JPS63140605A - Intermediate acceleration controller for carrier equipment using linear motor - Google Patents

Abstract

PURPOSE:To enable a travelling vehicle to be properly controlled at a desired speed regardless of the weight, by performing arithmetic on a thrust with the weight of the travelling vehicle, and by controlling the electrical conduction of a primary coil to generate the arithmetic performed thrust. CONSTITUTION:So far as process acceleration controlling treatment is concerned, based on whether a detection piece fitted on a travelling vehicle A is detected by a speed detecting sensor 13 or not, whether the travelling vehicle A is conducted on a primary coil C3 for process acceleration or not is checked. When the travelling vehicle A is conducted on, then a thrust is found based on a speed conducting the travelling vehicle A, a deviation between an accelerat ed desired speed and conducting speed, the weight, and a distance for conducting the travelling vehicle A at the time of applying the thrust to. Based on the found thrust, the electrical conduction of the primary coil C3 for process accelera tion set between stations ST is controlled.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention provides a primary coil for intermediate acceleration on the side of a guide rail on which a moving vehicle for transporting goods equipped with a secondary conductor is movably supported. The primary coils are provided at intervals in the longitudinal direction of the guide rail, and are provided with energization control means for controlling energization of the intermediate speed primary coil in order to accelerate the moving vehicle to the target speed. The present invention relates to an intermediate acceleration control device for conveyance equipment using a motor.

[Conventional technology]

To intermediately accelerate the moving vehicle, the primary acceleration for intermediate acceleration is generated during the elapse of the set time in a state in which a thrust is generated that is calculated based on the deviation between the target speed and the approach speed and the set time to apply the thrust. It is conceivable to energize the coil.

[Problem that the invention seeks to solve]

As mentioned above, if the primary coil is energized while determining the thrust based on the speed deviation and the set time for applying the thrust, for example, if the moving vehicle is loaded or unloaded, the movement after acceleration will be different. There was a disadvantage that the speed of the moving vehicle after acceleration fluctuated due to a change in the weight of the moving vehicle, such as a large difference in the speed of the vehicle.

Incidentally, if the speed of the moving vehicle changes after acceleration, the time required to travel between stations will change, resulting in, for example, not being able to supply the goods at the appropriate timing when transporting the goods to the assembly work station. ,
This may cause various inconveniences.

The present invention has been made in view of the above-mentioned circumstances, and its purpose is to enable the vehicle to appropriately accelerate to a target speed even if the weight of the vehicle changes depending on the weight of the load to be transported. .

[Means to resolve the issue]

The characteristic configuration of the present invention is to accelerate the moving vehicle to a target speed,
An energization control means for controlling energization of a primary coil for intermediate acceleration is configured to determine the deviation between the target speed and the approach speed, the weight of the moving vehicle, and a set time for applying thrust or when the moving vehicle advances while applying the thrust. The vehicle is configured to energize the primary coil during the elapse of the set time or while the moving vehicle travels the set distance in a state in which a thrust force calculated based on the set distance is generated. , its actions and effects are as follows.

[For production]

That is, the thrust is calculated using the weight of the vehicle, and the calculated thrust is generated while accelerating the vehicle.

〔Effect of the invention〕

Therefore, regardless of the weight fluctuation of the moving vehicle, it is possible to accelerate the vehicle as close to the target speed as possible, and as a result, it is possible to stabilize the time required to travel between stations, etc. It was advantageous.

〔Example〕

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

As shown in FIG. 1, the illustrated transport equipment using a linear motor includes a transport vehicle (A) for transporting goods, and a transport vehicle (A) for transporting goods.
It is equipped with a loop-shaped guide rail (B) that guides the moving vehicle (A) through the article transfer station (ST), and transfers various articles while driving the moving vehicle (A) with a linear motor as described later. It is configured to carry out the transportation of.

In addition, in this embodiment, the moving vehicle (A) is placed on the guide rail (
A case in which the object is moved only counterclockwise along B) will be explained. However, in practice, the moving vehicle (A) is often moved clockwise as well, and in the following explanation, the configuration for moving the moving vehicle (A) both counterclockwise and clockwise will be described. In other words, the configuration for reciprocating travel may be described in some cases.

