WO2020050034A1

WO2020050034A1 - Traveling system

Info

Publication number: WO2020050034A1
Application number: PCT/JP2019/032716
Authority: WO
Inventors: 康武山田; 謙治角口; 清水　哲也; 良行東
Original assignee: 村田機械株式会社
Priority date: 2018-09-07
Filing date: 2019-08-21
Publication date: 2020-03-12
Also published as: TW202021244A

Abstract

This traveling system (100) has: a cart (211) having a magnet array (225); a first armature group (121) configured by three first armatures (120a-120c) arranged in a first section (401); a second armature group (122) configured by three second armatures (120d-120f) arranged in a second section (402); two first magnetic sensors (130a, 130b) arranged between the three first armatures; two second magnetic sensors (130d, 130e) arranged between the three second armatures; a shared magnetic sensor (130c) arranged between the first armature group and the second armature group; a first controller (310) that controls the current flowing through the first armature group on the basis of the detection values of the two first magnetic sensors and the shared magnetic sensor; and a second controller (320) that controls the current flowing through the second armature group on the basis of the detection values of the two second magnetic sensors and the shared magnetic sensor.

Description

Traveling system

The present invention relates to a traveling system that causes a carriage to travel along a traveling path by a linear motor.

Patent Literature 1 includes a bogie including a row of magnets and having a mover that moves on a movement path, and a plurality of stators disposed on the movement path and each including an armature such as a three-phase synchronous motor. A mobile system is disclosed. In this mobile system, the position of the mover is measured by using a pair of Hall elements arranged at both ends of each stator, and the current flowing through each stator is individually controlled.

JP 2011-50200 A

In the moving body system disclosed in Patent Document 1, Hall elements as magnetic sensors for detecting the position of the magnet row are arranged at both ends of each stator. In a portion where a plurality of magnetic sensors are arranged between adjacent stators, it is necessary to increase the distance between the stators compared to a portion where only one magnetic sensor is arranged.

The present invention has been made in view of the above problems, and provides a traveling system that can reduce the distance between stators.

A traveling system according to an aspect of the present invention is a traveling system including a bogie that runs on a predetermined running path, and a ground-side facility including a running rail that defines the running path, wherein the bogie has a magnetic effect. And the ground-side equipment is discretely arranged along the travel path, and moves the magnet row by a magnetic action of a magnetic field generated by a current flowing through each of the magnet rows. K armatures (where K is an integer of 2 or more) and L magnetic sensors (the K armatures) that are alternately arranged along the traveling path with the K armatures and detect a magnetic field generated by the magnet row. L is an integer of 2 or more) and M controllers (M is an integer of 2 or more), and the K armatures are arranged in N pieces along the first section of the traveling path. Of the first armature (the N is 2 or more and the K ) And O second armatures (where O is greater than or equal to 2 and K) that are arranged along a second section adjacent to the first section of the travel path. (An integer less than), the L magnetic sensors are disposed between the N first armatures, and the (N-1) first magnetic sensors are disposed between the N first armatures. And (O-1) second magnetic sensors disposed between the O second armatures, and a shared magnetic field disposed between the first armature group and the second armature group. And a first controller for controlling a current flowing through the first armature group based on detection values of the (N-1) first magnetic sensors and the shared magnetic sensors. Based on the detected values of the (O-1) second magnetic sensors and the shared magnetic sensor. And a second controller for controlling the current flowing through the second armature unit.

According to this, a shared magnetic sensor that outputs a detection value to both the first controller that controls the current of the first armature group and the second controller that controls the current of the second armature group is provided by the first armature. It is provided between the group and the second armature group. For this reason, the detection value of the shared magnetic sensor is used even when the bogie straddles the first section in which the first armature group is arranged and the second section in which the second armature group is arranged. Thus, the first controller and the second controller can control the currents of the first armature group and the second armature group, respectively. Therefore, the distance between the armature groups can be reduced as compared with a configuration in which a plurality of magnetic sensors are arranged between adjacent armature groups.

In addition, the first controller may be configured such that the magnet array has at least one side of the N first armatures based on detection values of the (N-1) first magnetic sensors and the shared magnetic sensor. While determining that the magnet row is located at least one side of the N first armatures, An electric current is caused to flow through each of the armatures, and the second controller sets the magnet array to the O second electric motors based on the detection values of the (O-1) second magnetic sensors and the shared magnetic sensor. Determining whether or not the magnet row is positioned on at least one side of the O armature; and determining that the magnet row is positioned on at least one side of the O second armatures. A current may flow through each of the O second armatures.

According to this, the first controller supplies current to each of the N first armatures when the cart overlaps with at least a part of the first armature group. The second controller supplies current to each of the O second armatures when the cart overlaps at least a part of the second armature group. Therefore, when the trolley straddles the first section and the second section, the trolley can be operated efficiently.

At least one of the first section and the second section may be a curved section in which the travel path is a curve.

For example, if the first section is a curved section, in the first section, N first armatures are arranged along the curve of the traveling path. For this reason, when the magnet row aligned in a straight line of the bogie passes through the curved section, the magnet row includes a first region in which the ratio of overlapping with one armature is larger than a predetermined ratio and one armature. The second region has an overlapping ratio equal to or less than a predetermined ratio. Therefore, in order to operate the bogie efficiently, it is necessary to control the armature group so that thrust acts on the first region of the magnet row, and it is necessary to detect the position of the magnet row of the bogie more accurately. Become. In the traveling system, two magnetic sensors are arranged at both ends of one first armature group in which the first controller controls the current, and whether the bogie is located in the first section where the one armature group is arranged The determination is not made using the two magnetic sensors. In the traveling system, a magnetic sensor disposed between a plurality of first armatures constituting the one armature group and a second armature group adjacent to the one first armature group are disposed. The position of the cart is detected using the shared magnetic sensor. For this reason, the position of the bogie in the curved section where the first armature group is arranged can be accurately detected, and the bogie can be operated efficiently. Similarly, even when the second section is a curved section, the position of the bogie in the curved section in which the second armature group is arranged can be accurately detected, and the bogie can be operated efficiently.

