JPS6240003A - Carrying path for linear motor car system - Google Patents

Abstract

PURPOSE:To make a carrier to travel even in a vertical section in the same manner as a horizontal section by constituting a vertical carrying section of a vertical carrying path, a curved carrying path and stators fitted on the inlet side and outlet side of the curved carrying path. CONSTITUTION:A carrier CR being proceeding on a lower-side carrying path RALd is kicked by a stator 11 and travels by inertia on a curved section 10B, reaches an outlet-side stator 12 for the lower-side curved section 10B, and is kicked in the stator 12 and reaches an intermediate stator 13. The carrier is kicked in the stator 13 and reaches an inlet-side stator 14 for an upper-side curved section 10C, is kicked in the stator 14 and ascends on the curved section 10C, and is kicked by a stator 15 on the outlet side and starts its travelling on an upper-side carrying path RALu. A carrier being travelling on the upper- side carrying path RALu, inversely, is braked by the stators 14, 13, 12 and overspeed thereof is obstructed, and the carrier is forwarded to the lower-side carrying path RALd at proper speed from the stator 11.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention provides a linear motor in which the stator of a linear motor is distributed in an Ili feed path, and the movable element (secondary conductor) of the linear motor is attached to a carrier. motor car.

Regarding the transport path of the system.

The child blocks are arranged in a distributed manner, the movable element of the linear motor is attached to a carrier, and the carrier is placed on a conveyance path, and when the stator is excited, the stators are excited one after another and the carrier is placed on the conveyance path. Figure 3 shows the elevating point of the linear motor car system, including the setter block, and the transport path RA.
They are distributed at appropriate intervals in L. 3a, 3b,...
... receives a control command from the stay shore motor controller 2, and excites and controls the stator to start, accelerate, decelerate, and stop the carrier CR, and also loads and unloads articles onto the carrier. Transport commands such as from which station to which station the carrier should travel are given to the linear motor controller 2 via the system controller 1 and the roller 1 by the operator.

FIG. 4 shows an example in which this linear motor controller is used in a cash conveyance system in a bank store.

In this example, the transport path RAL is provided between the counter CT and the cash teller machine AC, and a station (not shown) is provided at a suitable location between the cash loading and unloading section. The counter CT is operated by an operator (
(Teller) It is designed for two people, and each operator is equipped with dedicated cash input/output ports CA and CB and an online teller's machine OTM, as well as a shared teller deposit machine TAD and terminal writer STW. The cash teller machine AC includes a cash storage 1ADU that receives cash from the carrier and a cash dispenser AC[J that supplies cash to the carrier. When a customer pays out cash, a carrier (not shown) is sent from counter CT to cash dispensing machine AcU of the teller machine, where it is loaded with the required cash. The carrier is driven to the CA, the cover of the carrier is opened at the CA, the cash inside is taken out, and the cash is handed over to the customer along with the bankbook. In the case of deposit, the cash received from the customer is put into the teller deposit machine TAD, counted, and then sent to the terminal writer STW.
After recording the book, the cash is placed on the carrier and sent to the cash storage machine AD.
The money will be sent to U and the passbook will be returned to the customer.

In stores that require a large number of counters, the CTs are stacked in large numbers, and the transport path RAL extends by connecting these OCTs.

In addition, if the counters are on the first and second floors, a conveyance path is required to connect the first and second floors.

As shown in FIG.
, 121, a stator 5TAT arranged at appropriate intervals between the rails, and a cover (not shown) that covers the entire structure. FIG. 5 shows the station part as an example, and the carrier positioning and speed detection sensors S1 to S4 are connected to the rail 12.
It is attached to 0. 105a and 105b are rail 1
The rollers 105c sandwiching the upper side of the rail 20 from above and below are rollers that press the side sides of the rail. There are similar vertical rolls and horizontal rolls on the rail 121 side, which guide the carrier in the vertical and horizontal directions. The carrier has a slope 10 extending laterally.
3 is attached, and a portion extending downward from this slope is a cutout portion 107 having a plurality of cutouts. Sensor S1
~S4 is equipped with light emitters and receivers facing each other with the notch 107 in between, and detects the carrier position and speed by intermittent light emitted by the notch 107.

