JPS62166709A - Conveyor using magnetic levitation type linear motor - Google Patents

Abstract

PURPOSE:To enable a mover to be properly run even if a space is generated between a mover guide and a movable guide, by making the movable guide slidable. CONSTITUTION:By working of a motor 11, a movable guide A1 fitted on a rotary table 8 is operated to be shifted to positions connected to respective mover guides A. On the bottom surface section of the movable guide A1, guided rails 14 along the longitudinal direction are set, and on the upper section of the rotary table 8, guided rails 15 engaged slidably with the guided rails 14 are set. When the movable guide A1 is rotationally operated, then the movable guide A1 is made to slide on the side separated from the mover guides A, and when the movable guide A1 is shifted to positions connected to the mover guides A, then the movable guide A1 is made to slide on the mover guide A side so that a space cannot be generated between the movable guide A1 and the mover guides A.

Description

Detailed Description of the Invention [Industrial Field of Application] The present invention provides a movable guide for switching routes that is repositioned so as to be selectively connected to different moving object guides, and Providing a linear motor for moving the body along the movable body guide and the movable guide,
An electromagnet that levitates the movable body relative to the movable body guide and the movable guide, a gap sensor that detects the flying height of the movable body, and an electromagnet that maintains the flying height at a set value (detection information of the gap sensor). The present invention relates to a conveyance facility using a magnetic levitation linear motor, which is provided with energization control means for controlling energization of the electromagnets based on the following.

[Conventional technology]

Such transport equipment is used, for example, in factories to transport objects such as workpieces for processing and parts for assembly, and because it is magnetically levitated, it can suppress the generation of noise and dust. It is.

As the movable guide for route switching, when horizontally or vertically movable body guides are installed in parallel, a sliding type that can be slid in the horizontal or vertical direction is used, or a different When the movable body guides are arranged so that their ends intersect, various types of guides that are rotated around the vertical axis or rotary types are used depending on the arrangement of the movable body guides. There is something.

By the way, in this type of transport equipment, by controlling the energization of the electromagnet for levitation based on the information on the levitation height of the moving object detected by the gap sensor provided on the moving object side,
Because it maintains the floating height of the moving object at the set value,
If there is a gap between the movable body guide and the movable guide that has been repositioned to a position adjacent to the movable body guide, when the movable body is moved between the movable body guide and the movable guide, the gap sensor detects the gap due to the gap. As a result of erroneously detecting the flying height of the moving object, for example, energization of the electromagnet may be controlled so as to bring the moving object closer to the moving object guide, which may cause the moving object to collide with the moving object guide.

For this reason, in the past, in order to avoid creating a large gap between the moving body guide and the movable guide whose position has been changed so as to be connected to it, the construction accuracy of the movable body guide was increased, and the construction accuracy of the movable guide was also increased. I was trying to increase it. By the way, in order to improve the construction accuracy of the movable guide,
Both the structure for supporting the movable guide in a changeable position and the structure for moving and operating the movable guide had to be manufactured with extremely high precision.

[Problem that the invention seeks to solve]

However, this is due to the fact that flexibility must be provided between the movable body guide and the movable guide to allow relative movement between the two, and there are limits to improving the construction accuracy of the movable body guide and the movable guide. , the gap between the movable body guide and the movable guide that has been repositioned to a position adjacent to it,
In some cases, it was not possible to make it small enough.

The present invention has been made in view of the above-mentioned circumstances, and an object of the present invention is to prevent a gap from forming between a movable body guide and a movable body guide whose position is changed to a position adjacent to the movable body guide. The object of the present invention is to appropriately move a movable body between a guide and a movable guide.

[Means for solving problems]

A characteristic configuration of the conveyance equipment using a magnetically levitated linear motor according to the present invention is that a gap-filling means is provided to fill the gap between the movable body guide and the movable guide for route switching that is repositioned to a position adjacent to the movable body guide. Its functions and effects are as follows.

[Function] That is, the gap filling means fills the gap that occurs between the movable body guide and the movable guide that has been repositioned to a position adjacent to the movable body guide, and while the gap sensor appropriately detects the flying height of the movable body, The movable body is moved between the movable body guide and the movable guide.

〔Effect of the invention〕

Therefore, even if a gap may occur between the movable body guide and the movable guide that has been repositioned to a position adjacent to it,
It is now possible to move moving objects appropriately.

〔Example〕

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

As shown in FIG. 4, a moving body guide (A) is provided along the movement path of the moving body (V) for conveyance, and the moving body (V) is provided with a moving body guide (A).
V) is magnetically levitated and driven by a linear motor to be moved between transfer stations (ST).

However, in order to form the moving path so that there is a bent path portion that bends 90 degrees, two linear moving body guides (A) are used.
are arranged so that their ends intersect with each other at a crossing angle of 90 degrees, and a path switching section (S -) is provided.