At least one of the N pieces and the O pieces may be the number of the armatures at which the magnet rows overlap at the same time when the bogie is located in the curved section.

For this reason, when the bogie is located in a curved section, the current flowing through the first armature group constituted by the three armatures arranged adjacent to each other is controlled. Also, a large thrust can be applied to the bogie. Further, when the bogie is positioned over two sections, it is possible to obtain a combined thrust from the two armature groups equivalent to the maximum thrust of each armature group. For this reason, even when the magnet array of the cart straddles two sections including the curved section, the cart can be operated efficiently.

A traveling system according to another aspect of the present invention is a traveling system including a bogie traveling on a predetermined traveling path, and a ground-side facility including a traveling rail that defines the traveling path, wherein the bogie includes: A magnet array that moves along the travel path under a magnetic action, wherein the ground-side equipment is discretely arranged along the travel path, and the magnet array is magnetically generated by a magnetic field generated by a current flowing through each of the magnet rows; A plurality of armatures to move, a plurality of magnetic sensors arranged alternately with the plurality of armatures along the traveling path, and a plurality of magnetic sensors for detecting a magnetic field by the magnet array, and a current flowing through one or more armatures. And a plurality of controllers for controlling, and a part of the plurality of magnetic sensors outputs detection values to both of a pair of controllers for controlling a current to a pair of armatures sandwiching the magnetic sensors.

According to this, a magnetic sensor that outputs a detection value to both the pair of controllers that controls the currents of the pair of armatures is provided between the pair of armatures. For this reason, even when the bogie straddles the pair of armatures, the pair of controllers can control the current of the pair of armatures using the detection value of the magnetic sensor. . Therefore, the distance between the armature groups can be reduced as compared with a configuration in which a plurality of magnetic sensors are arranged between adjacent armature groups.

The traveling system of the present invention can reduce the distance between the armature groups as compared with a configuration in which a plurality of magnetic sensors are arranged between the armature groups.

FIG. 1 is a perspective view showing a traveling system according to the embodiment. FIG. 2 is a diagram illustrating the ground equipment and the bogie of the traveling device according to the embodiment from the traveling direction. FIG. 3 is a plan view of the traveling system according to the embodiment except for a traveling rail. FIG. 4 is a plan view showing a case where the bogie exists at a position straddling different curved sections in the traveling system according to the embodiment. FIG. 5 is a diagram illustrating the magnitude of the thrust exerted on the magnet row according to the position of the magnet row, which is obtained from three armatures forming one armature group in the embodiment. FIG. 6 is a diagram illustrating a configuration of the armature according to the embodiment. FIG. 7 is a diagram showing the magnitude of the thrust exerted on the magnet array according to the position of the magnet array, obtained from the two armature groups in the embodiment. FIG. 8 is a plan view of a traveling system according to a modified example excluding a traveling rail.

Next, an embodiment of the traveling device according to the present invention will be described with reference to the drawings. Each of the embodiments described below shows a comprehensive or specific example. Numerical values, shapes, materials, constituent elements, arrangement positions and connection forms of constituent elements, steps, order of steps, and the like shown in the following embodiments are merely examples, and do not limit the present invention. In addition, among the components in the following embodiments, components not described in the independent claims indicating the highest concept are described as arbitrary components.

In addition, the drawings are schematic diagrams in which emphasis, omission, and adjustment of ratios are appropriately performed to show the present invention, and may be different from actual shapes, positional relationships, and ratios.

FIG. 1 is a perspective view showing the traveling system. FIG. 2 is a diagram illustrating the ground-side equipment of the traveling device and the bogie from the traveling direction. In the following figures, the traveling direction of the straight section in the traveling system 100 is defined as the X-axis direction, the direction substantially perpendicular to the traveling direction in the horizontal direction is defined as the Y-axis direction, and the vertical direction is defined as the Z-axis direction.

As shown in these drawings, a traveling system 100 according to the present embodiment holds a product 10 along a traveling path (for example, a part of an oval-shaped traveling path is shown in FIG. 1). It travels to the transfer space 101 and transfers the article 10.

The traveling system 100 is a system including a cart 211, a transfer mechanism 212 attached to the cart 211, and a carry-in device 400 for carrying the article 10 into the predetermined transfer space 101.

The carry-in device 400 is a device that carries the article 10 to the carriage 211 arranged in the transfer space 101 in a direction (Y-axis direction) intersecting with the traveling path. The type of the loading device 400 is not particularly limited, and in the case of the present embodiment, a belt conveyor is employed. In addition, the carry-in device 400 keeps the article 10 at a position upstream of the flow of the article 10 and accelerates the article 10 to a predetermined speed based on information that the carriage 211 arrives at the transfer space 101, The article 10 can be carried into the carriage 211 in the transfer space 101.

The traveling system 100 is a device that causes the plurality of carriages 211 to travel along a traveling path by using a linear motor. The traveling system 100 includes ground-side facilities that form a traveling path, and a bogie 211 that travels along the traveling path. The ground-side equipment is provided with a traveling rail 110 that defines a traveling path, a plurality of armatures 120 arranged along the traveling path, and a plurality of armatures 120 arranged alternately along the traveling path. And a plurality of magnetic sensors 130 for detecting a magnetic field by the H.225.

The carriage 211 travels along a traveling path defined by the traveling rail 110. In the case of the present embodiment, the carriage 211 does not include a battery or an electric motor. The drive source for running the carriage 211 is a linear motor that obtains a driving force in the running direction by an external magnetic action. Specifically, the cart 211 includes a magnet row 225 in which a plurality of permanent magnets are arranged. The magnet array 225 of the carriage 211 generates a thrust in the traveling direction by receiving a magnetic action from the armature 120 arranged continuously or discretely along the traveling path of the carriage 211. As a result, the carriage 211 travels along the traveling path.

