KR20100116851A - Branch operation apparatus for moving cart - Google Patents

Abstract

PURPOSE: A branch operation apparatus of a moving cart, which freely branch-operates a branch truck, is provided to prevent the interference of driving of cart a head. CONSTITUTION: A branch operation apparatus of a moving cart comprises a transfer vehicle track, a rotary actuator(422A), a shaft(423), a mount bracket(428), an outer branch wheel(424A) and a inner branch wheel(424B). The transfer vehicle track comprises one or more branched parts. The mount bracket moves in a straight line using a shaft in a horizontal direction.

Description

BRANCH OPERATION APPARATUS FOR MOVING CART}

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a branch track driving technology of a transport truck, and more particularly, to a branch running device of a transport truck provided with a track having a branch section and allowing the transport truck to branch freely on a branch track.

In general, the transport cart is installed with the transport track and used for the purpose of transporting logistics, and a linear motor may be used as a driving device of the transport cart.

Recently, thanks to the rapid growth of the semiconductor and LCD industries, research and development have been carried out to improve the logistics transfer efficiency and system reliability. As a result, the transfer balance can be applied to curved transfer tracks.

1 is a schematic illustration showing that the transport cart is driven on a track according to the prior art.

The feed cart 117 includes a linear motor 110, a travel wheel 115, a rotary encoder 120 for detecting the rotational speed of the travel wheel 115, a sensor unit 130, a memory unit 140, and a controller. 150 is provided. In addition, a stator 112 of the linear motor is continuously disposed on a track on which the mover of the linear motor is installed and operated in the transport cart 117. In addition, the absolute position detection object 135 is installed in parallel with the travel path of the transport cart 117 for position detection, and the sensor detection objects 132A and 132B for determining the straight section and the curved section. .

Figure 2 is a perspective view schematically showing a linear motor and a peripheral device installed in the lower portion of the transfer cart by the prior art.

A plurality of mover cores 212 and permanent magnets 214 are alternately arranged in the first buggy 202a and a pair of first movers 210a and 210b wound around the mover windings 216 that receive current from the outside. ) Is integrally fixed and the first buggy 202a is rotatably fixed to the front end portion of the transport cart 117 in the traveling direction.

The traveling wheel 220 includes a pair of wheels on both sides of the first movers 210a and 210b and is rotatably installed in the first buggy 202a.

The side wheels 230 are respectively installed at both front and rear ends of the first buggy 202a to prevent departure of the transport cart 117 during driving.

The linear motor 110 is driven by a magnetic force acting between the stator 112 installed on the track and the mover core 212 on the first buggy 202a, whereby the traveling wheel 220 is rotated and transported. The bogie 117 travels forward or backward along the track.

On the other hand, the second buggy 202b having the same configuration as the mover, the driving wheel, the rotary encoder, and the side wheel coupled to the first buggy 202a is rotatably installed at the rear end of the transport cart 117 in the traveling direction. do.

As described above, in the transportation system of the conventional transport trolley, the transport trolley transports the logistics while traveling on one track consisting of a straight section and a curved section.

However, in order to move more logistics, several transport trucks are operated on the track, but in the case of a system consisting of a single track having no branching section as in the prior art, if a problem occurs in one of the transport trucks It also affects the logistics transfer of other transfer trucks, which makes it difficult to improve the overall logistics transfer efficiency. Therefore, a branch section is required to operate a more efficient transport balance during logistics transfer.

Accordingly, an object of the present invention is to provide a track having a branch section and a driving device and a switching device for branching operation in the transport cart, and to drive the transport device according to the branch command in the transport direction. It is to drive.

The objects of the present invention are not limited to the above-mentioned objects. Other objects and advantages of the invention will be more clearly understood by the following description.

The present invention for achieving the above object,

A linear motor for simultaneously generating both a linear driving force and a curved driving force for driving the branch section;

A transport trolley track having at least one branch section;

A branch rotation actuator installed on the buggy of the transport cart and rotating by a branch command;

A shaft rotatably installed on a drive shaft of the branch rotation actuator and rotating in a horizontal direction by a predetermined angle;

A Y-shaped mounting bracket for linearly moving by a predetermined distance in the horizontal direction by the shaft;

Outer branch wheels which are respectively installed at both ends of the Y-shaped mounting bracket and guide the drive along the outer branch rail so that the transport cart travels to the outer track according to the horizontal movement of the Y-shaped mounting bracket, and the inner branch to travel by the inner track. Characterized in that it comprises an inner branch wheel that guides along the rail.