As shown in FIG. 3, the guide (B) includes a main body part (1) having a U-shaped cross section, and a pair of left and right cover primary parts attached to the upper edge of the main body part (1). (2), and the running part (3) of the moving vehicle (A) is housed in the upper side in the vertical width direction, and the running section (3) of the moving vehicle (A) is housed at an upper side in the vertical width direction, and is spaced apart from each other along the traveling direction of the moving vehicle. The primary coil (C) to be arranged is housed at the lower side in the vertical width direction.

That is, the rail portion (IA) for the running portion (3) is integrally formed at the vertical intermediate portion of each of the left and right side walls of the main body portion (1), and the bottom wall portion of the main body portion (1) has a rail portion (IA) integrally formed therewith.
A primary coil (C) is attached.

As shown in FIG. 1, the primary coil (C) is located close to both sides of the station primary coil (C8) located at a position corresponding to the station (S) and the primary coil (C+). The primary coil for acceleration/deceleration (C2
), and a primary coil (C1) for intermediate acceleration located between the stations (ST). and,
The primary coil (C8) for the station will be used to decelerate and stop the mobile vehicle (A) and accelerate and start the vehicle (A) at the station (ST), and the primary coil (C2) for acceleration and deceleration is Station (ST)
decelerating a moving vehicle (A) that should be stopped at a target speed, and a moving vehicle (^) that is caused to pass a station (ST);
Acceleration of the station (
The primary coil (C3) for intermediate acceleration is used to accelerate the mobile vehicle (A) that has been accelerated and started from ST) to the target speed. It will be used for

However, when explaining this embodiment, each primary coil (C+)
, (Cz), and (C3) may be collectively referred to as the primary coil (C) if necessary.

In addition, in Fig. 18, each primary coil (c,), (cz)
, The traveling speed and each primary coil (c+) when moving the mobile vehicle (A) while controlling the speed by (C3),
(C2).

The relationship with (C3) is illustrated below.

The mobile vehicle (A) is shown in FIGS. 3, 4, 9 and 1.
As shown in Figure 0, the traveling section (3) and the loading platform (4)
The secondary conductor (D) of the linear motor is provided in a horizontal position on the lower side of the vehicle body.

To explain in detail, a pair of front and rear columns (5) connected by a belt-shaped frame (5A) along the front-rear direction is provided, and both of these columns (
The loading platform (4) is attached between the upper ends of 5), and the running section (3) is attached to each of both supports (5).
) is rotatably attached to the support frame (6).

The support frame (6) consists of a cylindrical frame (6a) that is rotatably fitted onto the support column (5), and a plate-shaped frame (6b) that is fixed to the outer circumference of the cylindrical frame (6a). A pair of left and right running wheels (7) rotatable around the horizontal axis (X) are attached to the central part of the plate-shaped frame (6b) in the front-rear direction. A pair of left and right wheels (8) rotatable around a vertical axis (Y) is attached to each of the wheels.

Incidentally, the running wheel (7) is the rail part (18)
The wheels will come into contact with the left and right side walls of the main body portion (1). Also, the front and rear supports (5) will be placed on the left and right cover primary portions (2). ) will pass through the slit groove that opens between them.

The secondary conductor (D) is formed of a so-called composite type in which an aluminum plate and a steel plate are pasted together, and as shown in FIGS. 9 to 11, three conductor portions ( It is divided into Dυ, (02).

The conductor portions (D,) at both front and rear ends of the three conductor portions (D+) and (D2) are fixed to the support member (9) supported on the plate-shaped frame (6b), and Both ends of the intermediate conductor portion (Dz) are attached to the front and rear struts (5).

Therefore, the secondary conductor (1)) is as shown in FIG.
As the direction of the support frame (6b) is changed by the contact action of the roller (8) with the guide (B), the conductor portions (D,) at both front and rear ends are bent with respect to the conductor portion (D2) at the front and rear middle. , it is configured so that it can be changed to a bent position.