The magnet row 225 is constituted by, for example, a plurality of permanent magnets. The plurality of permanent magnets constituting the magnet row 225 are arranged side by side in the traveling direction with respect to the carriage 211. Specifically, the plurality of permanent magnets forming the magnet row 225 are arranged in a straight line along the traveling direction of the carriage 211. In the case of the present embodiment, two magnet rows 225 of the carriage 211 are arranged in the Z-axis direction so as to sandwich the armature 120 (see FIG. 2). In other words, in the magnet row 225, a plurality of permanent magnets are arranged on both sides of the armature 120 in the running direction. The plurality of permanent magnets arranged on one side of the armature 120 have a Halbach array, and are arranged on the side facing the armature 120 such that N poles and S poles are alternately oriented. Further, the plurality of permanent magnets arranged on the other side of the armature 120 have a Halbach array in which the arrangement of N poles and S poles is different from the plurality of permanent magnets arranged on one side. The magnet array 225 may be arranged only on one side of the armature 120.

The cart 211 includes a base 219 serving as a structural base. The transfer mechanism 212 and the transfer movable element 213 are attached to the base 219 in addition to the magnet row 225. Further, four wheels 218 mounted on the traveling rail 110 and rolling are attached to a lower portion of the base 219 of the carriage 211.

The transfer mechanism 212 is provided on the carriage 211, receives the article 10 from the carry-in device 400 in the transfer space 101 set in the traveling path, moves the article 10 to a predetermined location in the carriage 211, and This is a mechanism for moving the article 10 conveyed by the carriage 211 in the mounting space 101 to an unloading device (not shown). Although the type of the transfer mechanism 212 is not particularly limited, in the case of the present embodiment, the transfer mechanism 212 is a so-called belt that can move the article 10 in a direction orthogonal to the traveling direction of the carriage 211. It is a conveyor. The transfer mechanism 212 is driven by an endless annular member 221 that moves the article 10 in a mounted state, a pair of rollers 222 that circulates the endless annular member 221 along a predetermined track, and a transfer stator 224. And a transmission member 223 for transmitting a driving force from the transfer movable element 213 to one roller 222.

The transfer mechanism 212 is not limited to the above. For example, a roller conveyor without the endless annular member 221 may be used.

The traveling rail 110 is a member for forming a traveling path on which the carriage 211 travels. Although the shape of the traveling rail 110 is not particularly limited, in the case of the present embodiment, it is a long member. The traveling rail 110 is made of, for example, a metal such as aluminum or an aluminum alloy. Note that the traveling rail 110 may be made of another metal or resin. In the present embodiment, although partially omitted in FIG. 1, the travel rail 110 forms, for example, a track-like travel path, and the travel path has a straight section and a circular section. And a curve section which is a curve. In the case of the present embodiment, the curved section has a semicircular arc shape, and the running rails 110 arranged in the curved section are also curved in a semicircular arc shape and are arranged inside and outside the curved section in parallel.

FIG. 3 is a plan view of the traveling system without the traveling rail.

FIG. 3 shows armatures 120a to 120i, 124a to 124d, magnetic sensors 130a to 130i, 131a to 131d, and

controllers

310, 320, 330, 341 to 344 as ground-side facilities. FIG. 3 shows one carriage 211.

In FIG. 3, the plurality of armatures 120 described in FIG. 1 and FIG. 2 will be described as armatures 120a to 120i and 124a to 124d, which have different reference numerals depending on the arrangement position. Similarly, in FIG. 3, the plurality of magnetic sensors 130 described in FIG. 1 will be described as magnetic sensors 130a to 130i and 131a to 131d assigned different reference numerals depending on the arrangement position. Although a part of the traveling system 100 is not shown in FIG. 3, the numbers of armatures, magnetic sensors, and controllers included in the entire traveling system 100 may be described as K, L, and M, respectively.

１３As shown in FIG. 3, the thirteen armatures 120a to 120i and 124a to 124d are arranged discretely over the entire traveling path. Here, that the armatures are discretely arranged means that the configuration of the coil or the like that substantially functions as the armature is discretely arranged. For example, the package (base member) of the armature is common. May be constituted. Of the thirteen armatures 120a to 120i and 124a to 124d, nine armatures 120a to 120i are arranged in first to third sections 401 to 403 in which the running path is a curved section, and four The armatures 124a to 124d are arranged in fourth and

fifth sections

404 and 405 in which the traveling path is a straight section. The intervals at which the nine armatures 120a to 120i arranged in the first to third sections 401 to 403 are discretely arranged are the interval at which the

armatures

124a and 124b are discretely arranged in the fourth section 404, and the armature 124c. , 124d are smaller than the intervals at which the discrete intervals are arranged in the fifth section 405. This is because in the fourth and

fifth sections

404 and 405, the linearly extending magnet rows 225 can easily overlap with the plurality of armatures 120 arranged in a straight line at the same time, whereas the first to This is because in the third sections 401 to 403, it is difficult for the linearly extending magnet row 225 to overlap with the plurality of armatures 120 arranged in a curved line at the same time. That is, in the first to third sections 401 to 403, the number of the armatures 120 per unit distance of the traveling path is arranged more than in the fourth and

fifth sections

404 and 405, so that the magnet array of the bogie 211 is arranged. It is adjusted so that the magnetic action on 225 works more.

