WO2023095578A1 - 駆動装置、可動子、制御方法、制御プログラム - Google Patents

駆動装置、可動子、制御方法、制御プログラム Download PDF

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Publication number
WO2023095578A1
WO2023095578A1 PCT/JP2022/040955 JP2022040955W WO2023095578A1 WO 2023095578 A1 WO2023095578 A1 WO 2023095578A1 JP 2022040955 W JP2022040955 W JP 2022040955W WO 2023095578 A1 WO2023095578 A1 WO 2023095578A1
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WO
WIPO (PCT)
Prior art keywords
error
related information
mover
stator
positioning
Prior art date
Application number
PCT/JP2022/040955
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
将 山崎
崇大 川合
Original Assignee
住友重機械工業株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 住友重機械工業株式会社 filed Critical 住友重機械工業株式会社
Priority to JP2023563592A priority Critical patent/JPWO2023095578A1/ja
Publication of WO2023095578A1 publication Critical patent/WO2023095578A1/ja

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G54/00—Non-mechanical conveyors not otherwise provided for
    • B65G54/02—Non-mechanical conveyors not otherwise provided for electrostatic, electric, or magnetic
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
    • H02K41/02—Linear motors; Sectional motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
    • H02K41/02—Linear motors; Sectional motors
    • H02K41/03—Synchronous motors; Motors moving step by step; Reluctance motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
    • H02P25/06—Linear motors
    • H02P25/064—Linear motors of the synchronous type