The present invention includes a track having a branching section and a driving device and a switching device for branching operation in the transport cart, so that the transport cart can divert to the desired direction by driving the switching device according to the branch command. By doing so, the transport cart has the effect of moving without disturbing the flow of the transport truck without going back far by using a branch track when running to another transport point.

Therefore, there is an effect that can maximize the transport efficiency of the transport cart when operating a plurality of transport carts on the track.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

3 illustrates an example of a track having a branch section according to the present invention, and there may be various tracks having a branch section. Here, a track including a transport track 301 and two branch tracks 302 is illustrated. It is shown as.

In this case, there are four first-fourth quarter sections 303A-303D, and since the plurality of transfer trucks 304 may be branched as described below, the transfer track 301 and the branch track 302 may be separated. It is possible to drive freely.

The stator 305 of the linear motor is manufactured and arranged in a structure capable of generating both a linear section driving force and a curved section driving force in the first to fourth quarter sections 303A to 303D.

Figure 4 is a block diagram showing an embodiment of the branch running device of the transfer bogie, as shown therein, a linear motor 417 for generating power for driving the transfer bogie 304, the transfer bogie 304 on the track A branch operation operation unit for performing a switching function such that the transfer cart 304 branches in the corresponding direction when a branch command is received through the position sensor unit 418 and the wireless receiver 401 for detecting the traveling position of the vehicle ( 422).

When the position command is received from the host controller through the wireless receiving unit 401 of the optional transport cart 304, the position / speed command profile generator 402 outputs the position command profile to one terminal of the subtractor 403. In addition, the speed command profile is output to the other terminal of the switch 405.

The subtractor 403 is a position value input from the position / speed command profile generator 402.

The current position value input from the current position calculator 419 is subtracted and the result value is output.

The position controller 404 generates a speed command corresponding to the difference value output from the subtractor 403 and outputs it to one terminal of the switch 405.

The subtractor 406 subtracts the current position value input from the current position calculator 419 from the position command value output from the radio receiver 401 and outputs the result value.

The absolute value size determining unit 407 determines the absolute value size of the subtraction result value output from the subtractor 406 and outputs the result to the position / speed control unit 408.

The position / speed control unit 408 selects the speed command output from the position control unit 404 by switching the movable terminal of the switch 405 according to the absolute value determination signal output from the absolute value determination unit 407. The speed command output from the position / speed command profile generator 402 is selected and output.

The speed calculator 409 differentially processes the current position value output from the current position calculator 419 and outputs the current speed value accordingly.

The subtractor 410 subtracts the current speed value output from the speed calculator 409 from the speed command value output from the position / speed controller 408 and outputs the subtraction result value.

The speed controller 411 generates and outputs a thrust command corresponding to the speed command value output from the subtractor 410.

The current command generation unit 412 outputs a mover A phase current command and a mover B phase current command corresponding to the speed command output from the speed control unit 411, and the mover position input from the branch section position calculation unit 421. Based on the information, the higher current command value is output in the curved section than in the straight section.

The subtractor 413A subtracts the actual A phase current value of the linear motor 417 from the mover A phase current command value output from the current command generator 412 and outputs the resultant value. Another subtractor 413B subtracts the actual B-phase current value of the linear motor 417 from the mover B-phase current command value output from the current command generator 412 and outputs the result value.

The current controller 414 outputs the A and B phase voltage command values corresponding to the A and B phase current commands respectively outputted from the subtractors 413A and 413B, and is output from the speed calculator 409. The speed value and the position information of the mover output from the branch section position calculating unit 421 are output.

The pulse width modulated signal generator 415 outputs a pulse width modulated (PWM) signal corresponding to the A and B phase voltage command values output from the current controller 414.

The power stack 416 supplies a current corresponding to the pulse width modulated signals of the A and B phases output from the pulse width modulated signal generator 415 to the linear motor 417.

Accordingly, the linear motor 417 is rotated at the target speed required by the higher level control device, whereby the transport cart 304 runs the transport track 301 or the branch track 302 at the target speed, and logistics. Will carry.