The # 9 armatures 120a to 120i include a first armature group 121, a second armature group 122, and a third armature group 123. The first armature group 121 includes N (N is an integer of 2 or more and less than L, and 3 in the present embodiment) N adjacent first along the first section 401 of the traveling path. It is composed of armatures 120a to 120c. The second armature group 122 includes O pieces (O is an integer of 2 or more and less than L, which are arranged adjacent to each other along the second section 402 adjacent to the first section 401 of the traveling path. In the embodiment, it is constituted by the second armatures 120d to 120f of 3). The third armature group 123 includes three third armatures 120g to 120i arranged adjacent to each other along a third section 403 adjacent to the second section 402 of the traveling road.

The thirteen magnetic sensors 130a to 130i and 131a to 131d are discretely arranged over the entire travel path similarly to the thirteen armatures 120a to 120i and 124a to 124d, and the thirteen armatures 120a to 120i are arranged. , 124a to 124d. The thirteen armatures 120a to 120i, 124a to 124d and the thirteen magnetic sensors 130a to 130i, 131a to 131d overlap each other in a direction substantially perpendicular to the traveling direction (the Z-axis direction in the present embodiment). Is located without. The nine magnetic sensors 130a to 130i include (N-1) (two in the present embodiment) first

magnetic sensors

130a and 130b and (O-1) (two in the present embodiment). , The second

magnetic sensors

130d and 130e, the two third

magnetic sensors

130g and 130h, the shared

magnetic sensors

130c and 130f, and the magnetic sensor 130i. The two first

magnetic sensors

130a and 130b are arranged in the first section 401 between the three first armatures 120a to 120c. The two second

magnetic sensors

130d and 130e are arranged in the second section 402 between the three second armatures 120d to 120f. The two third

magnetic sensors

130g and 130h are arranged in the third section 403 between the three third armatures 120g to 120i. The shared magnetic sensor 130c is arranged between the first armature group 121 and the second armature group 122. That is, the shared magnetic sensor 130c is arranged near the boundary between the first section 401 and the second section 402. The shared magnetic sensor 130f is arranged between the second armature group 122 and the third armature group 123. That is, the shared magnetic sensor 130f is arranged near the boundary between the second section 402 and the third section 403. The magnetic sensor 130i is arranged between the third armature group 123 and the armature 124c.

The 13 magnetic sensors 130a to 130i and 131a to 131d are arranged on one side (for example, the front side in the traveling direction) of the 13 armatures 120a to 120i and 124a to 124d. Conversely, the thirteen magnetic sensors 130a to 130i, 131a to 131d may be disposed on the other side (for example, on the rear side in the traveling direction) of the thirteen armatures 120a to 120i, 124a to 124d, respectively.

The thirteen magnetic sensors 130a to 130i and 131a to 131d may be formed integrally with the thirteen armatures 120a to 120i and 124a to 124d, respectively. Thus, by arranging the assembly in which the armature and the magnetic sensor are paired, the armature and the magnetic sensor can be arranged at a time, so that the thirteen armatures 120a to 120i, 124a to 124d, and 13 The labor required for arranging the magnetic sensors 130a to 130i and 131a to 131d can be reduced.

The seven

controllers

310, 320, 330, and 341 to 344 are connected to the thirteen armatures 120a to 120i and 124a to 124d in accordance with the detection values obtained by the thirteen magnetic sensors 130a to 130i and 131a to 131d. Control the flowing current. Thus, the seven

controllers

310, 320, 330, 341 to 344 control the traveling of the carriage 211.

The # 7

controllers

310, 320, 330, 341 to 344 include a first controller 310, a second controller 320, and a third controller 330.

The first controller 310 controls a current flowing through the first armature group 121 based on detection values of the two first

magnetic sensors

130a and 130b and the shared magnetic sensor 130c. The first controller 310 detects the position of the bogie 211 in the first section 401 of the traveling path from the detection values of the two first

magnetic sensors

130a and 130b and the shared magnetic sensor 130c, and according to the detected position of the bogie 211. By controlling the current flowing through the first armature group 121, the thrust by the magnetic action acting on the carriage 211 is controlled. For example, based on the detection values of the two first

magnetic sensors

130a and 130b and the shared magnetic sensor 130c, the first controller 310 determines that the magnet array 225 of the carriage 211 has at least one of the three first armatures 120a to 120c. It is determined whether it is located on one side (in this embodiment, above). While the first controller 310 determines that the magnet array 225 is located on at least one side of the three first armatures 120a to 120c, the three first armatures 120a to 120c are determined. Apply current to each of the. At this time, the first controller 310 starts flowing current to the first armature 120a at the timing when the magnet array 225 enters above the first armature 120a, and the magnet array 225 retreats from above the first armature 120a. At the timing, the current is completely passed through the first armature 120a. The first controller 310 similarly controls the current for the

first armatures

120b and 120c.

As described later, in the armature 120 adjacent to each other in the same armature group, the U-phase, V-phase, and W-phase coils are electrically connected to each other. An equal current flows through one

armature

120a, 120b, 120c. The first controller 310 controls the current flowing through the

first armatures

120a, 120b, 120c such that the speed (positional deviation) of the bogie 211 is substantially constant by the thrusts of the

first armatures

120a, 120b, 120c. . As a result, a change in thrust due to the individual armatures shown in FIG. 5 is obtained. However, when a predetermined current is applied to the

first armatures

120a, 120b, and 120c as described later with reference to FIG. Since the thrust given to the carriage 211 by the

first armatures

120a, 120b, 120c is substantially constant regardless of the position of the carriage 211, controlling the current flowing through the

first armatures

120a, 120b, 120c allows the carriage to be controlled. The speed of 211 can be made substantially constant. The change in thrust reflects the size of the area where each armature and the magnet row 225 overlap.

