TWI221062B - Coupler-device combined with communication feeder-lines as well as moving-body moving system - Google Patents

Abstract

The stability of the combination between the communication feeder-lines and the coupler-device is attained. The communication feeder-line 2 is composed of a set of feeder-lines 2a, 2b which transmit the signals of opposite polarities. The coupler-device 4 is composed of a set of coupler-electrodes 5a, 5b which are arranged so as to hold the communication feeder-line 2. The coupler-electrode 5a is arranged so that its distance to the feeder-line 2a is smaller than the distance between the two feeder-lines 2a, 2b. The coupler-electrode 5b is arranged so that its distance to the feeder-line 2b is smaller than the distance between the two feeder-lines 2a, 2b. The potential difference between the coupler-electrodes 5a and 5b is detected by the detection-circuit 11.

Description

'Page 7 said j 6? Ν: Γγ ^ \ 93 · Rose :, / Description of the invention ~ ::: j "',:, '::: 二, 乂" (The description of the invention should state: the technical field to which the invention belongs, (Previous technology, contents, embodiments, and drawings are briefly explained) [Technical Field to which the Invention belongs] The present invention relates to a system for moving a mobile body along a predetermined path for communication used along the path. Feeder and non-contact coupling device. [Prior art] In the past, a moving body conveying system has been known in factories and the like for manufacturing articles, and conveys the moving body along a predetermined path. Furthermore, There is also known a moving body conveying system. While a communication feeder is laid along its path, a coupling device (a coupler with the feeder) for taking out signals from the communication feeder is set on the moving body, and the communication A control signal is transmitted through a feeder to control a moving body. The system having the above configuration is described in, for example, a Japanese patent application (Japanese Patent Application Laid-Open No. 7-49397). However, a known system is used. The coupling device has, for example, a coil antenna installed to face the feeder, and it is difficult to call the coupling degree high. In addition, after the relative position of the coupling device for the feeder is changed, the signal The detection sensitivity will be reduced accordingly, and the communication quality between the moving body and the control device that controls the conveyance of the moving body will be deteriorated. In addition, the deviation of the relative position of the coupling device of the feeder, for example, will not only be caused when the feeder is laid. It is caused by the setting error, and also occurs when the moving body passes through the arc conveying path.

