JPS63253413A - Linear motor carrying truck - Google Patents

Abstract

PURPOSE:To facilitate the running on a curved route of a linear motor carrier truck by providing rotatably a linear motor in the horizontal direction to generate the driving power in the running direction of the cart and driving the linear motor toward a guide mark by the signal of a sensor which detects the guide mark. CONSTITUTION:An image sensor 50 of a truck 10 detects a guide mark 120 and marks 125 and 126. Thus the truck 10 runs along the mark 120 with control given based on the analyses of said mark detection signals. in this case, the driving power is produced only a linear motor LIM40 is positioned on a reaction plate 110 and the cart 10 runs by inertia when the LIM40 is positioned at the positions other than that of the plate 110. If a position shift occurs against the mark 120 under such conditions, the LIM40 which can freely turn in the horizontal direction is turned toward the center of the mark 120. At the same time, two pairs of lateral LIMs (not shown here) included in the part of the LIM40 reset the truck 10 toward the center of the mark 120. As a result, the truck 10 can easily run even on a curved part or a junction part.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a trackless transport vehicle using a linear motor.

[Conventional technology]

A trackless automated guided vehicle using a linear motor is rM
&B (M&E) May 1985 issue Industrial Research Association Issued May 1, 1985 No. 8
It is shown on pages 6 to 95.

This truck is supported by multiple casters and has multiple linear inductors and motors (
A LIM (hereinafter referred to as "LIM") is provided, and rear axle plates (secondary conductors) are provided on the running road side at predetermined intervals along the running direction. The truck is also provided with a plurality of photosensors that detect the reflective tape provided on the top surface of the beam axis plate. This photo sensor determines the position, speed, and direction of the cart.

Multiple LIMs are controlled by minimizing deviations from the travel path. This allows the trolley to travel at a predetermined speed and stop at a predetermined position while correcting the lateral deviation of the cart.

The plurality of LIMs are fixed to the truck at a predetermined distance from the rear axle depression plate. The plurality of LIMs have a first LIM that generates thrust in the traveling direction of one bogie. ! 2 I, I
M, and a third LIM that generates thrust in the lateral direction and is provided at the front end of the truck. In some cases, the third
A fourth LIM similar to the above LIM is installed at the rear end of the truck. The first LIM and the second LIM are provided in parallel.

Said 1st. The second LIM generates thrust in the traveling direction to make the vehicle travel. ′! J3. The fourth LIM generates lateral thrust and corrects the direction of the front and rear ends of the truck,
Correct the deviation in the S direction.

LIM is a two-phase short stator flat plate linear motor. Reactor plate is a composite conductor made by layering aluminum plates and iron plates.

The spacing between the four rear axle plates with reflective tape is wide in straight sections where high-speed running is possible, and narrow in curved sections and stop sections. The trolley is configured to detect the reflective tape and keep the transit time between the reflective tapes constant.
The running speed can be commanded by the spacing between the tapes.

In addition, in a trolley that uses a normal motor as a drive source, a photosensor for detecting signs such as guidance tape placed on the running path is installed in a frame with a steering wheel, and the photosensor is rotated horizontally together with the steering wheel. It has been known.

For example, it is shown in Japanese Unexamined Patent Publication No. 59-9711.

In addition, sensors are installed at the front and rear ends of the trolley to detect the guide wire.
A system is known that controls the steering wheels at the front and rear ends of a truck, respectively. For example, it is shown in Japanese Unexamined Patent Publication No. 59-177611.

[Problem that the invention seeks to solve]

An unmanned guided vehicle using the linear motor is lighter and has lower noise than one using a normal motor.

However, the first one for driving. a second LIM, a third for direction correction; A fourth LIM is required and two sets of LIMs are required.

In addition, the second type of bogie is designed to run on a loop-shaped running path, and it is necessary to run on a curved road in order to avoid obstacles such as machine tools.

However, it is thought that it is difficult for the above-mentioned bogie with two sets of linear motors fixedly installed to travel in a meandering manner or on a curved road.

An object of the present invention is to make it possible to easily perform low meandering travel and travel on curved roads.

Means for Solving Problem C] The above object is to provide a linear motor that generates thrust in the traveling direction so as to be rotatable in the horizontal direction, and to drive the linear motor towards the guidance sign by a signal from a sensor that detects the guidance sign. This is achieved by providing a control device for directing.

[For production]

If a positional shift occurs with respect to the guide sign, the control device horizontally rotates the linear motor and directs it toward the guide sign, so that the trolley easily returns to the guide sign. If it is a curved part, it is easy to fight the curve.