The first controller 310 is electrically connected to the relay board 311 communicably connected to the two first

magnetic sensors

130a and 130b and the shared magnetic sensor 130c, and to the first armature group 121. And an amplifier substrate 312. The relay board 311 and the amplifier board 312 are communicably connected so that the amplifier board 312 can acquire detection values from the magnetic sensors 130a to 130c connected to the relay board 311 via the relay board 311. I have. The amplifier board 312 controls the magnitude of the current supplied to the first armature group 121 using the detection values obtained from the magnetic sensors 130a to 130c in the relay board 311. The amplifier board 312 is connected to a power supply (not shown), and power is supplied from the power supply. Note that the relay board 311 and the amplifier board 312 may be formed of the same board.

The second controller 320 controls the current flowing through the second armature group 122 based on the detection values of the two second

magnetic sensors

130d and 130e and the shared

magnetic sensors

130c and 130f. The second controller 320 detects the position of the bogie 211 in the second section 402 of the traveling path from the detection values of the two second

magnetic sensors

130d and 130e and the shared

magnetic sensors

130c and 130f, and By controlling the current flowing through the second armature group 122 accordingly, the thrust by the magnetic action acting on the carriage 211 is controlled. For example, based on the detection values of the two second

magnetic sensors

130d and 130e and the shared

magnetic sensors

130c and 130f, the second controller 320 generates the magnet array 225 of the bogie 211 with the three second armatures 120d to 120f. It is determined whether or not it is positioned on at least one side (in this embodiment, above). The second controller 320 determines that the magnet array 225 is located on at least one side of the three second armatures 120d to 120f while the three second armatures 120d to 120f. Apply current to each of the. At this time, the second controller 320 starts flowing a current to the second armature 120d at a timing when the magnet array 225 enters above the second armature 120d, and the magnet array 225 retreats from above the second armature 120d. At the timing, the current is completely passed through the second armature 120d. The second controller 320 similarly controls the current for the

first armatures

120e and 120f. As a result, a change in thrust by each armature shown in FIG. 5 is obtained.

Specifically, the second controller 320 electrically connects the second armature group 122 with the relay board 321 communicably connected to the two second

magnetic sensors

130d and 130e and the shared

magnetic sensors

130c and 130f. And an amplifier substrate 322 connected to the The relay board 321 and the amplifier board 322 are communicably connected so that the amplifier board 322 can acquire detection values from the magnetic sensors 130c to 130f connected to the relay board 321 via the relay board 321. I have. The amplifier board 322 controls the magnitude of the current supplied to the second armature group 122 using the detection values from the magnetic sensors 130c to 130f acquired by the relay board 321. The amplifier board 322 is connected to a power supply (not shown), and is supplied with power from the power supply. Note that the relay board 321 and the amplifier board 322 may be formed of the same board.

The third controller 330 controls the current flowing through the second armature group 122 based on the detection values of the two third

magnetic sensors

130g and 130h, the shared magnetic sensor 130f, and the magnetic sensor 130i. The third controller 330 detects the position of the bogie 211 in the third section 403 of the traveling path from the detection values of the two third

magnetic sensors

130g and 130h, the shared magnetic sensor 130f, and the magnetic sensor 130i, and detects the detected bogie 211 By controlling the current flowing through the third armature group 123 in accordance with the position of, the thrust by the magnetic action acting on the carriage 211 is controlled. For example, based on the detection values of the two third

magnetic sensors

130g and 130h, the shared magnetic sensor 130f, and the magnetic sensor 130i, the third controller 330 includes three magnet arrays 225 of the carriage 211 and three third armatures 120g. It is determined whether or not it is located on at least one side (upper in the present embodiment) of .about.120i. The third controller 330 determines that the magnet array 225 is located on at least one side of the three third armatures 120g to 120i while the three third armatures 120g to 120i. Apply current to each of the. At this time, the third controller 330 starts flowing a current to the third armature 120g at the timing when the magnet array 225 enters above the third armature 120g, and the magnet array 225 retreats from above the third armature 120g. At the timing, the current is completely passed through the third armature 120g. The third controller 330 controls the current for the

first armatures

120h and 120i in the same manner. As a result, a change in thrust by each armature shown in FIG. 5 is obtained.

Specifically, the third controller 330 includes a relay board 331 communicably connected to the two third

magnetic sensors

130g and 130h, the shared magnetic sensor 130f, and the magnetic sensor 130i, and the third armature group 123 And an amplifier board 332 that is electrically connected to the amplifier board 332. The relay board 331 and the amplifier board 332 are communicably connected so that the amplifier board 332 can acquire detection values from the magnetic sensors 130f to 130i connected to the relay board 331 via the relay board 331. . The amplifier board 332 controls the magnitude of the current supplied to the third armature group 123 using the detection values obtained from the magnetic sensors 130f to 130i in the relay board 331. The amplifier board 332 is connected to a power supply (not shown), and is supplied with power from the power supply. Note that the relay board 331 and the amplifier board 332 may be formed of the same board.

Each of the controllers 310 to 330 controls the operation of one carriage 211 at an arbitrary time. For this reason, when one carriage 211 exists at a position corresponding to one armature group, the arrangement of each armature and the carriage so that the other carriage 211 cannot enter the position corresponding to the armature group. The dimensions etc. are defined.

Here, the thrust obtained by one armature group controlled by each of the controllers 310 to 330 will be described.

FIG. 4 is a plan view showing a case where the bogie exists at a position straddling different curved sections in the traveling system according to the embodiment. FIG. 5 is a diagram illustrating the magnitude of the thrust exerted on the magnet row according to the position of the magnet row, which is obtained from three armatures forming one armature group in the embodiment. FIG. 7 is a diagram showing the magnitude of the thrust exerted on the magnet array according to the position of the magnet array, obtained from the two armature groups in the embodiment.

The first to

third controllers

310, 320, and 330 flow through first to third armature groups 121 to 123 each of which includes three armatures arranged in first to third sections 401 to 403, respectively. The current is controlled by the three armatures in conjunction. Here, the number of armatures constituting each armature group 121 to 123 controlled by each of the

controllers

310, 320 and 330 is determined when the bogie 211 is located in the corresponding first to third section 401 to 403. The number of armatures 225 of 211 magnet rows are set to the number of armatures overlapping at the same time.