To explain the movable body guide (A), as shown in FIGS. 4 to 6, it includes a main body (2) made of a magnetic material such as iron and having a flat plate shape in cross section, and a support for the main body (2). Part (3)
It consists of.

The primary coils (Cυ, (CZ) of the linear motor are attached to the upper surface (2a) of the main body (2) at intervals in the longitudinal direction of the movement path. That is, at the station (ST) , station coil (C1) for decelerating, stopping and accelerating the moving body (V).
), and a relay primary coil (C2) for accelerating the moving body (V). Further, the path switching unit (SW) also decelerates and stops the movable body (V), and accelerates and starts the movable body (V), so that the movable guide (A
1) is also equipped with a primary coil (C3) for the station.

Note that the moving body (V) may pass through the station (ST) without stopping, and in that case, the station primary coil (C5) will act as a relay primary coil.

As shown in FIG. 4, coil drive control devices (B+), (Bz) are provided for the station and relay primary coils (CI), (cg), respectively, and these coil drive control devices (B+), ( A central control device (F) that centrally controls the operation of Bg) is provided, and the central control device (F)
and the coil drive control device (81), (BZ), while exchanging various information such as stop command information, start information, passing information, traveling direction information, etc., for the traveling of the mobile object (V).
- It is designed to control the energization to the secondary coils (CI) and (cz).

As shown in FIGS. 5 and 6, the movable body (V) is provided with an exterior cover (K) in which a load carrying portion (1) is formed on the upper part, and an interior of the cover (K). A frame is provided that also serves as a support frame for various devices. and,
The secondary conductor (4) of the linear motor is connected to the secondary coil (C
I), (CZ) in a horizontal position facing the front and back direction of the moving body, and the moving body (V) is attached to the moving body guide (
A first electromagnet (M1) for floating with respect to A) is provided so as to attract the main body part (2), and further, the position of the moving body (v) in the left-right direction with respect to the moving body guide (A) is provided. The second electromagnet (M2) that regulates the
) is provided so as to have a suction effect on the side wall portion (2b).

However, each of the first electromagnet (M1) and the second electromagnet (M2) may be provided at any number of locations on one side in the left and right direction of the moving body (V), two on the front and back, and one on the other side in the left and right direction. It is provided.

moving body guide (A) and movable guy of the moving body (V))
- A first gap sensor (S+) for detecting the flying height with respect to (AI) is provided near each first electromagnet (M1), and a first gap sensor (S+) is provided near each of the first electromagnets (M1), and ) is provided near each second electromagnet (M2).

In order to maintain the flying height at the set value, each of the first
energization control means (for controlling energization of the first electromagnets (M1) located near each of the first gap sensors (S+) based on the detection information of the gap sensors (S1);
W) is provided. This energization control means (W) will be explained based on FIG.
) is provided with a comparator (5) that compares and determines whether the detected value of S) is provided so that it can be switched off only when the flying height is at the set value (S), and can be operated by the output of the comparator (5).

Although not described in detail, the energization of the second electromagnet (M) is performed by the energization control means (W) having the same configuration as the energization control means (W) for the first electromagnet (M1), and the detection information of the second gap sensor (52 people) is controlled. It is configured to be controlled by.

In addition, (7) in the figure is a slit plate with holes formed at predetermined intervals in the front and back direction of the moving body (V), and is a two-phase photointerface provided in the station (ST) and the switch unit (SW). A moving object (V) is detected by a rhabdo type optical sensor (7a).
The position of the moving body (V) can be determined by detecting the number of times the light is blocked by the slit plate (7) as it passes, the time interval, and the change in phase difference between the two-phase detection signals. , is configured to function as a linear encoder that detects the traveling speed and direction of movement. The detection information is used as control information for controlling the energization of the secondary coil (Cυ) when the moving body (V) is stopped at the station (ST).
is the station (ST) and the switch unit (SW)
It is an electromagnet for holding the movable body (V) in a stopped state at the movable body (V) by adsorbing the bottom part of the movable body (V).
V) is used to keep it from moving from the desired stop position.

Hereinafter, the path switching section (SW) will be explained based on FIGS. 1 to 3.

That is, the rotary table (8) is supported on the base frame (10) using a bearing (9) so as to be rotatable around the vertical axis (X). A swing arm (12), which is operated to swing forward and backward by an electric motor (11), is supported on a base frame (10) so as to be swingable around a vertical axis (Y), and a rotating table (8 ) and the swinging arm (12) are interlocked and connected using a link (13) for push/pull operation, and the movable guide (A1) attached to the rotary table (8) is operated by the electric motor (11). ) can be moved to a position connected to each of the movable body guides (A) and (A).

However, (13) in the figure is a position detection sensor consisting of a light shielding plate (13a) attached to the rotary table (8) and an optical sensor (13b) that detects the light shielding plate (13a),
It is provided to detect the position of the rotating table (8).