In addition, (10) in the figure indicates that the mobile vehicle (A) is stationed at the station (S
An electromagnet that attracts and holds a secondary conductor (
The holding part (11) attached to D) is designed to be sucked.

Next, each primary coil (C+), (Cz), (Cs)
A control configuration for driving the moving vehicle (A) while operating the vehicle will be described.

As shown in Figure 2 (A), there is a main controller (TCP) that manages the operation of the entire facility, and multiple controllers that are connected to the main controller (TCP) using optical fiber cables etc. so that they can transmit and receive data. A sub-controller (SCP) is provided.

As shown in FIG. 1, each sub-controller (SCP) has a primary coil (c+) for one station, two
It manages a section (K) including one primary coil for acceleration/deceleration (C2) and a plurality of primary coils for intermediate acceleration (C8).

The main controller (TCP) manages each section (K) while managing the car numbers of the mobile vehicles (A) present in the section (K) managed by each sub-controller (SCP).
The main purpose is to instruct each sub-controller (SCP) with the destination information of the moving vehicle (A) stopped at the station (ST) of Whether or not the car (A) is present, whether or not the No. 1 mobile vehicle (A) of the present mobile vehicle (A) is loaded, and the station (
Various information such as a restart request for the mobile vehicle (A) stopped at ST) is transmitted to the main controller (TCP).

However, once the mobile vehicle (A) has started based on the destination information from the main controller (TCP), it can be moved to the destination station (A) only under the management of the sub-controller (SCP).
ST) to reduce the load on the main controller (TCP).

Note that the condition for allowing the moving vehicle ('A) to enter the next section fl) from one section (K) is that the moving vehicle (A) is not present in the next section (K). Therefore, each sub-controller (SCP) is also connected to be able to send and receive information as to whether or not the mobile vehicle (A) is present.

As shown in FIG. 2 (B), the sub-controller (SCP) records the speed, traveling distance, and traveling direction of the mobile vehicle (A) that has entered the primary coil (C+) for the station. A two-phase sensor (12) for detection, and a speed sensor for detecting the approach speed of the mobile vehicle (A) entering the primary coil for acceleration/deceleration (C2) and the primary coil for intermediate acceleration (C8). (13), and a presence sensor (14) for determining the start and end times of applying thrust to the moving vehicle (A) by the primary coil for acceleration/deceleration (C2) and the primary coil for intermediate acceleration (C3). and a reader head (16) that reads the memory contents of a magnetic information storage board (15) attached to the mobile vehicle (8), and the mobile vehicle (A) is connected to the station (
After starting from ST), the information storage board (1
5) a write head (17) for writing information, the stopping electromagnet (10), and each of the primary coils (c+);
(CZ)l Thrust setting device to adjust the thrust of (C3) (
18) and a moving vehicle (A) at the station (ST).
A load detection sensor (19) for detecting loads loaded on the vehicle is connected to the load detection sensor (19).

As shown in FIGS. 5 and 6, the two-phase sensor (12) includes two photo-ink club type optical sensors (12a) and (12b) arranged in the front-rear direction of the mobile vehicle (^). It is installed at a position corresponding to the station primary coil (C1) in a state where it is shielded from light by a slit plate (20) attached to the belt-shaped frame (5A) of the moving vehicle (A). .

That is, the slit plate (20) has a moving vehicle (A)
Predetermined slit-shaped holes (21) are formed at predetermined intervals in the front-rear direction of the
The traveling direction of the moving vehicle (A) is detected based on which of the two optical sensors (12a) and (12b) is blocked first, and when one of the two optical sensors (12a) and (12b) , detects the speed of the moving vehicle (A) based on the time from when the light is blocked, once the light is removed, until the light is blocked again, and furthermore, two optical sensors (12a), (
The traveling distance of the mobile vehicle (A) is detected based on the number of times that either one of the light beams 12b) is blocked. In addition, since the two optical sensors (12a) and (12b) are installed at fixed positions with respect to the primary coil (C1), the detected traveling distance is
In other words, it is information representing the position of the moving vehicle (A) with respect to the station (ST).