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/ I 1—§J [Summary of the Invention] The purpose of the present invention is to stabilize the coupling between a communication feeder and a coupling device. In addition, another object of the present invention is to stabilize the communication quality using a communication credit feeder. The coupling device of the present invention is provided on a moving body that is transported along a predetermined path, and it is premised that it is combined with a communication feeder line that is laid along the path, and is provided with a first electrode and a second electrode. The first communication feeder and the second communication feeder are laid in parallel with each other and transmit reverse polarity to each other; the first electrode and the second electrode system are arranged such that at least one of them is in communication with the first communication feeder, Or at least one of the second communication feeders has a capacitive coupling. According to the coupling device having the above-mentioned structure, the first electrode and the second electrode are arranged so as to sandwich the first communication feeder and the second communication feeder that transmit signals of opposite polarities to each other. In the two-electrode aspect, potentials with opposite polarities are generated by capacitive coupling with the corresponding feeder. Therefore, when the difference between the potentials generated in the first electrode and the second electrode is detected, a larger voltage can be obtained and the sensitivity can be improved compared to a coupling device having only one electrode. In addition, when the relative position of the feeder is shifted on the first electrode side, the capacitive coupling between the first electrode and the feeder is increased, and the capacitive coupling between the second electrode and the feeder is increased. Department for reduction. On the other hand, when the relative position of the feeder is shifted on the second electrode side, the capacitive coupling between the first electrode and the feeder is reduced while the capacitance between the second electrode and the feeder is reduced. Sexual union is increased-Ί-large. However, since the potentials of the first electrode and the second electrode generate mutually opposite polarities, the potential differences are constant. Therefore, for the above-mentioned feeder line, even if the position of the coupling device is a relative displacement, the degree of coupling between these is stable. Further, in the coupling device, the first electrode system is disposed closer to the first communication feeder line than the second communication feeder line, and the second electrode system may be disposed closer to the first communication feeder line. It is closer to the second communication feeder. In addition, the first coil and the second coil may be used instead of the first electrode and the second electrode. However, in this case, the first coil and the second coil system must be connected in series with each other. [Embodiment] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. Fig. 1 is a diagram for explaining an environment used by a mobile body having a coupling device according to an embodiment of the present invention. The moving body 1 provided with the coupling device of the embodiment is, for example, a conveyance vehicle or a conveyance robot for conveying a component or a finished product in a factory that manufactures articles, and conveys it on a predetermined path. A communication feeder 2 is laid along this path. In addition, the communication feeder 2 is a metal cable for transmitting electrical signals. In addition, the communication feeder 2 transmits a control signal for controlling the mobile body 1 or a notification signal for notifying the status of the mobile body 1. However, in the following, in order to simplify the description, the control signal sent from a transmission device (for example, a control device that controls the conveyance of the mobile body 1) 3 is transmitted through a case transmitted through the communication feeder 2-8-0 Line description. The communication feeder 2 is composed of a group of feeders 2a and 2b laid in parallel with each other. As for the feeders 2a and 2b, as shown in Fig. 2, the control device is supplied with a control signal whose polarity is reversed by the transmission device 3. In addition, the function of supplying signals with mutually reversed polarities to one set of feeders can be realized by a known technique. The coupling device 4 is attached to the mobile body 丨 and is coupled to the communication feeder 2. Here, the "combination" means that the communication feeder 2 is electrically and magnetically coupled. In addition, “combination” includes both meanings of picking up a control signal transmitted via the communication feeder 2 and supplying a signal to the communication feeder 2. However, in the embodiment, it means that An example of picking up via a control signal transmitted by the communication feeder 2. FIG. 3 is a schematic diagram showing the structure of the coupling device 4. In addition, communication feeders 2 (2a, 2b) are shown as those extending in the vertical direction on the paper surface. The coupling device 4 is constituted by a set of coupling electrodes 5a and 5b arranged to hold the communication feeder 2 (2a, 2b) when the mobile body 1 is conveyed on the above path. Specifically, when the moving body 1 is conveyed on the above path, the coupling electrode 5a is closer to the feeder 2a than the feeder 2b, and the coupling electrode 5b is arranged closer to the feeder 2b than the feeder 2a. Here, the coupling electrodes 5a and 5b can be realized by, for example, a metal plate having a predetermined area. In addition, in FIG. 3, the coupling electrodes 5a, 5b have a predetermined length in a direction perpendicular to the paper surface, respectively. The coupling electrodes 5a, 5b are connected to the detection circuit 11. Here, test -9 a

The circuit 11 detects the potential difference between the coupling electrodes 5 a and 5 b. The demodulation circuit 12 is an output of the demodulation detection circuit 11. The control circuit 1 3 interprets the signal demodulated by the demodulation circuit 12 and controls the movement of the mobile body according to this. In the above configuration, the coupling electrode 5a is obtained to have a capacitive coupling between both of the feeders 2a, 2b. However, since the coupling electrode 5a is close to the feeder 2a, the capacitive coupling with the feeder 2b is weaker than the capacitive coupling with the feeder 2a. Therefore, the electrical valley coupling system between the coupling electrode 5a and the communication ift line 2 is formed to govern the capacitive coupling between the affinity electrode 5a and the communication feeder line 2a. That is, in the coupling electrode 5a, a potential corresponding to a signal transmitted through the feeder 2a is generated. Similarly, the capacitive coupling between the coupling wire 5b and the communication feeder 2 is formed to control the capacitive coupling between the coupling electrode 5b and the communication feeder 2b. That is, in the coupling electrode 5b, a potential corresponding to a signal transmitted through the feeder 2b is generated. However, in the feeders 2a and 2b, inverted signals are transmitted with mutual polarities. As a result, the coupling electrodes 5a and 5b are formed so as to have inverted potentials having mutual polarities. However, as described above, the signal transmitted through the communication feeder 2 is picked up by the coupling device 4 and is taken into the mobile body 1 as the output voltage of the coupling device 4. Here, the output voltage of the coupling device 4 is detected by the detection circuit 11 as the potential difference between the coupling electrodes 5a and 5b. On the other hand, the coupling electrodes 5a and 5b have mutually reversed potentials. Therefore, as shown in Fig. 4, compared with the case where a signal transmitted through a communication feeder using a single coupling electrode is detected-1 0-