In the present embodiment, as shown in FIG. 4, when the magnet row 225 of the carriage 211 is located in the first to third sections 401 to 403, it can overlap with a maximum of three armatures. Therefore, the number of armatures whose current is controlled by one controller at a time is set to three. Further, as shown in FIG. 5, one armature group is composed of three armatures arranged adjacent to each other, so that a larger thrust can be obtained than when a current is individually supplied to each armature. Can be

In addition, for example, as shown in FIG. 4, at a position straddling a first section 401 where the first armature group 121 is arranged and a second section 402 where the second armature group 122 is arranged. When the carriage 211 is present, the magnet array 225 is located above the

first armatures

120b and 120c and the second armature 120d, and the

magnetic sensors

130b and 130c detect the magnet array 225. In this case, the detection values detected by the

magnetic sensors

130b and 130c are input to the first controller 310. On the other hand, none of the magnetic sensors 130d to 130f detect the magnet array 225, but the detection value detected by the shared magnetic sensor 130c is input to the second controller 320.

That is, the detection value detected by the shared magnetic sensor 130c is output to both the first controller 310 and the second controller 320, so that the carriage 211 straddles the first section 401 and the second section 402. Even in this case, the second controller 320 can start to supply current to the second armature group 122 while the first controller 310 keeps supplying current to the first armature group 121. Thus, even when the carriage 211 straddles the first section 401 and the second section 402, as shown in FIG. 7, the maximum thrust of each of the

armature groups

121 and 122 is equal to the thrust. Thus, a combined thrust from the two

armature groups

121 and 122 can be obtained.

FIG. 7 illustrates the magnitude of the thrust obtained from the

first armatures

120a, 120b, 120c and the

second armatures

120d, 120e, 120f. As shown in FIG. 3, since the magnetic sensor 130 is disposed at a position shifted (offset) in the traveling direction of the traveling path with respect to the armature 120, for example, the magnetic sensor 130 is disposed at the

second armature

120 d, 120 e, 120 f. In the configuration in which the

magnetic sensors

130d, 130e, and 130f detect correspondingly, the operation range by the armature and the detection range by the magnetic sensor are shifted. Therefore, in this embodiment, as shown in FIG. 7, for example, the

magnetic sensors

130c, 130d, 130e, and 130f detect the

second armatures

120d, 120e, and 120f, respectively. That is, the detection results of the

magnetic sensors

130c, 130d, 130e, and 130f are input to the second controller 320 that controls the

second armatures

120d, 120e, and 120f. Thus, the operation range of the armature can be reliably covered by the detection range of the magnetic sensor.

In the curved section as shown in FIG. 4, the area where the individual armature overlaps the magnet row 225 tends to be smaller than the area in the straight section, and the direction of the armature and the direction of the magnet row 225 may not be aligned. Therefore, the thrust obtained from each armature tends to be smaller than the thrust in the straight section. Therefore, in a curved section, it is highly necessary to obtain a combined thrust from a plurality of armatures. As described above, the first controller 310 and the second controller 320 transmit the current to the first armature group 121 and the second armature group 122 when the shared magnetic sensor 130c detects the magnet array 225 of the carriage 211. Since the current flows, the cart 211 can be operated efficiently when the magnet array 225 of the cart 211 straddles the first section 401 and the second section 402.

#The four controllers 341 to 344 control the current flowing through the four armatures 124a to 124d based on the detection values of the four magnetic sensors 131a to 131d, respectively. The four controllers 341 to 344 are respectively connected to the four magnetic sensors 131a to 131d and the four armatures 124a to 124d in a one-to-one correspondence.

The seven

controllers

310, 320, 330, and 341 to 344 are connected to a higher-level controller (not shown), and control the traveling of the bogie 211 by receiving control signals corresponding to the respective control results from the higher-level controller. Good. In addition, the seven

controllers

310, 320, 330, 341 to 344 may be communicably connected to each other, and may control the traveling of the bogie 211 according to the control results of each other.

The communication-enabled connection in the present embodiment is a wired connection or a wireless connection capable of exchanging control signals.

Here, the configuration of the armatures 120a to 120i will be described with reference to FIG.

FIG. 6 is a diagram showing a configuration of the armature according to the embodiment.

As shown in FIG. 6, each of the armatures 120a to 120i is, for example, a three-phase synchronous motor having three coils of a U-phase coil 120aa, a V-phase coil 120ab, and a W-phase coil 120ac. is there. These coils 120aa, 120ab, 120ac are arranged side by side in the traveling direction of the traveling path without overlapping each other. The width of each of the armatures 120a to 120i in the running direction is smaller than the width of the magnet array 225 in the running direction. Further, in the armatures 120 adjacent to each other in the same armature group, for example, in the

armatures

120a and 120b adjacent to each other in the first armature group 121, the U-phase, V-phase, and W-phase coils are mutually connected. It is electrically connected. That is, the U-phase coil 120aa in the armature 120a and the U-phase coil 120ba in the armature 120b are the same as the V-phase coil 120ab in the armature 120a and the V-phase coil 120bb in the armature 120b. The W-phase coil 120ac and the W-phase coil 120bc in the armature 120b are electrically connected to each other. With this configuration, currents of the same magnitude flow through the U-phase, V-phase, and W-phase coils of each armature in the same armature group.

Although not shown, the armatures 124a to 124d are three-phase synchronous motors having six coils including two U-phase coils, two V-phase coils, and two W-phase coils. . These six coils are arranged side by side in the traveling direction of the traveling path without overlapping each other. The armatures 124a to 124d only need to include at least one U-phase, V-phase, and W-phase coil, and are not limited to a configuration having six coils. For example, a configuration having 3P (P is a natural number) coils, such as a configuration having nine coils, may be used.