The speed sensor (13) is configured using a photointerrupter type optical sensor or a magnetic sensor type proximity sensor, and as shown in FIGS. 3 and 6, the speed sensor (13) The primary coil for adjustment/subtraction (C2) and the primary coil for intermediate acceleration (C2) are in a state of detecting the detection pieces (22) attached to the front end side and rear end side of the belt frame (5A).
is installed in a position corresponding to

That is, the detection piece (22) is formed so that its length along the longitudinal direction of the moving vehicle is a constant value, and from the time when detection of the detection piece (22) starts until the detection ends. The approach speed of the mobile vehicle (A) is detected based on the time.

The reason for providing the detection pieces (22) before and after the moving vehicle (8) is to be able to detect the approaching speed of the moving vehicle (A) no matter which side the moving vehicle (A) approaches from. However, in that case, a pair of speed detection sensors (13) are provided on both the front and rear sides of the primary coils (C2) and (C3), and the detection information of the speed detection sensor (13) on the approach side is used as the approach speed. Become.

The presence sensor (14) is configured using a reflected light sensing type optical sensor or a magnetic sensing type proximity sensor, and as shown in FIG. (21) is installed at a position corresponding to the primary coil for acceleration/deceleration (C2) and the primary coil for intermediate acceleration (C3) in a state where it detects and acts on the portions where no part is formed.

That is, the length of the slit plate (20) along the longitudinal direction of the moving vehicle is a constant value, and the timing to start applying thrust is detected based on the time when detection of the slit plate (20) is started. The apparatus is configured to detect when to end the application of thrust based on the time when the application of thrust is completed. In addition, the length of the slit plate (20) corresponds to the set distance that the mobile vehicle (A) travels while applying thrust, and using the length of the slit plate (20), as described below, , the thrust force to be applied is calculated.

Incidentally, the configuration is such that the detection by the presence sensor (14) is started after a predetermined time period required for thrust force calculation has elapsed after the detection of the approach speed by the speed detection sensor (13) is completed.

As shown in FIGS. 3 and 7, the information storage board (15) includes read-only first and second storage sections (n+,),
(m-) and a third storage section (m,) for reading and writing. The first storage unit (ml) includes eight bits (bl to b8) in the longitudinal direction of the moving vehicle. Information for determining the traveling direction of A) is stored, and the machine number is stored using the middle six bits (b2 to b7).

The third storage section (m=) also has eight bits (
81 to B8), six bits (81 to B6) from the front end side to the rear end side are used to store destination information, and the next bit (B7) is used to store the moving vehicle (A). weight information is stored, and parity check information is stored using the last pick F-(B8). Second
Although not described in detail, the storage unit (m3) stores information that sets information read/write timing for each bit of the first and third storage units (ml) and (m, l).

In addition, each storage part (ml), (mz), (m,,) can store various information depending on the combination of whether each bit is magnetized to N pole, S pole, or not magnetized. Of course, it can be memorized.

By the way, to add an explanation about the storage of the weight information of the mobile vehicle (^), in this embodiment, as shown in Fig. 8, it is assumed that a maximum of two items of one type (Z) are loaded. and is loaded with no article (Z), one article (Z), or two articles (Z).
) in order to remember each of the things that have been accumulated. In addition, in the thrust calculation described later, the weight of the moving vehicle (A) is calculated by multiplying the pre-stored weight of the moving vehicle itself by the pre-stored weight of one article and the number of loaded articles. It is treated as the value obtained by adding the total weight of the article.

The reader head (16) is installed at the end of each section (K), and although not described in detail, the reader head (16) is installed at each storage section (ml), (m-), (m-), (m-
).

The light head (17) is installed in relation to the station primary coil (C1), and is configured to write destination information given from the main controller (TCP) and detection information from the load detection sensor (19). It is composed of

As shown in FIG. 8, the load detection sensor (19) includes a pair of front and rear photointerrupter type optical sensors (19a).
, (19b), and if both optical sensors (19a) and (19b) are not shielded from light, it is detected that the article (Z) is not loaded, and both optical sensors (19a) and (19b) are When one of the optical sensors (19a) and (19b) is blocked by an article (Z), one article (Z)
It is detected that there is a pile of
When both of a) and (19b) are shaded by the article (Z), it is configured to detect that two articles (Z) are stacked.