Definitions

  • the present invention relates to a driving device and the like having a stator and a mover.
  • Patent Document 1 discloses a linear motor having a stator and a mover.
  • a permanent magnet is provided in the stator that constitutes the rail, and an electromagnet is provided in the mover that can move along the rail. Displacement of the mover on the rail is detected by the displacement sensor provided on the mover measuring a periodic uneven sensor target provided on the stator.
  • the objects to be transported may be liquid or powder. It is necessary to improve the waterproof and dustproof performance of the mover. In this case, it is not preferable to mount an electronic component such as a displacement sensor, which is vulnerable to water and dust, and a circuit board on the mover as in Patent Document 1. Therefore, it is conceivable to provide a positioning device such as a displacement sensor on the stator and provide a sensor target or the like as a positioning target of the positioning device on the mover. However, an error in attaching the positioning target to the mover lowers the accuracy of measuring the position of the mover by the positioning device.
  • the present invention has been made in view of such circumstances, and its purpose is to provide a driving device or the like that can improve the positioning accuracy of a mover to which a positioning target is attached.
  • a driving device is a driving device comprising a stator and a mover driven with respect to the stator, wherein a positioning target attached to the mover; A positioning device provided on a child for measuring the position of a positioning target; an error-related information holding unit provided on the mover for holding error-related information relating to mounting error of the positioning target with respect to the mover; , and an error-related information reading unit capable of reading the error-related information.
  • the error-related information related to the mounting error of the positioning target with respect to the mover is held in the error-related information holding unit of the mover and read by the error-related information reading unit of the stator provided with the positioning device.
  • the stator side can grasp both the positioning result of the positioning target by the positioning device and the installation error of the positioning target mover based on the error-related information, the positioning accuracy of the mover can be improved.
  • This mover is a mover that is driven with respect to the stator, and is a positioning target whose position is measured by a positioning device provided on the stator, and an error-related information reading unit provided on the stator that can read, and an error-related information holding unit that holds error-related information related to the mounting error of the positioning target with respect to the mover.
  • Yet another aspect of the present invention is a control method for a driving device.
  • This method is a control method for a drive device that includes a stator and a mover that is driven with respect to the stator. a positioning step of reading error-related information related to the attachment error of the positioning target with respect to the mover from the part; a positioning step of measuring the position of the positioning target by a positioning device provided on the stator; and an error correction step of correcting the position of the positioning target based on the mounting error based on the error-related information read in the error-related information reading step, and calculating the position of the mover.
  • FIG. 1 is a perspective view showing the overall structure of a linear transfer system;
  • FIG. 1 schematically shows a first embodiment of mounting error management; An example of error-related information is shown.
  • FIG. 4 schematically shows a second embodiment of mounting error management;
  • FIG. 1 is a perspective view showing the overall structure of a linear transfer system;
  • FIG. 1 schematically shows a first embodiment of mounting error management;
  • An example of error-related information is shown.
  • FIG. 4 schematically shows a second embodiment of mounting error management;
  • FIG. 1 is a perspective view showing the overall structure of a linear transfer system 1, which is one aspect of the driving device according to the present invention.
  • the linear transfer system 1 includes a stator 2 that constitutes an annular rail or track, and a plurality of movers 3A, 3B, 3C, and 3D (hereinafter referred to as moveable collectively referred to as child 3).
  • An electromagnet or coil provided on the stator 2 and a permanent magnet provided on the mover 3 face each other to form a linear motor along an annular rail.
  • the rail formed by the stator 2 may have any shape other than the annular shape.
  • the rails may be linear or curved, one rail may branch into a plurality of rails, or a plurality of rails may merge into one rail.
  • the rails formed by the stator 2 can be installed in any direction. In the example of FIG. It may be arranged in the plane of the corner or in the curved surface.
  • the stator 2 has a rail surface 21 whose normal direction is the horizontal direction.
  • the rail surface 21 extends in a belt shape along the direction of rail formation, and when forming an annular rail as in the example of FIG.
  • a plurality of electromagnets are embedded continuously or periodically in the rail surface 21 that can form a rail of any shape.
  • a drive current such as a three-phase alternating current is passed through these many electromagnets, a moving magnetic field is generated that linearly drives the mover 3 provided with permanent magnets in a desired tangential direction along the rail.
  • the normal direction of the rail surface 21 forming the annular rail in the horizontal plane is the horizontal direction, but the normal direction of the rail surface 21 may be the vertical direction or any other arbitrary direction.
  • the positioning unit 22 provided on the upper surface or the lower surface perpendicular to the rail surface 21 has a plurality of magnetic positioning units capable of measuring the position of a magnetic scale (described later) as a positioning target attached to the mover 3.