The output voltage of the coupling device 4 obtained as the difference is formed as a large voltage. That is, the coupling device of the embodiment is such that the signal detection sensitivity is high. Thus, the coupling device of the embodiment is to increase the detection sensitivity of the signal without increasing its size. In addition, the coupling device 4 is a potential difference between the output coupling electrodes 5 a and 5 b. Therefore, even if the relative position of the coupling device 4 of the communication feeder 2 is slightly shifted, the output voltage is stable. That is, as shown in FIG. 5 (a), when the communication feeder 2 is shifted in a direction close to the coupling electrode 5a (that is, the communication feeder 2 is located in a direction away from the coupling electrode 5b), As shown in Fig. 5 (b), the potentials of the coupling electrodes 5a and 5b are uneven. Specifically, the absolute value of the potential of g 'generated at the affinity electrode 5a is increased, and the absolute value of the potential of g' generated at the coupling electrode 5b is only reduced by the aforementioned amount. However, even if the potentials at the coupling electrodes 5a and 5b are changed due to a shift in the relative position of the coupling device 4 of the communication feeder 2, the difference between them is constant. That is, the voltage between the coupling electrodes 5a and 5b detected by the detection circuit 11 shown in Fig. 3 is constant, and is the same as that in the case shown in Fig. 4. In this way, the coupling device of the embodiment can always obtain a stable signal detection sensitivity. The shape of the coupling electrodes 5a and 5b is not particularly limited. That is, the coupling electrodes 5a and 5b may have a flat plate shape as shown in FIG. 3, or may be appropriately bent to surround the communication feeder 2 as shown in FIG. 6, or Bent shapes are acceptable. At this time, if you look at the coupling electrode -11- 122

Ί :: Γ 93. 5. F H j si is formed to surround the feeder for communication. In the case of two, the signal detection can be further improved. In addition, the coupling device is composed of one set of coupling electrodes in the embodiments shown in Figs. 3 to 6, but the present invention is not limited to this type. structure. That is, the coupling device may be a coil type coupler composed of one coil as shown in FIG. 7 (a) or 7 (b). In this case, one coil 21a, 21b The system is arranged to hold the communication feeder 2 (2a, 2b).

The coil-type coupler picks up a signal by detecting a change in a magnetic flux occurring around the coil when transmitting a signal via the communication feeder 2. That is, when the magnetic flux around the communication feeder 2 changes, the induced voltage generated in the coil also changes due to this change. Therefore, the signal transmitted through the communication feeder 2 is detected by monitoring the induced voltage. .

In the system of the embodiment, signals with mutually reversed polarities are transmitted via feeders 2a, 2b. Therefore, after the coils 21a and 21b shown in Fig. 7 (a) are arranged, induced voltages of reverse polarity are generated in these coils. That is, if the coils 2 1 a and 2 1 b are appropriately connected in series in series, the absolute value 値 of the induced voltage occurring in each coil is obtained. In addition, even if the relative position of the coupling device of the communication feeder 2 is shifted in the horizontal direction on the drawing, the principle is the same as that described with reference to FIG. 5, and the output voltage of the coupling device is kept stable. Thus, even in the configuration shown in Fig. 7 (a), the same effects as those in the configurations shown in Figs. 3 to 6 can be obtained. On the other hand, when the coils 21a and 21b are arranged as shown in FIG. 7 (b), the magnetic flux system occurring around the feeders 2a and 2b can efficiently borrow -12-122 ^ 62 4 .: ?. j.- rrj