The thrust setting device (18) is connected to each of the primary coils (c+).
, (C2), and (cz) to be energized, and a function to adjust the thrust by changing the frequency of the alternating current to be energized.

By the way, each of the primary coils (c+), (cz),
To generate the thrust in (C3), the thrust is basically calculated using the following equation (i).

However, (F) is the thrust, (n) is the distance from the local point to the target point, (g) is the gravitational acceleration, (vo) is the speed at the local point, (vl) is the target speed at the target point, and (k) is the ) is a moving vehicle (
It is the weight of A). Note that the calculated thrust can be positive or negative, and when positive, it is treated as a thrust for increasing speed, and when negative, it is treated as a thrust for decelerating.

Then, the frequency corresponding to the thrust force (CF) determined by the above equation (i) is measured in advance by experiment, and the measurement result is stored in advance, and the frequency corresponding to the thrust force (F) determined by calculation is determined in advance. The frequency is set and each primary coil (C) is energized at that frequency.

In addition, when performing the above experiment with the mobile vehicle (A) stopped, the effective value of the thrust will change depending on the speed of the mobile vehicle (A), so the frequency set above should be adjusted to the speed. It is better to correct it.

Of course, during the above-mentioned experiment, if a value that also takes into account the speed is measured and stored in advance, the above-mentioned correction will not be necessary.

Therefore, the moving vehicle (
When a destination command is given to A) from the host controller (TCP), based on the command from the sub-controller (SCP), the station primary coil (CI) accelerates and starts, and the primary coil for acceleration/deceleration (C2) to move the moving vehicle (A) toward the destination station (ST) while accelerating it to a high speed using the intermediate acceleration primary coil (C3) and maintaining the high speed using the intermediate acceleration primary coil (C3). and when approaching the destination station (ST),
The primary coil for acceleration/deceleration (C8) decelerates the speed to a low speed, the primary coil for the station (C1) decelerates it to a creep speed, and when it reaches near the target stop position for the station (ST), the electromagnet ( 10) to stop the mobile vehicle (A) at the target stop position, and if there is a section (K) to pass through on the way to the destination station (ST), Section (K)
The primary coil (C2) for acceleration/deceleration in the mobile vehicle (
^) will be accelerated. Furthermore, moving vehicle (A)
If there is another moving vehicle (A) in the section (K) into which the moving vehicle (A) will next enter while traveling, the primary coil for acceleration/deceleration ((:z) and the primary coil for the station Using the coil (C1), the moving vehicle (A) is sent to the station (ST) of the section (K) where the moving vehicle (A) is present at the local point.
) will be temporarily stopped.

By the way, the sub-controller (SCP) is the moving vehicle (A
) when starting from the station (ST), the destination information and weight information are written on the information storage board (15), and when the vehicle enters each section (K), the reader head (16) writes the destination information and weight information. Using the read information, the moving vehicle (A
) or stop each primary coil (CI), (cz).

(C3) will be energized.

Furthermore, the sub-controller (SCP) is a mobile vehicle (^
), the detection information of the speed detection sensor (13), and the detection information of the presence sensor (14), the primary coil for acceleration/deceleration (C2) and the primary coil for intermediate acceleration (C3) The power supply is controlled, and the power supply to the station primary coil (C3) is controlled based on the detection information of the two-phase sensor (12).

Hereinafter, the operation of the moving vehicle (A) will be explained while explaining the control operation of the sub-controller (SCP).

As shown in FIG. 12, the sub-controller (SCP) moves the primary coil (C) located at the end of the managed section (K) after the reader head (16) reads the information storage board (15). Based on whether or not the vehicle (A) has passed, it is checked whether or not the moving vehicle (A) is present in the section (K). If the vehicle (A) is not present, the main controller (TCP) ) and subcontroller (
Immediately executes transmission/reception processing with SCP).

When the moving vehicle (A) is present in the section, intermediate acceleration control processing is performed to activate the primary coil (C1) for intermediate acceleration, and to activate the primary coil (C2) for acceleration/deceleration. After executing the acceleration/deceleration control process and the station control process for activating the station primary coil (C1), the above-mentioned transmission/reception process is executed.