The stator 5TAT consists of a pair of iron cores COR facing each other with a movable element (conductor plate, equivalent to the rotor of a cage-type induction motor) of a linear motor sandwiched therebetween, and a winding wire wound around the iron cores. As shown in FIG. 6(a), the lines indicate an acceleration/deceleration coil 114b that is supplied with 200V three-phase AC and generates a moving magnetic field;
A coil 114a is supplied with single-phase alternating current to position the carrier.

and a coil 1 that is supplied with DC to brake the carrier.
Consists of 14C. 34a to 34c are drivers that excite these windings.

[Problem that the invention seeks to solve]

Conventionally, a general conveyance path with such a configuration has been arranged in a generally horizontal plane, although there may be slight ups and downs.
It is not used in areas where there is a large vertical distance, such as from one floor to the second floor. A long slope allows for a large vertical distance, but this requires more space, so the slope should be steep, preferably vertical. As the vertical conveyance means, a rack and pinion type or a chain belt type vertical elevating type is often used, but if this is applied to a linear motor car system, it will be as shown in Fig. 2. RALd is lower 11J
(for example, the first floor) conveyance path, RALu is the upper (for example, the second floor) conveyance path, and 20 is a vertical conveyance section connecting these. The vertical IB feeding section has a conveying path (
rail) 21, and means (not shown) for raising and lowering the Ill transport path 21 using a rack and pinion or a chain belt, and when the carrier CR that has advanced from the lower transport path RALd gets on the transport path 2, the carrier The m feed route 21 which was stopped and raised by operating the elevating means is the upper river feed route RAL.
When the carrier is aligned with u, the carrier is started, and the carrier is
Start moving in the u direction.

However, this method requires different types of drives for the horizontal transport section and the vertical transport section, making it mechanically and electrically complex.

Furthermore, in the vertical conveyance section, the carrier is temporarily stopped, then raised or lowered, and then restarted, which inevitably causes a time loss. The present invention improves these points and allows the vertical portion to travel in the same way as the horizontal portion, allowing continuous vertical travel without stopping the carrier, thereby shortening the conveyance processing time. Moreover, +l according to the present invention! The i-channel has a simple configuration, is inexpensive, and can be easily realized.

[Means for solving problems]

In the present invention, the stators of the linear motor are distributed in an IR feed path, the mover of the linear motor is attached to a carrier, the carrier is placed on the I feed path, the stator is excited, the carrier is driven, and the carrier is fixed. In the conveyance path of a linear motor car system in which the carrier coasts between the children, the lower conveyance path in which the stators are distributed and the upper l1li conveyance path are connected by a vertical conveyance part,
The vertical conveyance section is connected to a vertical conveyance path, and an upper side of the vertical conveyance path (
It is characterized by comprising a curved conveyance path 11Q connecting the general conveyance path and the lower conveyance path, and stators provided on the entrance and exit sides of the curved conveyance path.

[Function and Examples]

As shown in FIG. 1, in the present invention, the vertical section has the same configuration as the horizontal section, that is, the stators are distributed in the conveying path (rail), and the connecting portion with the lower conveying path RALd and the lower conveying path RALu is It is a curved (arc) part. IOA is the vertical section (vertical transport path), IOB.

10'C is a curved portion (curved conveyance path). Curved section 10B
, stators 11 and 12.14 on the inlet and outlet sides of the IOC.
and 15, and if necessary, a stator 13 is also provided in the middle of the vertical portion 10A. These stators 11 to 15 are the same as the stator 5TAT described above, and include an acceleration/deceleration coil that is excited by three-phase AC to generate a moving magnetic field, a positioning coil that is excited by single-phase, and a braking coil that is excited by DC. Equipped with a coil.

In this first general conveyance path, the carrier CR that has progressed through the lower conveyance path RALd is kicked by the stator 11 and curved into the curved section 10B.
It coasts until it reaches the output stator 12 of the lower curved section 10B, where it is kicked and reaches the intermediate stator 13, where it is kicked and reaches the input stator 14 of the upper curved section 10C. Then, it is kicked at this point and climbs the curved portion 10C, and is kicked by the stator 15 on the exit side and enters the lower conveyance path RALu.

Conversely, the carrier traveling on the lower conveyance path RALu receives a weak kick from the stator 15 and enters the upper curved section 10C, descends through the curved section due to gravity, and is braked by the stator 14, 13, 12. Overspeeding is prevented, and the stator 11 sends it out to the lower transport path RALd at an appropriate speed.