The position sensor unit 418 is a rotary encoder for detecting the number of revolutions of the travel wheel of the feed cart 304, an optical absolute position detector for measuring the absolute position value of the feed cart 304, and a straight line on the track. And a section determination sensor for detecting a boundary between the section and the curve section.

The current position calculator 419 outputs a current position value for indicating an absolute position on the track based on the output signal of the position sensor 418.

In contrast, the current section determination unit 420 determines the current section on the track based on the output signal of the position sensor unit 418 and outputs the determination signal.

The branch section position calculator 421 calculates and outputs the position information of the linear motor mover of the current section based on the current section determination signal output from the current section determining section 420.

The linear motor 417 is driven by the series of control processes as described above, whereby the transport cart 304 runs the transport track 301 or the branch track 302.

On the other hand, when a branch instruction is received from the upper level control device to the transport cart 304, the branch operation operation unit 422 is operated, thereby branching to the corresponding track among the tracks on which the transport cart 304 is branched. This will be described in detail with reference to FIGS. 5 and 6 as follows.

Figure 5a is a longitudinal cross-sectional view showing a coupling state of the branch wheel and the branch rail when the transport cart is running along the outer track, Figure 5b is a longitudinal cross-sectional view showing a coupling state of the branch wheel and the branch rail when the transport cart is running along the inner track.

Figure 6a is a plan view showing a coupling state of the branch wheel and the branch rail when the transport cart is running along the outer track, Figure 6b is a plan view showing a coupling state of the branch wheel and the branch rail when the transport cart is running along the inner track.

As shown in FIGS. 5 and 6, a driving apparatus for branching operation of a transport cart according to the present invention is provided.

A branch rotation actuator (422A) installed on the buggy of the feed cart and rotating by the branch command;

A shaft 423 rotatably installed on a drive shaft of the branch rotation actuator 422A and rotating in a horizontal direction by a predetermined angle;

A Y-shaped mounting bracket 428 linearly moving by a predetermined distance in the horizontal direction by the shaft 423;

It is installed at both ends of the Y-shaped mounting bracket 428, the outer side for guiding along the outer branch rail (425A) so that the transport cart travels to the transport track 301 in accordance with the movement of the Y-shaped mounting bracket 428 Branching wheel 424A, and

It is configured to include an inner branch wheel 424B for guiding along the inner branch rail 425B to travel to the inner track 302.

The shaft 423 is normally switched in the right direction (2 o'clock) as in FIG. 6A or left switched in the left direction (10 o'clock) as in FIG. 6B.

For example, when the shaft 423 is switched in the right direction as in FIG. 6A, the inner branch wheel 424B is isolated from the inner branch rail 425B, while the outer branch wheel 424A is the outer branch rail. Since the guide runs in close contact with the 425A, the transport cart 304 continues to travel the transport track 301.

On the contrary, when the shaft 423 is switched to the left as shown in FIG. 6B, the outer branch wheel 424A is isolated from the outer branch rail 425A, while the inner branch wheel 424B is connected to the inner branch rail ( Since the guided travel in close contact with the 425B, the transport cart 304 continues to travel the inner track 302.

Referring to the operation of the branch running in such a state, for example, the shaft 423 is switched to the right direction as shown in Figure 6a, the transport cart 304 is running in the transport track 301 If the branch instruction is received from the upper control device before reaching the first quarter section 303A, the branch operation is performed to the inner track 302 through the following process.

That is, when the transfer cart 304 reaches the first branch section 303A while driving the branch track 301, the branch operation operation unit 422 branches when a branch instruction is received from the upper control unit. The branch rotation actuator 422A is driven in advance in order to drive from the straight section before the section entry to the lower branch section.

The branch rotary actuator 422A can be implemented in various ways, preferably implemented by a driving element such as a solenoid or a motor.

Thereby, the shaft 423 is switched to the left direction as shown in Figure 6b. Accordingly, the outer branch wheel 424A is isolated from the outer branch rail 425A, while the inner branch wheel 424B is switched to the inner branch rail 425B.

For reference, in the track section in which the shaft 423 is switched, since the vertical extension surfaces of the outer branch rail 425A and the inner branch rail 425B are omitted, the outer branch wheel 424A or the inner branch wheel 424B is It is possible to move freely in the horizontal direction.

In this state, when the feed cart 304 is driven a little further by the drive of the linear motor, the inner branch wheel 424B starts the guide driving in close contact with the inner branch rail 425B. 304 is branched to the inner track 302.