Further, a guided rail (14) is provided on the bottom of the movable guide (A1) and extends along the guide in the longitudinal direction, and the guided rail (14) is slidably provided on the upper part of the rotary table (8). A guide rail (15) to be engaged is provided, and a hydraulic cylinder (16) for sliding the movable guide (A1) in its longitudinal direction is provided, so that the movable guide (A1) is moved to a position connected to the movable body guide (A). movable guide (
Gap filling means for filling the gap between the movable body guide (A) and the movable guide (AI) whose position has been changed to a position continuous with the movable body guide (A) by moving the movable body guide (AI) to the end side of the movable body guide (A). (Z).

In short, when rotating the movable guide (A), the movable guide (A1) must be rotated between the movable guide (A1) and the movable guide (AI) in order to create flexibility that allows relative rotation between the movable guide (8) and the movable guide (AI). When the movable guide (A1) is moved to a position where the movable guide (A1) is connected to the movable body guide (A), the movable guide (A1) and the movable body guide page A) The movable guide (81) can be slid toward the movable body guide side so that there is no gap between the movable guide (81) and the movable body guide.

However, (17) in the figure is an engagement pin attached to the movable guide (A1), and is an engagement pin (17) attached to the movable guide (A1).
8) so as to engage with the sliding movement of the movable guide (AI).

Further, as shown in FIG. 8, a movable guide controller (19) capable of communicating with the central control device (F) is provided, and an electric motor (11) for rotating the movable guide (81) is provided.
) and the control valve (21) of the slide operating hydraulic cylinder (16) of the movable guide (A1) are connected to the movable guide controller (19), and
Rotating and sliding operations of the movable guide (AI) are automatically performed based on command information from the movable guide controller (19).

[Another example]

To carry out the present invention, a moving body (moving body guide (A))
In order to regulate the position of the movable guide (A1) in the lateral direction, instead of using magnetic force, a roller that contacts the movable guide (8) or the movable guide (81) may be provided.

A movable guide (A1) constitutes the gap filling means (Z).
Various changes can be made in addition to the sliding operation to the movable body guide (A) side. For example, Figure 9 (a), (
As shown in FIG. A gap filling member (24) that is moved in and out by an actuator (23) may be provided.

Moreover, in the above embodiment, the −order coil (CI), (C2)
Although the case where the secondary coil is provided on the movable body guide side is illustrated, the secondary coil may be provided on the movable body side. Furthermore, even when the second coil (CI) (C) is provided on the moving body guide side, in addition to providing them at intervals in the longitudinal direction of the moving body guide, they should also be arranged continuously in the longitudinal direction of the moving body guide. may be provided.

In the above embodiment, the rotary movable guide (A1) is provided, but as shown in FIG. The present invention can also be applied to the case where the movable guide (AI) is slid toward the movable body guide side to fill the gap as shown in the example. It is preferable to apply filling means (Z).

[Brief explanation of drawings]

The drawings show an embodiment of the conveyance equipment using a magnetically levitated linear motor according to the present invention, in which Fig. 1 is a cutaway side view of the route switching section, Fig. 2 is a schematic plan view thereof, and Fig. 3 is a diagram showing the movable guide. FIG. 4 is a schematic plan view of the transport equipment, FIG. 5 is a schematic perspective view of the moving body, FIG. 6 is a longitudinal front view of the moving body, FIG. 7 is an electric circuit diagram, and FIG. Figure 8 is a block diagram showing the control configuration, Figures 9 (() and (D) are a plan view of another embodiment, Figure 10 is a side view of another embodiment, and Figures 11 (A) and ([ +) is a plan view of another embodiment. (A)...Moving body guide, (A1)...
・Movable guide, (L)...Electromagnet, (S1)・
...gap sensor, (su... energization control means, (Z) ... gap filling means.

Claims (2)

[Claims] (1) A movable guide (A_1) for route switching is provided, and the movable guide (A_1) for route switching is changed so as to be selectively connected to different moving body guides (A), (A), and the moving body (V) for conveyance is The movable body guides (A), (A) and the movable guide (A_
In addition to providing a linear motor to move along 1),
an electromagnet (M_1) that levitates the moving body (V) relative to the moving body guide (A) and the movable guide (A_1);
), a gap sensor (S_1) that detects the flying height of the moving body (V), and the electromagnet (M_1) based on the detection information of the gap sensor (S_1) in order to maintain the flying height at a set value. A transport facility using a magnetically levitated linear motor, which is provided with energization control means (W) for controlling energization of the movable body guides (A) and (A), and is moved to a position adjacent to the movable body guides (A), (A). Movable guide (A_1)
Conveyance equipment that uses a magnetic levitation linear motor and is equipped with a gap-filling means (Z) to fill the gap between the conveyor and the conveyor. (2) The gap filling means (Z) is arranged so that the moving body guide (
The movable guide (A_1) has been repositioned to a position connected to A).
2. The conveyance equipment using a magnetic levitation linear motor according to claim 1, wherein the means is a means for moving the movable body guide (A) toward the end side of the movable body guide (A).