  • Devices (not shown) are implanted continuously or periodically.
  • a magnetic positioning device for positioning a magnetic scale formed by a striped magnetic pattern with a constant pitch generally includes a plurality of magnetic detection heads.
  • the magnetic positioning device can measure the position of the magnetic scale with high accuracy by shifting the intervals of the plurality of magnetic detection heads with respect to the pitch or period of the magnetic pattern of the magnetic scale. In a typical magnetic positioning device provided with two magnetic detection heads, for example, the distance between the two magnetic detection heads is shifted by 1/4 pitch with respect to the magnetic pattern of the magnetic scale (the phase is shifted by 90 degrees). .
  • the positioning device provided on the stator 2 and the positioning target attached to the mover 3 are not limited to the magnetic system as described above, and may be optical or other systems.
  • the mover 3 is attached with an optical scale formed by a striped pattern with a constant pitch
  • the stator 2 is provided with an optical positioning device capable of optically reading the striped pattern of the optical scale.
  • the positioning device measures the positioning target (magnetic scale or optical scale) without contact. It is possible to reduce the risk of malfunction of the positioning device when it enters.
  • the optical method if the optical scale is covered by a transported object such as liquid or powder that has entered the positioning location, the positioning accuracy will deteriorate. It is preferable to use a magnetic type that does not deteriorate the positioning accuracy.
  • the mover 3 includes a mover main body 31 facing the rail surface 21 of the stator 2, a portion to be measured 32 projecting horizontally from the top of the mover main body 31 and facing the positioning portion 22 of the stator 2, On the side opposite to the positioning section 32 (the side farther from the stator 2), a conveying section 33 is provided that extends horizontally from the mover main body 31 and on which an object to be conveyed is placed or fixed.
  • the mover main body 31 includes one or more permanent magnets (not shown) facing the plurality of electromagnets embedded in the rail surface 21 of the stator 2 along the rail. Since the moving magnetic field generated by the electromagnet of the stator 2 applies linear force in the rail tangential direction to the permanent magnet of the mover 3 , the mover 3 is linearly driven along the rail surface 21 with respect to the stator 2 .
  • a magnetic scale or an optical scale as a positioning target is provided on the positioning target portion 32 of the mover 3 so as to face the positioning device provided on the positioning portion 22 of the stator 2 .
  • a positioning target such as a magnetic scale is attached to the lower surface of the positioning target portion 32 of the mover 3 .
  • the positioning section 22 and the positioning target section 32 are magnetic, the magnetic field between the electromagnet of the rail surface 21 and the permanent magnet of the mover main body 31 does not affect the magnetic positioning of the positioning section 22 and the positioning target section 32.
  • the mover 3 is provided with a wireless tag, bar code, QR code (trademark), etc. as an error-related information holding unit, which will be described later.
  • the error-related information holding unit is provided at an arbitrary position that can be read by an error-related information reading unit, which is provided in the stator 2 and will be described later. It may be provided together with a positioning target such as a magnetic scale on the lower surface of the positioning target portion 32 facing each other, or may be provided on the lower surface of the transport portion 33 (in this case, an additional structure facing the lower surface of the transport portion 33 may be provided). is provided in the stator 2, and an error-related information reading section is provided there).
  • FIG. 1 Although four movers 3A, 3B, 3C, and 3D are illustrated in FIG. 1, for example, in a linear transport system 1 that transports a large number of small objects, more than 1,000 movers 3 may be required. is assumed. As described above, a positioning target such as a magnetic scale is attached to each mover 3 , but different attachment errors can occur for each mover 3 . As the number of movers 3 increases, the management of mounting errors becomes extremely complicated. As will be described in detail below, according to the present embodiment, mounting errors of a positioning target such as a magnetic scale to each mover 3 can be efficiently managed.
  • a positioning target such as a magnetic scale
  • FIG. 2 schematically shows a first embodiment of mounting error management.
  • N N is a natural number equal to or greater than 2
  • movers 3-1, 3-2, . 321-1, 321-2 .
  • Sn be the center position or reference position of the n-th magnetic scale 321-n.
  • the mounting error ⁇ n of the n-th magnetic scale 321-n with respect to the mover 3-n is expressed as Pn-Sn.
  • Wireless tags 34-1, 34-2, . . . , 34-N (hereinafter, wireless tags 34 ) is provided.
  • the n-th wireless tag 34-n has an error related to the mounting error ⁇ n of the n-th magnetic scale 321-n with respect to the n-th mover 3-n (hereinafter, ⁇ 1, ⁇ 2, . Holds relevant information.
  • the error-related information in this embodiment includes a set of identification information and mounting error ⁇ n of each mover 3-n.
  • FIG. 3 shows an example of error-related information.
  • the first wireless tag 34-1 has a mover ID "1" as identification information of the first mover 3-1 and an attachment error ⁇ 1 "+ 1mm” pairs.
  • the second wireless tag 34-2 has a mover ID "2" as identification information of the second mover 3-2 and an attachment error ⁇ 2 "- 3mm” pairs.
  • the N-th wireless tag 34-N has a mover ID "N” as identification information of the N-th mover 3-N and an attachment error ⁇ N "+ 2mm” pairs.
  • each wireless tag 34 The error-related information as described above is recorded in each wireless tag 34 at the time of manufacture or shipment of each mover 3 or at the time of attachment of each magnetic scale 321 .