As another example, before the shaft 423 reaches the first branch section 303A in a state in which the feed cart 304 is traveling on the inner track 302, as shown in FIG. When the branch command is issued from the upper control device, the branch operation is performed to the transfer track 301 through the following process.

That is, when the transfer command 304 reaches the first branch section 303A while driving the branch track 302, the branch operation operation unit 422 receives a branch instruction from the host controller. The branch rotation actuator 422A is driven in advance in order to drive the branched section from the straight section before entering the branch section.

As a result, the shaft 423 is switched in the right direction as shown in FIG. 6A. Accordingly, the inner branch wheel 424A is isolated from the inner branch rail 425B, while the outer branch wheel 424A is switched to the outer branch rail 425A.

In this state, when the feed cart 304 is driven a little further by the drive of the linear motor, the outer branch wheel 424A starts guided driving in close contact with the outer branch rail 425A. 304 is branched to the transfer track 301.

Although the preferred embodiment of the present invention has been described in detail above, the scope of the present invention is not limited thereto, and may be implemented in various embodiments based on the basic concept of the present invention defined in the following claims. Such embodiments are also within the scope of the present invention.

Figure 1 is a schematic illustration showing that the transport cart is running on the track by the prior art.

Figure 2 is a perspective view schematically showing a linear motor and a peripheral device installed in the lower portion of the transport cart by the prior art.

3 is an exemplary view of a track having a branch section according to the present invention.

Figure 4 is a block diagram of a branch running device of the transport cart according to the present invention.

Figure 5a is a longitudinal cross-sectional view showing a coupling state of the branch wheel and the branch rail when the transport cart travels along the transport track in the present invention.

Figure 5b is a longitudinal cross-sectional view showing a combined state of the branch wheel and the branch rail when the transport cart travels along the branch track in the present invention.

Figure 6a is a plan view showing a coupling state of the branch wheel and the branch rail when the transport cart travels along the transport track in the present invention.

Figure 6b is a plan view showing a coupling state of the branch wheel and the branch rail when the transport cart travels along the branch track in the present invention.

*** Description of the symbols for the main parts of the drawings ***

301: transfer track 302: branch track

303A-303D: Branch section 305: Stator

401: wireless receiver 402: position / speed command profile generator

403: subtractor 404: position control unit

405: switch 406,410,413A, 413B: subtractor

407: absolute value determination unit 408: position / speed control unit

409: speed calculator 411: speed controller

412: current command generator 413: current controller

415: width modulation signal generator 416: power stack

417: linear motor 418: position sensor

419: current position calculation unit 420: current section determination unit

421: branch calculation position calculation unit 422: branch operation operation unit

423: shaft 424A: outer branch wheel

424B: Inner branch wheel 425A: Outer branch rail

425B: Inner branch rail 426: Side wheel

427: driving wheel 428: mover

Claims (8)

A transport trolley track having at least one branch section; A branch rotation actuator installed on the buggy of the feed cart and rotating by a branch command; A shaft rotatably installed on a drive shaft of the branch rotation actuator and rotating in a horizontal direction by a predetermined angle; A mounting bracket for linearly moving by a predetermined distance in the horizontal direction by the shaft; A transport cart provided at each end of the mounting bracket, the outer branch wheel and the inner branch wheel for guiding the transport cart to travel by a transport track or a branch track according to the horizontal movement of the mounting bracket; Branch running device. 2. The branch running apparatus of claim 1, wherein the straight section stator and the curved section stator are arranged to be connected to the branch section of the track so as to generate the driving force required in the straight section and the curved section. The branch running apparatus of claim 1, wherein the branch rotation actuator is a solenoid. The branch running apparatus of claim 1, wherein the branch instruction is wirelessly transmitted from the host controller. The branch running apparatus of claim 1, wherein the outer branch wheel and the inner branch wheel are each provided in plural numbers. The branch running apparatus according to claim 1, wherein the mounting bracket has a Y-shaped structure. The divergent driving device according to claim 1, wherein the outer branch wheel guides along the outer branch rail, and the inner branch wheels guide along the inner branch rail. The branch running apparatus of claim 7, wherein the outer branch rails and the inner branch rails have a structure in which a vertical extension surface is omitted in an operation section of the branch rotation actuator.

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