According to traveling system 100 according to the present embodiment, between first armature group 121 and second armature group 122, first controller 310 that controls the current of first armature group 121, The shared magnetic sensor 130c that outputs a detection value to the second controller 320 that controls the current of the second armature group 122 is provided. For this reason, even when the carriage 211 straddles the first section 401 where the first armature group 121 is arranged and the second section 402 where the second armature group 122 is arranged, the shared magnetic sensor Using the detected value of 130c, the first controller 310 and the second controller 320 can control the current of the first armature group 121 and the second armature group 122, respectively. Therefore, the number of magnetic sensors used in the traveling system 100 can be reduced, and the distance between the armature groups, that is, each armature group can be reduced, as compared with a configuration in which a plurality of magnetic sensors are arranged between adjacent armature groups. The distance between the armatures located at the ends can be reduced.

As described above, the first controller 310 and the second controller 320 also use the detection values of the shared magnetic sensor 130c arranged near the boundary between the first section 401 and the second section 402 to generate the first armature group 121 and the second armature group. Since the current of the second armature group 122 is controlled, the corresponding armature group can be appropriately controlled even when the bogie is located near the boundary between the first section 401 and the second section 402. . Therefore, a change in the speed of the bogie 211 (fluctuation in position deviation) can be suppressed in a transition portion between the adjacent armature groups, and the bogie 211 operates efficiently in the traveling system 100 using a controller having less than the number of armatures. Can be done.

Further, according to traveling system 100 according to the present embodiment, first controller 310 determines whether three first magnets 225 of bogie 211 overlap with at least a part of first armature group 121. A current is applied to each of the armatures 120a to 120c. The second controller 320 supplies a current to each of the three second armatures 120d to 120f when the magnet array 225 of the carriage 211 overlaps at least a part of the second armature group 122. Therefore, when the magnet array 225 of the cart 211 straddles the first section 401 and the second section 402, the cart 211 can be operated efficiently.

Further, according to traveling system 100 according to the present embodiment, at least one of first section 401 in which first armature group 121 is arranged and second section 402 in which second armature group 122 is arranged. , Is a curved section in which the travel path is a curve. In the first section 401 and the second section 402, the three first armatures 120a to 120c and the three second armatures 120d to 120f are arranged along the curve of the traveling path, so that the carriage 211 When the magnet array 225 arranged in a straight line passes through the first section 401 and the second section 402, the magnet array 225 includes a first region in which the ratio of overlapping with one armature is larger than a predetermined ratio and one magnet region. And the second region having a ratio overlapping with the armature of the first region is equal to or less than a predetermined ratio. For this reason, in order to operate the carriage 211 efficiently, it is necessary to control the armature group so that the thrust acts on the first region of the magnet row 225. Therefore, the position of the magnet row 225 of the carriage 211 is more accurately determined. It needs to be detected. In the traveling system 100, the first controller 310 arranges two magnetic sensors at both ends of one first armature group 121 for controlling current, and the one armature group 121 is arranged by the two magnetic sensors.

Magnetic sensors

130a, 130b arranged between the plurality of first armatures 120a to 120c constituting the one armature group 121, instead of detecting whether or not the carriage 211 is located in the section where The position of the carriage 211 is detected by using the shared magnetic sensor 130c disposed between the one first armature group 121 and the second armature group 122 adjacent thereto. For this reason, the position of the carriage 211 in the first section 401 where the first armature group 121 is arranged can be accurately detected, and the carriage 211 can be operated efficiently.

Further, according to the traveling system according to the present embodiment, the number of the armatures constituting each armature group 121 to 123 controlled by each of the

controllers

310, 320, and 330 is the first to third armatures corresponding to the bogie 211. When positioned in the sections 401 to 403, the magnet row 225 of the carriage 211 is set to the number of armatures overlapping at the same time. For this reason, when the bogie 211 is located in the first section 401, the current flowing through the first armature group 121 composed of three adjacent armatures is controlled. A larger thrust can be applied to the bogie 211 than a current flows. Further, when the bogie 211 is located across the first section 401 and the second section 402, the cart is synthesized from the two

armature groups

121 and 122 equivalent to the maximum thrust of the

individual armature groups

121 and 122. Thrust can be obtained. Therefore, even when the magnet array 225 of the carriage 211 straddles the first section 401 and the second section 402, the carriage 211 can be operated efficiently.

In the present embodiment, the traveling direction of the bogie 211 has been described as one-way from the section 404 to the section 405 through the

sections

401, 402, and 403 in FIG. 3, but the armatures 120a to 120i, The relative arrangement of the magnetic sensors 124a to 124d and the magnetic sensors 130a to 130i and 131a to 131d does not change. That is, the bogie 211 can travel from the section 405 to the section 404 via the

sections

403, 402, and 401 with the layout of the traveling system shown in FIG.

The present invention is not limited to the above embodiment. For example, another embodiment that is realized by arbitrarily combining the components described in this specification and excluding some of the components may be an embodiment of the present invention. In addition, the gist of the present invention with respect to the above-described embodiment, that is, modified examples obtained by performing various modifications conceivable by those skilled in the art without departing from the meaning indicated by the words described in the claims are also included in the present invention. It is.

As is clear from the above embodiment, the relationship between the first and

second armature groups

121 and 122, the magnetic sensors 130a to 130f, and the first and

second controllers

310 and 320 is the same as that of the second armature group 122. , The third armature group 123, the magnetic sensors 130c to 130i, and the second and third controllers 330. That is, the structure in which the detection value of the shared magnetic sensor is input to two controllers that control the armature groups adjacent to each other may be repeatedly provided two or more times in the traveling system.