〔Example〕

An embodiment of the present invention will be described with reference to the drawings. The linear motor of this embodiment is of the induction motor type.

In FIG. 1, a linear motor carrier 10 is loaded with cargo and moves along a running path 100 in a factory or office, along a rear axis plate 110 as a secondary conductor on the running path M100. Run. Reactor templates 110 are installed at predetermined intervals.

A guidance sign 12 is placed on the rear axis plate 110.
0 is pasted.

The linear motor carrier 10 can be roughly divided into frames (
9), and a steering device 1 to which four free casters, a linear motor section, and an image sensor (equipment) are attached.
i30, and a control device ω that controls these various devices. The steering device (equipment) is installed at the front and rear of the frame.

The steering system [3[1] horizontally rotates the linear motor unit and image sensor installed at the bottom according to commands from the control device ω. As shown in Figure 2, the steering gear! I is installed on a seat suspended from two legs 31 on the back side of the frame. Rotating shaft U installed perpendicular to the boss of the seat
The linear motor section and image sensor (equipment) are at the bottom end of the
is installed. The pulleys for each motor are installed on the pulley seat n at the top of the rotary pongee style and are connected by a belt. By driving each motor, the linear motor section and the image sensor section rotate horizontally by 180 degrees.

The linear motor section φ consists of a linear LIM 41 that generates thrust in the running direction of the truck, and lateral LIMs 43a and Ob that generate thrust in the lateral direction. The lateral LIMs 43a and 43b are installed on both sides of the longitudinal center of the straight LIM 41.

The image sensor is installed at the front end of the straight-travel LIM 41, detects the guide sign 120 and marks 125, 126, and is composed of a light projector, a large number of light receivers, and the like. The image sensor detects the amount of lateral positional deviation with respect to the guide mark 120 with high precision. Further, by detecting the mark 125, the first turning branch position is recognized. mark 1
The stop position is recognized by detecting 26. The configuration of the image sensor and the control based on the detection signal of the image sensor are well known.

The control device ω horizontally turns the steering device based on the amount of positional deviation detected by the image sensor, and causes the trolley 10 to travel along the guide mark 120. Further, when a positional shift occurs with respect to the guide sign 120, the control device ω generates a thrust force against the lateral LIMs 43a and 43b so that the trolley 10 is restored.

Further, the control device ω controls the steering devices and the linear motors based on the detection signals of the marks 125 and 126.

The rear axis punching plate 110 consists of a magnetic iron plate 121 and an aluminum plate 112 attached to its upper surface. The upper surface of the aluminum plate 112 is painted green, and aluminum or stainless steel tape is pasted on the upper surface to form a guide sign 120 and marks 125, 126.

The length of the reactor plate 110 is LIM41 for straight travel.
longer than the length of The width of the rear axis plate 110 is larger than the width of the straight LIM 41, and the width of the rear axilon plate 110 is larger than the width of the straight LIM 41,
The distance is approximately from the vicinity of the tip of M 43a to the vicinity of the tip of 43b. Guidance sign 120 is Reaxilon plate 1
It is pasted at the center of the width direction of 10.

As is known, the spacing between the Reaxilon plates 110 is as follows:
Acceleration/deceleration running sections are installed at smaller intervals than constant speed running sections. The constant speed running sections are spaced at equal intervals, and the acceleration/deceleration running sections become shorter as the speed decreases.

In FIGS. 4 and 5, the aluminum plate 112 of the rear axilon plate ll0A is located at the position where the truck 10 is stopped.
Slit-shaped holes 112 a are provided at predetermined intervals along the running direction of the truck 10 . The length of the hole 112a is approximately the width of the straight LIM 41. The reactor 1 plate at this stop position is provided to improve the accuracy of stopping the truck 10, and the position of the hole 112a is precisely provided at the desired stop position. That is, the position of a desired hole (for example, the most advanced hole) among the five holes 112 a is made to coincide with the stop position. A non-magnetic sheet 116 is pasted on the upper surface of this Reaxilon plate 110A.

Figure 6 shows a linear induction motor (see below).

This figure shows an example of the configuration of a LIM (referred to as LIM), and the upper side of the figure is the rear axis brake 110 side.

A U-phase coil 46u, a V-phase coil 46v%, and a W-phase coil 46w are exposed in the primary iron core 6, which is also provided with teeth 45a and slots 45b. Each coil 46u, 46v.

