (B1).

A central controller (M3) centrally controls the operation of (B2) so that the movable body (V) moves between the stations (ST); It is an electromagnet for holding the movable body (V) in a stopped state by adsorbing the bottom part of the movable body (V) and holding the movable body (V) so that it does not move from a desired stop position. The nabort members (3) are used for
) are placed on both sides.

As shown in FIGS. 2 to 4, the movable body (V) is provided with an exterior cover (K) on which the load 2 device portion (1) is formed, and the exterior cover (K). ) is provided with a frame that also serves as a support frame for various devices. That is, the secondary conductor (4) of the linear motor (M) is installed in a horizontal position toward the front and back direction of the moving body (V) at a position facing the secondary coils (CI) and (Cm), The main body portion (
2) by suctioning the bottom wall (2a) of the movable body (V
) is provided at opposing positions on the left and right sides of the side wall portion (2b) of the main body portion (2) to attract the side wall portion (2b) from both the left and right sides. , the moving body (V) is attached to the side wall portion (2b)? A second electromagnet (FIz) is provided to prevent ffi collision. however,
The first electromagnet (i1) and the second electromagnet (M2) are respectively provided at four locations on the front, rear, left and right ends of the moving body (V), and each of these electromagnets (1, (i'lz)) A gap sensor (S) detects the degree of approach to the main body (2).
1), (S2), energization is controlled separately based on the detection information from (S2), and the flying height and lateral distance of the moving object (V) with respect to the moving object guy F' (A) are maintained at the set distance. That's how it is.

In the figure, (E) is a battery that supplies power to the electromagnets (M1) and (Ml) and a control circuit (G) on the moving object side, which will be described in detail later, and (6) is a battery that supplies power to the electromagnets (M1) and (Ml), and (6) is a battery that supplies power to the control circuit (G) on the mobile body side, which will be described in detail later. , the mobile object (V) is consumed to the extent that it is insufficient to levitate the mobile object (V), or due to control problems, etc.
When the moving object (V) stops on the moving object guide (A),
These wheels are provided so that it can be easily moved. However, while the moving body (V) is floating, it is provided at a position where it does not come into contact with the moving body guide (A). Also, (7)
are holes (7
a) is a slit plate with openings, and the station (S
A two-phase photo-included optical sensor (S1) installed on the movable body guide side of the T) and switch section (SW) detects the slit plate (7) as the movable body (V) passes. The mobile object (
V) is configured to function as a linear encoder that detects the position, running speed, and direction of movement.

In detail, the means for stopping and accelerating the moving body (V) based on the detection information by the linear encoder includes the station (ST) and the switch unit (SW).
When stopping and accelerating the moving body (V) at the linear motor drive device (I) that controls the drive of the primary side motor drive unit (C+) for stopping and accelerating starting provided in the Information detected by the encoder will be used.

That is, as shown in FIG. 6, the linear motor drive device (B1) includes a command to stop the moving body (V),
A linear motor controller (10) is provided that communicates various information such as a start command and a passage command with the central control device (F).

The sensor signal processing section (9) calculates and outputs the position (δ) and velocity (ω) of the moving body (V) based on the output signal from the optical sensor (B3);
A target speed setting section (11) that outputs a target traveling speed of the moving object (V) based on the position (δ) of the moving object (V) output from the target speed setting section (11). a speed deviation calculation unit (12) that compares the command information and the detected speed (ω) outputted from the sensor signal processing unit (9) and calculates the deviation;
) is provided with a drive section (13) that controls the drive of the secondary coil (CI) based on the speed deviation output from the coil (CI).

In this embodiment, the driving of the secondary coil (C1) is controlled by an inverter system, but the voltage control that controls the energizing voltage to the secondary coil (C2) is used. You may also use the formula Furthermore, since the relay linear motor drive device (B2) that controls the drive of the relay primary coil (C2) does not need to stop the moving body (1/), The linear motor drive device (B1) of the switch section (pot) has a simplified configuration. That is, instead of the linear encoder, the moving body (V
) is installed on the movable body guide side, and the sensor (not shown) detects the approach of the movable body (V) and the presence of the vehicle (V) on the arrangement position of the primary coil (C2). Based on the information such as, the relay primary coil ( C2) is configured to start and stop driving.

Hereinafter, based on the detection information ζ by the gap sensors (S1) and (52), the first electromagnet (Ni1) and the second electromagnet
Jt & configuration of the control device (G) as the energization control means for controlling energization to the electromagnet (Ml) will be explained.

As shown in FIGS. 1 to 4, the gap sensor (S
1), (B2) are the first electromagnet (-) and the second electromagnet (
Ml) Two pieces are provided as a pair near the front and rear sides of each of the body parts (2) with their detection surfaces facing in the direction of the body part (2) of the movable body guide (A). ) is detected, and the gear knob and its detection output signal are adjusted so that the output signal level becomes higher as the gap between the moving body (V) and the main body (2) becomes narrower. It is constructed so that it is inversely proportional. Then, these two gap sensors (Sυ, (SZ)) are
The electromagnet (1) is connected via the sensor switching circuit (15).
, (FIz).
6), the two gear teeth sensors (S1),
The detection signal (P) from the object not located at the joint (J) of the movable body guide (2) of (SZ) is transmitted to the energization control circuit (
16) is configured to be used as control information.