As shown in FIG. 13, in the intermediate acceleration control process, the moving vehicle (A) is configured to control the primary coil for intermediate acceleration based on whether or not the speed detection sensor (13) detects the detection piece (22). It is checked whether or not the vehicle has entered the top, and if the vehicle has not entered the vehicle, the process moves to the next acceleration/deceleration control process.

When the moving vehicle (A) is entering, the approaching speed of the moving vehicle (^) is measured based on information from the speed detection sensor (13). Then, based on the deviation between the target speed at which the moving vehicle (A) should be accelerated and the approach speed, the weight of the moving vehicle (A), and the set distance that the moving vehicle (A) will travel while applying thrust, the above-mentioned The thrust force is determined using equation (i).

Thereafter, it is repeatedly checked whether or not the presence sensor (14) has detected, and when the presence sensor (14) has detected, the intermediate acceleration primary coil (C3
) will be energized.

After energization, it is repeatedly checked whether or not the presence sensor (14) is detecting, and when it is no longer detected, the energization of the primary coil (C8) is stopped, that is, the output is stopped.

Note that this intermediate acceleration control processing corresponds to the energization control means (100) that controls energization of the primary coil (C8) for intermediate acceleration.

In the acceleration/deceleration control process, as shown in FIG. It is checked whether or not it has entered the coil, and if it has not entered, the process moves to the next station control process.

When the moving vehicle (A) is entering, the approaching speed of the moving vehicle (A) is measured based on information from the speed detection sensor (13). Then, based on the destination information of the moving vehicle (A),
Check whether to decelerate or accelerate.

When decelerating, the deviation between the target speed at which the moving vehicle (A) should be decelerated and the approach speed, the weight of the moving vehicle (A), and the set distance that the moving vehicle (A) will travel while applying thrust are Based on this, the reverse thrust is determined using the above-mentioned equation (・i).

Further, when accelerating, the thrust force is calculated in the same way as the thrust force calculation described in the above intermediate acceleration control process.

After calculating the thrust or reverse thrust, similarly to the intermediate acceleration control process described above, the primary coil for acceleration/deceleration (C2 ) will be energized.

As shown in FIG. 15, the station control process checks whether the mobile vehicle (A) is stopped or not, and if it is not stopped, based on the information from the two-phase sensor (12),
It is checked whether the moving vehicle (A) has entered the primary coil for the station or not, and if it has not entered, the process moves to the next transmission/reception process.

If a moving vehicle (A) is entering, it is checked whether or not the moving vehicle (A) is to be allowed to pass, and if the moving vehicle (A) is a moving vehicle (A) that should be stopped, a stopping process is executed. .

If the vehicle (A) should be allowed to pass, it is checked whether the conditions for the vehicle (A) to enter the next section (K) are met, and if it is allowed to enter, then The process moves to the next transmission/reception process, and if entry is not possible, the above-mentioned stop process is executed.

After execution of the stop process or when it is determined that the moving vehicle (A) is stopped by the above-mentioned check, it is checked whether the moving vehicle (A) is to be allowed to pass.

If it is not the moving vehicle (A) to be passed, it is checked whether a start command has been given from the main controller (TCP), and if a start command has not been given,
Move to the next transmission/reception process.

If a start command is given, the start process is executed, and then the destination information from the main controller (TCP) and the detection information from the load detection sensor (19) are sent to the light head (
17) to execute the process of writing to the information storage board (15).

If the above-mentioned check determines that the stopped moving vehicle (A) is the moving vehicle (A) to be passed, it is checked whether it is possible to enter the next section (K), If it is possible to enter, the above-mentioned starting process is executed, and if it is not possible to enter, the process moves to the next transmission/reception process.

The transmission/reception processing with the main controller (TCP) and the transmission/reception processing with the sub-controller (SCP) are clear from the above description, so the description thereof will be omitted here.

An explanation will be added regarding the stop processing in the station control processing described above.