In this way, in this conveyance path, the carrier can be moved horizontally and vertically using the same type of drive system, with acceleration and deceleration using stators and coasting between the stators. It is possible to simplify the physical configuration. The thrust force received by the movable element (two missing bodies) due to stator excitation is large (by simply narrowing the spacing, a stator installed in a horizontal area can also be installed in a vertical area. Stator spacing in the vertical area 1 2 where the mass of the carrier is m and the speed is ■
−h h=v”/2g ・・・・・・(])
It can be decided as. mv2/2 is stator 12
If the thrust of the stator is F and the acceleration section is 2, then mv2//2-
It is F-β. However, since this assumes that the carrier speed when arriving at the stator 12 is 0 and ignores friction, it is actually necessary to modify or take these into consideration.

The vertical stator may be larger and stronger than the horizontal stator. However, from the standpoint of mass production, it is preferable to use the same stator for both the horizontal and vertical sections.

The stator is not provided in the curved section. This is because even if the stator 5TAT similar to that in the horizontal and vertical parts is provided in the curved part, the thrust force in the curved part cannot be expected to increase much.

That is, as shown in FIG. 6(C), the mover M and the stator 5TA attached to the carrier CR on a normal straight conveyance path
Compared to the relative positional relationship with T, in the curved conveyance path shown in Part 6), the stator M must be installed in a lowered state with respect to the movable element M, which makes it difficult to generate thrust. At best, the eddy current becomes difficult to flow as shown in part 6 (81) compared to the eddy current in the straight line Iff feed path in Figure 6 (di). (because the return part decreases) hardly becomes thrust.

In order to prevent a decrease in eddy current and a decrease in thrust due to the uniformity of the lower end of the eddy current path, it is sufficient to make the mover M sufficiently long, but this would make the mover too long in the straight section, and the conveyance path Since it is covered with a cover, the cover becomes large.

The curved conveyance path has a convex shape as well as a concave shape as shown in Figure 6 (bl), but in the latter case, if there is a stator, the stator may come into contact with the bottom of the carrier, so to avoid this, The stator must be placed sufficiently lower than the rail, which also increases the size of the entire transport path.Furthermore, in order to install the stator 5TAT on a curved part, care must be taken regarding the relative positional relationship with the transport path. This makes installation difficult.

Furthermore, even if a similarly curved stator 5TAT is installed in the curved part, manufacturing is complicated and the stator has a different structure from the stators in the horizontal and vertical parts, which poses problems in mass production and is expensive. becomes. In order to avoid this problem, it is better not to provide a stator at the curved portion. However, in the first place, linear motors have sufficient power (thrust), so by providing stators on the entrance and exit sides of the curved part, there is no possibility that the linear motor will not reach the next stator. Smooth carrier running can be controlled.

〔Effect of the invention〕

As explained above, according to the present invention, the carrier can be moved in the vertical section in the same way as in the horizontal section, simplifying the mechanism,
It is possible to shorten the transportation processing time, etc. Moreover, it can be easily realized with inexpensive and simple control. In addition, the stator is not placed on the curved section, but on the entrance and exit sides of the curved section, which makes it easier to manufacture the stator, eliminates problems such as reduced thrust when traveling on the curved section, and allows the carrier to be properly positioned. The vehicle can run smoothly at a reasonable speed.

[Brief explanation of drawings]

Fig. 1 is an explanatory diagram showing an embodiment of the present invention, Fig. 2 is an explanatory diagram showing an example of a vertical conveyance means, Fig. 3 is a schematic explanatory diagram of a linear motor car system, and Fig. 4 is an application example of the linear motor car system. FIG. 5 is an explanatory diagram of the station section, and FIG. 6 is an explanatory diagram of each part. In the drawing, RAL is the transport path, M is the mover, CR is the carrier,
RALd is a lower transport path, RALu is an upper transport path, 10 is a vertical transport section, IOA is a vertical transport path, 10B and IOC are curved transport paths, 5TAT, and 11 to 15 are stators.

Claims (1)

[Claims] The stators of the linear motor are distributed in a conveyance path, the movable elements of the linear motor are attached to a carrier, the carrier is placed on the conveyance path, the stator is excited to drive the carrier, and the stator is In the conveyance path of a linear motor car system in which carriers are coasted between, the lower conveyance path and the upper conveyance path in which stators are distributed are connected by a vertical conveyance section, and the vertical conveyance section is connected to the vertical conveyance path and the vertical conveyance path. A conveyance path for a linear motor car system, comprising a curved conveyance path connecting a conveyance path, an upper conveyance path, and a lower conveyance path, and stators provided on the entrance and exit sides of the curved conveyance path.