46W is wound repeatedly three times as shown in the figure, and connected as shown in the figure. The switch 47 is turned off during positioning operation. Pitch beam of tooth 45a Axilan plate 1
The width of the slot 45b (the distance between the teeth 45a and 453) is the same as the pitch of the punched holes 112a in No.
(width in the running direction of the truck 10).

During acceleration, running, and deceleration, the switch 47 is closed and the U-phase coil 45u, V-phase coil 46v, and W-phase coil 45
Excite w in three phases. At the time of stop positioning, the switch 47 is opened and the V-phase coil 46 is turned on so that a static magnetic field is generated.
Two coils, V and W phase coils 45w, are excited in a single phase in series.

Now, the case where the switch 47 is opened for stopping and positioning will be explained with reference to FIG.

(A) of Fig. 7 is a wiring diagram, (B) is a diagram showing the direction and magnitude of magnetic flux, (C) and CD) show the positioning operation state, and (E) shows the positioning completion state. FIG.

■The current flows through the phase coil 46V and W phase coil 46W as shown in Figure 7 (
When flowing in the direction shown in A), the magnetic flux in the directions shown by ■ (from the front to the back of the paper) and ■ (from the back to the front of the paper) in Figure 7 (person) from the tooth 6a of the -order core is two adjacent teeth 4
5a and 45a as a pair, and each tooth 45a is skipped and generated alternately. The magnitude of the magnetic flux is approximately as shown in FIG. 7(B).

If the positional relationship between the teeth 35a of the second core and the hole 112a of the rear axle plate 110 is as shown in FIG. 5th tooth from the left end 45
Since a part of the magnetic flux generated by a passes through, the current i canceling this magnetic flux flows through the leftmost hole 112a as shown in FIG. 7(C).
Fleming's left-hand rule acts between this current i and the magnetic flux created by the fifth tooth 45a from the left, and the −th order iron core 45 (carriage 10) moves to the right. As shown in the figure, a current i is generated around the third punch hole 112a and the fourth punch hole 112a from the left, and these also generate a force to the right.

In addition, the teeth 45a of the second iron core and the rear axis plate 11
If the positional relationship of the O hole 112m is as shown in FIG. 7(D), the hole 112 at the left end of the Reaxilon plate 110
Since a part of the magnetic flux generated by the sixth tooth 45m from the left of the negative iron core passes through a, the cart 1o similarly moves to the left.

Therefore, the bogie 10 (-thus iron core 45) has a hole 112a.
No magnetic flux passes through (no change in magnetic flux) Figure 7 (113
) balance (restore) to the position.

In this case, as shown in FIGS. 7(A) and CB), the magnetic flux reverses by skipping one tooth between two adjacent teeth, so the hole 112 a of the reactor plate 110 is
The magnetic flux passing through increases, and as shown in Figure 7 (C), C
The balancing force increases from D) to Figure 7(g).

Therefore, it can be stopped at a predetermined position at high speed.

The configuration of the control device ω will be explained with reference to FIG.

The control device ω has input circuits 63, 64 . data processing unit 62,
It includes a control amount calculation section 61, motor circuits 6 and 66, and linear circuits 67 and 68.

The input port j1863.64 is a circuit that converts a highly accurate binary signal detected by the image sensor 7o into a digital signal.

Although not shown, the data processing unit 62 is composed of a processor, a program memory, and a data memory for calculation, and includes a lateral positional deviation signal converted by input circuits 63 and 64, a switching signal for the turning/branching driving mode, and This is to calculate a stop positioning signal.

The control amount calculating section 61 determines an acceleration/deceleration pattern of the traveling speed based on the control signal calculated by the data processing section, and controls the linear motor circuits 67 and 68. For example, when there is a command to start running, the vehicle is accelerated at a predetermined acceleration and the stop mark is 1.
26, the vehicle is decelerated at a predetermined deceleration and stopped. In addition, as the installation interval of the guidance sign 120, the straight section (
The high-speed traveling portions) can be provided at wide intervals, the curved portions and stopping portions are provided at small intervals, and the guide signs 120 can be made to travel at a constant speed between the installation intervals. Linear motor section 40
．． 40, the image sensor 50 starts driving each linear motor section by detecting the start end of the guide mark 120, and detects the end of the guide mark 120. This is done by stopping the drive after a predetermined time (determined by the traveling speed).

In addition, the control amount calculation unit 61 determines that the trolley 1o is
The horizontal LIM 43a runs along the horizontal direction.