This stopping process is performed by detecting the traveling speed and the position of the moving vehicle (A) with respect to the target stop position using the two-phase sensor (12), and detecting the traveling speed and the position of the mobile vehicle (A) with respect to the target stop position in a state where the speed becomes lower as the vehicle approaches the target stop position. In order to cause the mobile vehicle (A) to decelerate at a preset target speed corresponding to the position of By the time it reaches near the target stop position, it is decelerated to a creep speed that allows it to stop immediately, and until it reaches within a positioning range where it can be positioned to the target stop position by the electromagnet (10), it is made to run at a constant speed at the creep speed, and
Once within the positioning range, the primary coil (C1) stops generating thrust and the electromagnet (10) is activated to stop the vehicle (A) at the target stop position.

As described above, when the moving vehicle (A) is caused to decelerate along a preset target speed, the traveling speed detected as the moving vehicle (A) reaches a set point on the near side of the target stopping position,
Based on the target speed after traveling a set distance from that point and the weight of the moving vehicle (A) set in advance, such as the weight of the moving vehicle itself, calculate the thrust using the above formula (i),
The determined thrust is generated while the vehicle travels the set distance. (In the following explanation, it will be described as the first deceleration process.) After the thrust is generated, substitute the previous thrust generation condition into the following equation (ii) obtained by expanding the above equation (i). Accordingly, the weight of the moving vehicle (A) is calculated.

After calculating the weight of the moving vehicle (A), the above-mentioned (i
) is used to determine the thrust, and the determined thrust is generated while the vehicle travels the set distance. (In the following explanation, this will be referred to as the second deceleration process.)
Further, in the constant speed running, the power supply to the primary coil (C1) is controlled using the speed detection information of the two-phase sensor (12) so as to maintain the creep speed.

The operation of the stop processing will be described in detail based on the flowchart of FIG. 16.

Based on the information from the two-phase sensor (12), it is checked whether the mobile vehicle (8) has entered the control area, and only if it has entered, the following process is executed.

That is, measurement of the traveling speed at the time when the mobile vehicle (A) travels at a set point on the near side of the target stopping position, calculation of thrust using preset weight information, output of the calculated force, and , the above-described first deceleration process is performed while checking whether or not the vehicle has traveled the target distance.

After executing the first deceleration process, the traveling speed is measured to check whether the traveling speed is lower than the creep speed.

If the traveling speed is higher than the creep speed, calculate the weight of the moving vehicle (A) using the traveling speed before performing the first deceleration process and the traveling speed after performing the first deceleration process,
Thrust calculation using the calculated weight information, and
The second deceleration process described above is performed while checking the calculated thrust output and whether or not the vehicle has traveled the target distance.

However, even after the second deceleration process is executed, the second deceleration process is continued until the travel speed becomes lower than the creep speed while measuring the travel speed and checking whether the travel speed is lower than the creep travel speed. will be repeated. In this case, the weight of the moving vehicle (A) is calculated using the traveling speed before performing the previous second deceleration process and the traveling speed after performing the second deceleration process.

When the traveling speed is reduced below the creep speed, the electromagnet (
The moving vehicle (A) is driven at a creep speed until it reaches the positioning range in step 10), and when it reaches the positioning range, the thrust output is stopped and the electromagnet (10) is activated to bring the moving vehicle (A) to the target stop. stop in position.

An explanation will be added regarding the start processing in the stage control processing described above.

This starting process is performed while detecting the traveling speed and the position of the mobile vehicle (A) with respect to the target stop position using the two-phase sensor (12), and increasing the speed as it moves away from the target stop position.
In order to accelerate the moving vehicle (A) at a preset target speed corresponding to its position with respect to the target stop position, electricity is supplied to the station primary coil (C1) based on the detection information of the two-phase sensor (12). Specifically, the first speed increase process corresponds to the first deceleration process in the stop process, and the second speed increase process corresponds to the second deceleration process.

In other words, when starting, the target speed after traveling a set distance from that point and the preset moving vehicle (A
), the thrust is determined using equation (i) above, and the first speed increase process is performed to generate the determined thrust while the vehicle travels the set distance.