For example, in the above embodiment, the first controller 310 and the second controller 320 are connected to the shared magnetic sensor 130c, but the present invention is not limited to this. As shown in FIG. 8, even when a configuration is adopted in which the relay board 311A of the first controller 310A is connected to the shared magnetic sensor 130c and the relay board 321A of the second controller 320A is not connected to the shared magnetic sensor 130c. Good. In this case, the relay board 311A of the first controller 310A is communicably connected to the relay board 321A of the second controller 320A, and outputs a detection value obtained from each of the magnetic sensors 130a to 130c to the relay board 321A. You may. Even with such a configuration, the second controller 320A can obtain the detection value of the shared magnetic sensor 130c.

Similarly, the second controller 320 and the third controller 330 are connected to the shared magnetic sensor 130f, but are not limited to this. A configuration in which the relay board 321A of the second controller 320A is connected to the shared magnetic sensor 130f and the relay board 331A of the third controller 330A is not connected to the shared magnetic sensor 130f may be adopted. In this case, the relay board 321A of the second controller 320A is communicably connected to the relay board 331A of the third controller 330A, and outputs detection values obtained from the magnetic sensors 130d to 130f to the relay board 331A. You may. Even with such a configuration, the third controller 330A can obtain the detection value of the shared magnetic sensor 130f.

FIG. 8 is a plan view of the traveling system according to the modified example excluding the traveling rail.

Although not shown, each of the relay boards of the first to third controllers may be formed of one and the same board. Even with such a configuration, the second controller can obtain the detection value of the shared magnetic sensor 130c, and the third controller can obtain the detection value of the shared magnetic sensor 130f.

In the above embodiment, the number of armatures controlled by each controller is three, but in a modified example, it may be four or more, or may be one. When the number is one, each magnetic sensor outputs a detection value to both of a pair of controllers that control a current to a pair of armatures sandwiching the magnetic sensor.

In the above embodiment, each armature 120 includes one set of UVW-phase coils. However, in a modified example, two or more sets of UVW-phase coils may be provided. In this case, each set of UVW phase coils may be physically independent. That is, each armature 120 may be configured as an aggregate of a plurality of armatures.

The present invention can be used for facilities that transport goods at high speed, such as distribution bases, automatic warehouses, factories, and the like.

Reference Signs List 10 Article 100 Travel system 101 Transfer space 110 Travel rails 120, 120a to 120i, 124a to 124d Armature 120aa U-phase coil 120ab V-phase coil 120ac W-phase coil 121 First armature group 122 Second armature group 123

Third armature group

130, 130a to 130i, 131a to 131d Magnetic sensor 211 Carriage 212 Transfer mechanism 213 Transfer movable element 218 Wheel 219 Base 221 Endless annular member 222 Roller 223 Transmission member 224 Transfer stator 225

Magnet arrays

310,

310A First controllers

311, 311A, 321, 321A, 331,

331A Relay boards

312, 322, 332

Amplifier boards

320,

320A Second controllers

330, 330A Third controllers 341-344 Controller 401 first section 402 second interval 403 third section 404 fourth section 405 fifth section

Claims

A traveling system including a bogie that travels on a predetermined traveling path and a ground-side facility including a traveling rail that defines the traveling path,
The cart has a magnet row that moves along the traveling path under a magnetic action,
The ground-side equipment includes:
K armatures (K is an integer of 2 or more) that are discretely arranged along the traveling path and move the magnet array by a magnetic effect of a magnetic field generated by a current flowing through each of the armatures;
L magnetic sensors (the L is an integer of 2 or more) that are alternately arranged with the K armatures along the traveling path and detect a magnetic field generated by the magnet row;
M controllers (M is an integer of 2 or more),
The K armatures are a first armature group including N first armatures (N is an integer of 2 or more and less than K) arranged along a first section of the traveling path. And a second armature composed of O second armatures (where O is an integer greater than or equal to 2 and less than K) arranged along a second section adjacent to the first section of the travel path. Group and
The L magnetic sensors are disposed between (N-1) first magnetic sensors disposed between the N first armatures and the O second armatures ( O-1) second magnetic sensors, and a shared magnetic sensor disposed between the first armature group and the second armature group,
The M controllers include a first controller that controls a current flowing through the first armature group based on detection values of the (N−1) first magnetic sensors and the shared magnetic sensor, and the (O) -1) A traveling system including: a second controller that controls a current flowing through the second armature group based on detection values of the second magnetic sensors and the shared magnetic sensor.
The first controller includes:
Based on the detection values of the (N-1) first magnetic sensors and the shared magnetic sensor, whether or not the magnet array is located on at least one side of the N first armatures Judge,
Applying a current to each of the N first armatures while determining that the magnet array is located on at least one side of the N first armatures;
The second controller includes:
Based on the detection values of the (O-1) second magnetic sensors and the shared magnetic sensor, it is determined whether or not the magnet array is located at least on one side of the O second armatures. Judge,
The current flows through each of the O second armatures while determining that the magnet array is located at least on one side of the O second armatures. Traveling system.
The traveling system according to claim 1, wherein at least one of the first section and the second section is a curved section in which the traveling path is a curve.
The traveling system according to claim 3, wherein at least one of the N pieces and the O pieces is the number of the armatures in which the magnet rows overlap at the same time when the bogie is located in the curved section.
A traveling system including a bogie that travels on a predetermined traveling path and a ground-side facility including a traveling rail that defines the traveling path,
The cart has a magnet row that moves along the traveling path under a magnetic action,
The ground-side equipment includes:
A plurality of armatures that are discretely arranged along the traveling path and move the magnet array by magnetic action of a magnetic field generated by a current flowing therethrough,
A plurality of magnetic sensors arranged alternately with the plurality of armatures along the traveling path and detecting a magnetic field by the magnet row,
A plurality of controllers for controlling the current flowing through one or more armatures,
A traveling system in which a part of the plurality of magnetic sensors outputs detection values to both a pair of controllers that control a current to a pair of armatures sandwiching the magnetic sensors.