The necessity, direction, and magnitude of the thrust generated by 43b are determined, and the direction of the linear motor section is determined. Lateral LI
A signal determining the thrust of M43a, 43b is output to a linear motor circuit 67.68, a signal determining the direction of the linear motor section is output to a steering circuit 6.66, and a guidance sign 120 by two image sensors 50.50 is output. A known method can be used to determine the relationship between the detection signal and the determination of the steering direction and steering amount.

The steering circuit group 66 is composed of a servo amplifier, and outputs a driving current for each steering motor to rotate the linear motor section left and right.

Linear motor rotation M67.68 is LIM41. This circuit supplies current to excite some coils of each of the lateral LIMOs a and 43b.

A switch 47 is included in the circuit that controls the straight-travel LIM 41.

According to this configuration, the trolley 10 has marks 125, 126
According to the command, the vehicle runs along the guidance sign 120.

At that time, the signals detected by the image sensor (equipment) of the guide sign 120 and marks 125, 126 are analyzed by the data processing unit 62, and from the control amount calculation 861, the linear motor circuit is activated to run with a low meandering and controlled signal. 67° group and steering rotation M65. A control signal is output to as.

The vehicle is driven by generating thrust only when the linear motor section is located on the rear axle plate 120, and coasting at other positions. The switch 47 of the straight-travel LIM 41 is turned off near the target stop position.

On the other hand, if a positional shift occurs with respect to the guidance sign 120, the linear motor section is directed toward the center of the guidance sign 120, and the lateral LIMs 43a and 43b are directed toward the center of the guidance sign 120. It generates a directed thrust. LIM41 for straight direction and LIMoa for lateral direction, 4
Since the thrust of 3b is directed toward the center of the guide #A 120, the bogie 10 quickly returns to the center, resulting in low meandering travel. Further, the lateral LIMs 43a and 43b can have a small output.

Similarly, it can easily travel on curved sections and branched sections.

In the embodiment shown in FIG.
This is a case where the position is perpendicular to 0. The bogie 10 stopped on the main running path 100 runs in a right angle direction toward the station 150. At the stop position of the main traveling path 100, there is a rear axle lamp plate 1 corresponding to each linear motor section 40, 40.
There is 10.110. This reaction plate 110
．． Two rows of rear axle lamp plates 115 are arranged from near the station 110 toward the station 150. Reference numeral 151 indicates a non-driving road portion, which includes machine tools and buildings.

Main running track 100 rear axle lamp plate 110.110
When the linear motor fR140, 40 is located above and stopped, the linear motor s40.40 (
The image sensors 50, 50) are rotated 90 degrees to the station 150 side. Next, the LIMs 41 and 41 are used to travel toward the station 1501.

According to this, the direction of the station 150 is the main traveling path 1.
00, and one trolley 10 can run even if there is no space around the station 150 in which the trolley 10 can rotate.

In addition, in each of the above embodiments, the rear axis lamp plate and the induction tape, which are secondary conductors, are arranged intermittently.
It may be laid continuously.

〔Effect of the invention〕

According to the present invention, since the linear motor can be directed toward the guide sign, it is possible to easily perform low meandering travel and curve travel.

[Brief explanation of drawings]

Fig. 1 is a perspective view of a linear motor carrier according to an embodiment of the present invention, Fig. 2 is a front view of the steering device, Fig. 3 is a plan view of the linear motor section, and Fig. 4 is a rear axle lamp plate of the stop section. FIG. 5 is a longitudinal cross-sectional view of the rear axle lamp plate of the stop portion, FIG. 6 is a configuration diagram of the linear motor for straight travel, and FIG. 7 (A), CB). (C), (D), and (g) are explanatory diagrams of the positioning operation, FIG. 8 is a configuration diagram of the control device, and FIG. 9 is a plan view showing the arrangement of the reactor and the plate. 10... Trolley, (9)... Steering device,
Xun...Linear motor section, 41...Linear motor for straight travel, 43a, 43b...1 Linear motor for lateral direction, Father...Linear image sensor, 60...
Control device, 110... Song Reaction Flute 4θ-m-S Nearmorph P 5θ-1-Image 1 Otomp 42 Fig. 43〃θ--Reaction Flute Fig. 4 O Fig. 6 Off Fig. ΔI Fig.

Claims (1)

[Claims] 1. A linear motor that generates driving force by magnetic force between it and a secondary conductor installed on the running route, a steering device equipped with the linear motor so that it can rotate freely horizontally, and a guidance sign installed on the running route. A linear motor carrier comprising: a control device that outputs a signal for horizontally turning the linear motor to the steering device based on a positional deviation signal obtained by a sensor for detecting the linear motor.