i -Second. Previous -r:,! Y-,,: >, I 1 > 1 9a 5. 27! is wj is detected by each coil ’, thereby improving signal detection sensitivity. In addition, in the above-mentioned example, an example of picking up a signal transmitted through the communication feeder 2 is described, but the coupling device of the embodiment may also supply a signal from the mobile body 1 to the communication feeder 2 Use it down. The coupling device of the embodiment is such that even when a signal is supplied from the mobile body 1 to the communication feeder 2, the same effect as when the signal is picked up from the communication feeder 2 can be enjoyed. . [Effects of the Invention] According to the present invention, even when the relative position of the coupling device is offset for the communication feeder, the combination between these is to maintain stability. Therefore, the communication quality of the communication feeder has been stable . In addition, the sensitivity of the coupling device is increased, so that the distance between the coupling device and the communication feeder can be increased, and the degree of freedom in design can be improved. [Brief description of the diagram] A schematic diagram of the environment used by a mobile body having the coupling device of the embodiment shown in FIG. 1. FIG. 2 is a schematic diagram of signals transmitted through a communication feeder. Figure 3 shows the structure of the coupling protection device. Figure 4 shows the output of the affinity device. Figures 5 (a) and (b) are schematic diagrams showing the output of the coupling device when the relative position of the coupling device for the communication feeder is shifted. FIG. 6 shows a modification of the coupling device shown in FIG. 3. Figures 7 (a) and (b) are schematic diagrams of the structure of the coupling device in other embodiments. [Description of Representative Symbols of Main Sections] -13-1221062 Replacement of Traditional Chinese and English, Month of Month, Year 1: Mobile 2 (2 a, 2 b): Communication Feeder 4: Pot Closing Device 5 a, 5 b: Coupling electrode 1 1: Detection circuit 1 2: Demodulation circuit 1 3: Control circuits 21a, 21b: Coil

Claims (1)

12 ^ 106¾ ^ in 5Γ Bu Feng.j 丄 一 价 History, · 27th Ι ^ κ »< · λ_ι_ΛΟ · _τμ ·. ____» _ Xiyi · ^. · Γ.. Λ · Μι »:-'' Pause, patent application scope No. 92 1 006 5 5" Coupling device combined with communication feeder and mobile body moving system "patent case (Amended on May 27, 1993) 1 · One for communication Feeder coupling coupling device. The affinity device is provided on a moving body that transports a predetermined path and is combined with a communication feeder line that is laid along the path. It is characterized by including a first electrode and a second electrode. The electrodes are used to clamp the first communication feeder line and the second communication feeder line that are laid in parallel with each other and transmit opposite polarities to each other; the first electrode and the second electrode system are arranged such that at least one of them is in contact with Capacitive coupling occurs between at least one of the first communication feeder or the second communication feeder. 2 · The coupling device according to item 1 of the scope of patent application, wherein the first electrode system is disposed closer to the first communication feeder line than the second communication feeder line, and the second electrode system is disposed closer to the first communication line. 1 communication feeder and closer to the second communication feeder. 3. The coupling device according to item 1 of the scope of patent application, wherein the first and second electrodes are flat. 4. The coupling device according to item 1 of the patent application range, wherein the first and second electrodes are appropriately bent or bent to surround the communication feeder. 5 · A coupling device combined with a feeder for communication, the coupling device is provided on a moving body that is transported along a predetermined path, and is laid along the above path 122: 1 Saki Nian 9ύ · I '_ Bei 27 η It is combined by a feeder, and is characterized by being provided with a first coil and a second coil for clamping the first communication feeder and the second communication feeder, which are laid in parallel with each other and transmit opposite polarities to each other. ; ± The first coil and the second coil are combined with a communication feeder connected in series. -* A mobile body moving system, in which a communication feeder is laid along a predetermined path, and the mobile body is transported based on a picked-up signal from the communication feeder, characterized in that the communication feeder is: It consists of a first communication feeder line and a second communication feeder line that are laid in parallel with each other and transmit signals of opposite polarity to each other. The above-mentioned mobile system is provided with a coupling device and includes a device for holding the communication. A first electrode and a second electrode using a feeder; and a detection circuit for detecting a difference between a potential generated by the first electrode and a potential generated by the second electrode; the first electrode and the second electrode At least one of them is arranged so as to have a capacitive coupling with at least one of the first communication feeder or the second communication feeder.