  • the mounting error ⁇ or offset of each magnetic scale 321 with respect to each mover 3 is measured when each mover 3 is manufactured or shipped, or when each magnetic scale 321 is attached. Recorded.
  • the error-related information held in the wireless tag 34 of each mover 3 is read by the error-related information reading section 24 provided in the stator 2 .
  • the error-related information reading unit 24 is a radio receiver capable of receiving a radio signal including error-related information from each wireless tag 34 using RFID (radio frequency identifier) technology. Since the error-related information held in the wireless tag 34 of each mover 3 is fixed information that does not change as shown in FIG. It is sufficient to read the error-related information only once before. Therefore, as schematically shown in FIG. 2, unlike the magnetic positioning device 221 provided so as to face substantially the entire lateral movement path of each mover 3, the error-related information reading unit 24 provided to face part of the
  • the linear transport system 1 having many movers 3-1, 3-2, . . . , 3-N collectively when the linear transport system 1 is started.
  • the wireless tags 34-1, 34-2 By sequentially driving the movers 3-1, 3-2, . Error-related information of the movers 3-1, 3-2, . . . , 3-N can be obtained efficiently.
  • the error-related information reading unit 24 provided in the stator 2 and the error-related information holding unit (wireless tag 34) provided in the mover 3 are not limited to the above wireless or radio wave type, and may be optical or other methods. It's okay.
  • the optical type at least a one-dimensional code such as a one-dimensional bar code or a two-dimensional QR code (trademark) that records error-related information is attached to the mover 3 as an error-related information storage unit.
  • An optically readable optical reader or code scanner is provided on the stator 2 as an error-related information reader 24 .
  • the error-related information reading unit 24 reads the error-related information without contact. It is possible to reduce the risk of failure etc.
  • the optical method if the code is covered by a transported object such as liquid or powder that has entered the reading area, the reading accuracy will deteriorate. It is preferable to use a wireless system that does not deteriorate accuracy.
  • the drive control unit 26 compares the accurate current position Pn of the n-th mover 3-n calculated by the error correction unit 25 with a position command for the n-th mover 3-n generated by a host controller (not shown). , generates a drive current for reducing the deviation between the two, and applies it to the electromagnet near the current position Pn of the n-th mover 3-n.
  • FIG. 4 schematically shows a second embodiment of mounting error management.
  • Each wireless tag 34 as an error-related information holding unit holds identification information of each mover 3 as error-related information.
  • a set of the identification information of each mover 3 and the mounting error ⁇ was included in the error-related information, but in this embodiment, the mounting error ⁇ is not included in the error-related information.
  • Identification information (mover ID) of each mover 3 as error-related information held in the wireless tag 34 of each mover 3 is read by the error-related information reading section 24 provided in the stator 2 .
  • the error acquisition unit 27 acquires the mounting error ⁇ of the mover 3 from the error holding unit 4 based on the identification information of the mover 3 read by the error-related information reading unit 24 .
  • the error holding unit 4 is composed of a storage device within the linear transport system 1 or a storage device outside the linear transport system 1 that can be accessed by the linear transport system 1 via an information communication network such as the Internet. Keep a set of information and mounting error ⁇ .
  • the mounting error ⁇ or offset of each mover 3 is measured at the time of manufacture or shipment of each mover 3 or at the time of mounting each magnetic scale 321 and is centrally recorded in the error holding unit 4 .
  • the error acquisition unit 27 receives the identification information of each mover 3 from the error-related information reading unit 24, accesses the error holding unit 4, and obtains the mounting error paired with the same or corresponding identification information (mover ID). Get ⁇ .
  • SN of each of the magnetic scales 321-1, 321-2, . . . , 321-N measured by the magnetic positioning device 221. are corrected based on the mounting errors ⁇ 1, ⁇ 2, . . . , ⁇ N, and the positions P1, P2, . . , PN of each of the movers 3-1, 3-2, . . . , 3-N calculated by the error correction unit 25. It compares with the position command for each mover, generates a drive current for reducing the deviation between the two, and applies it to the electromagnets near the current position of each mover.
  • each device described in the embodiments can be realized by hardware resources or software resources, or by cooperation between hardware resources and software resources.
  • Processors, ROMs, RAMs, and other LSIs can be used as hardware resources.
  • Programs such as operating systems and applications can be used as software resources.
  • the present invention relates to a driving device and the like having a stator and a mover.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Electromagnetism (AREA)
  • Control Of Linear Motors (AREA)
PCT/JP2022/040955 2021-11-24 2022-11-02 駆動装置、可動子、制御方法、制御プログラム WO2023095578A1 (ja)

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011078196A (ja) * 2009-09-30 2011-04-14 Thk Co Ltd リニアモータの駆動システム及び制御方法
JP2013102570A (ja) * 2011-11-07 2013-05-23 Yamaha Motor Co Ltd リニアコンベア及びその駆動制御方法
JP2019062599A (ja) * 2017-09-25 2019-04-18 キヤノン株式会社 搬送システム及び加工システム
JP2019536710A (ja) * 2016-10-05 2019-12-19 レイトラム，エル．エル．シー． リニアモータコンベヤシステム

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011078196A (ja) * 2009-09-30 2011-04-14 Thk Co Ltd リニアモータの駆動システム及び制御方法
JP2013102570A (ja) * 2011-11-07 2013-05-23 Yamaha Motor Co Ltd リニアコンベア及びその駆動制御方法
JP2019536710A (ja) * 2016-10-05 2019-12-19 レイトラム，エル．エル．シー． リニアモータコンベヤシステム
JP2019062599A (ja) * 2017-09-25 2019-04-18 キヤノン株式会社 搬送システム及び加工システム

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