After performing the first speed increase process, the moving vehicle (A) is
Based on the calculated weight, the traveling speed at that point, and the target speed after traveling a set distance from that point, calculate the thrust using equation (i) above, While the vehicle travels the set distance, a second speed increase process is performed to generate the determined thrust.

The operation of the start processing will be described in detail based on the flowchart in FIG. 17.

Calculate thrust using preset weight information,
After stopping the operation of the electromagnet (10), the above-described first speed increase process is performed in which the calculated thrust is output until the vehicle travels the target distance.

After executing the first speed increase process, the moving vehicle (A)
It is checked whether the vehicle is located within the 4B region, and while the vehicle is located within the control region, the following second speed increase process is performed.

That is, while measuring the traveling speed, the weight of the moving vehicle (8) is calculated using the traveling speed before performing the first speed increasing process and the traveling speed after performing the first speed increasing process, and the weight of the moving vehicle (8) is calculated. The acceleration process is performed while calculating the thrust using the weight information obtained, outputting the thrust obtained by the calculation, and checking whether the target distance has been traveled.

However, this second speed increase process will be repeated until the moving vehicle (A) leaves the control area.

In that case, using the traveling speed before performing the previous second speed increasing process and the traveling speed after performing the second speed increasing process,
The weight of the moving vehicle (A) will be calculated.

[Another example]

In the above embodiment, the weight information of the mobile vehicle (A) is stored in the information storage board (15) attached to the mobile vehicle (A), but for example, the weight information is stored in each sub-controller (S
It may also be implemented by transmitting and receiving data between the CP and CP.

Further, in the above embodiment, the moving vehicle (A)
Although the thrust force is calculated based on the set distance over which the vehicle travels, the thrust force may be calculated based on the set time period during which the thrust force is applied.

In carrying out the present invention, the specific configuration for detecting the approach traveling speed of the moving vehicle (A) can be modified in various ways, and the thrust generated by the primary coil (CZ) can be adjusted by adjusting the voltage. The specific configuration of each part can be changed in various ways.

To set the weight information for calculating thrust, instead of detecting the weight at the station (ST), for example, the main controller (TCP) can set the weight information at the station (ST).
The main controller (TCP) and sub-controller (SCP) manage the weight of the goods to be transferred.
) can be changed in various ways, such as transmitting weight information.

Incidentally, although reference numerals are written in the claims section for convenient comparison with the drawings, the present invention is not limited to the structure shown in the accompanying drawings.

[Brief explanation of the drawing]

The drawings show an embodiment of the intermediate acceleration control device for a conveyance facility using a linear motor according to the present invention, and FIG. 1 is a schematic plan view of the conveyance facility, and FIGS. 2(A) and 2(B) are block diagrams of the control configuration. , FIG. 3 is a front view of the mobile vehicle, FIG. 4 is a schematic perspective view thereof, FIG. 5 is a schematic side view of the two-phase sensor, FIG. 6 is a schematic plan view of the mounting portion of the slit plate and the detection piece, and FIG. FIG. 7 is a schematic plan view of the information storage board, FIG. 8 is a schematic plan view of the load detection sensor,
FIG. 9 is a side view showing the primary side of the moving vehicle, FIG. 10 is a plan view thereof, FIG. 11 is a schematic plan view showing the bent state of the moving vehicle, and FIGS. 12 to 17 are flow charts showing control operations.
FIG. 18 is a drawing showing the relationship between the primary coil and the running speed. (100)... Energization control means, (B)...
...Guide rail, (C1)...Primary coil for intermediate acceleration, (D)...Secondary conductor.

Claims (1)

[Claims] A primary coil (C_3) for intermediate acceleration is disposed on the guide rail side on which a load transporting vehicle (A) equipped with a secondary conductor (D) is movably supported. energization control means (10
0) for a conveyance facility using a linear motor, the energization control means (100) comprising:
Thrust force calculated based on the deviation between the target speed and the approach speed, the weight of the mobile vehicle (A), and a set time for applying thrust or a set distance that the mobile vehicle (A) travels while applying thrust. of the conveyance equipment using a linear motor configured to energize the primary coil (C_3) while the set time elapses or while the mobile vehicle (A) travels the set distance in a state where Intermediate acceleration control device.