That is, the gap detection information (P) output from the sensor switching circuit (15) and the gear tooth sensor (S
1), (Compare the set darkness value (Pref) corresponding to the upper limit value of the detection flying height of S) and determine the gap detection signal (
P) decreases to a level below the set darkness value (Pref), a comparator (1) determines that the gap sensor in use is located at the joint (J) of the movable body guide (A).
7) and a flip-flop (18) which inverts the state of the output (b) every time the output of the comparator (17) changes to "H" level.

That is, when the comparator (17) detects that the gap detection information (P) output from the sensor switching circuit (15) has decreased below the preset darkness value (Pref), the flip-flop (18) Output (Q)
The input information from the sensor switching circuit (15) to the energization control circuit (16) is transferred from the front gap sensor (S+) to the rear gap The sensor (S2) or from the rear gap sensor (S2) to the front gap sensor (Sl) is automatically switched to a gap sensor that is not located at the joint, and the state is maintained. be.

Thus, the comparator (17) constitutes a seam detection means, and the sensor switching circuit (5) and the flip-flop (18) constitute a gap sensor selection means (D).

Therefore, the energization control circuit (16) controls the moving body (V
) Two gap sensors (S1) and (SZ) installed at intervals in the longitudinal direction , (MZ) is constantly controlled, and there is no malfunction at the joint (J) of the movable body guide (A).

[Another example]

In the above embodiment, the seam detection means is a comparator that detects whether the level of the detection signal (P) of the gap sensor selected by the gap sensor selection means (D) is equal to or higher than the preset darkness value (Pref). (17) was shown, but each gap sensor (S1), (S1), (
S2) is individually monitored to see if the detected information is greater than or equal to the set darkness value (Pref), and both gear tooth sensors (Sl
), (SZ) with a smaller detected flying height may be selected and input to the energization control circuit (16).

Also, at 12 m, the detection signals of both gear gap sensors (S1) and (SZ) are compared, and both gap sensors (Sl) are detected.

The detection information of the smaller detected flying height in (S2) may be selectively input to the energization control circuit (16).

Further, as the gap sensors (S1), (SZ) and the joint detection means, for example, an electromagnetic type that detects changes in eddy current and changes in magnetic force generated in the main body (2) of the moving body guide (A) is used. Alternatively, a distance measuring device using light, ultrasonic waves, etc. may be used, and various modifications can be made.

Further, for example, a gap measurement sensor or the like is provided to measure the gap between the moving body (V) and the moving body guide (A), and the joint of the moving body guide (A) is separately detected without using a gap sensor. You can do it like this.

Further, for example, a mark or the like is provided at or near the joint point J) of the moving body guide (A) to indicate that it is a joint point (J), and a means for detecting the mark or the like is provided on the moving body side. may be provided so that the two gap sensors (S1) and (Sz) arranged in the front-rear direction are switched to the side not located at the joint (J) before and after the joint (J).

In addition, in order to prevent the movable body (V) from coming into contact with the movable body guide (8) in the lateral direction, in the above embodiment, a second electromagnet (having the same configuration as the first electromagnet (Ml) for levitation) is used.
Although an example using M2) has been shown, other means such as guide wheels may also be used.

Furthermore, in order to levitate the movable body (V), in addition to the magnetic attraction type shown in the above embodiment, a type of levitation using magnetic repulsion may be used.

[Brief explanation of drawings]

The drawings show an embodiment of the magnetic levitation type conveyance equipment using a linear motor according to the present invention, FIG. 1 is a block diagram showing the configuration of the magnetic levitation control device, and FIG. 2 shows the configuration of the moving body and the moving body guide. 3 is a cross-sectional view of the main parts showing the configuration of the moving body and the moving body guide, FIG. 4 is a side view of the moving body, and FIG. 5 is a drawing showing the transfer equipment layerer I. 6th
The figure is a block diagram showing the configuration of a linear motor drive device. (A)...Moving object guide, (V)...
Mobile body, (Ml)... Electromagnet, (S1), (S
2), (Sri...gap sensor, (G)...
...Electrification control means, (17) ... Seam detection means, (D) ... Gap sensor selection means.

Claims (1)

[Claims] A moving body guide (A) is provided along the moving route of the moving body (V) for conveyance, and the moving body (V) is guided along the moving body guide (
A) is provided with a linear motor (M_0) that moves the movable body (V) along the movable body guide (A).
The electromagnet (M_1) levitates against the moving body (V
gap sensors (S_1) and (S_2) for detecting the flying height of the movable body guide (A) of the moving body guide (A);
Magnetic levitation type conveyance equipment using a linear motor is provided with energization control means (G) for controlling energization to the electromagnet (M_1) based on the detection information of S_1) and (S_2), A seam detection means (17) is provided for detecting the joint location of the guide (A), and two gap sensors (S_1) and (S_2) are provided at intervals in the longitudinal direction of the moving body, and both gap sensors ( S_1),
In order to switch the gap sensor (S_2) that is not located at the joint of the movable body guide (A) to the detection operating state, both the gap sensors (S_1), ( Magnetic levitation type conveyance equipment using a linear motor is provided with gap sensor selection means (D) for selectively switching S_2) to a detection action state.