JP2665609B2 - Traveling control method of moving body driven by linear motor - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial application field) The present invention relates to a moving body in a system in which a secondary conductor for a linear motor is provided on the moving body side and a primary side main body of the linear motor is arranged on the traveling path side. The present invention relates to a travel control method.

(Prior Art and Problems Thereof) Travel control such as stopping a moving body driven by a linear motor at a fixed position or accelerating a moving body starting from the fixed position to a constant speed is performed by the linear motor. This is performed by controlling the power supply conditions (voltage, current, frequency, etc.) to the primary side body. In order to perform this control with high accuracy, the current speed of the moving body must be accurately detected.

Therefore, in this type of system, a rotary body that rotates in contact with the moving body and a pulse encoder that interlocks with the rotary body are provided on the traveling path side, and the output pulse period of this pulse encoder or the number of pulses per unit time is provided. A method is known in which the current speed of the moving body is calculated from the above, and the primary side main body for the linear motor is controlled based on this calculation result.However, in this pulse encoder method, the peripheral speed of the rotating body is equal to that of the moving body. It is necessary to perform speed detection in a stable rotation state that completely matches the moving speed, and accurate speed detection cannot be performed at the initial stage of contact between the rotating body and the moving body. Further, conventionally, deceleration stop control for stopping the moving body at a fixed position has been performed, but accurate acceleration control of the moving body starting from the stop position has not been considered.

(Means for Solving the Problem) An object of the present invention is to provide a traveling control method for a moving body driven by a linear motor, which can solve the above-mentioned conventional problems. In the system in which the secondary conductor 4 for the linear motor is provided on the side of the moving body 1 and the primary-side main body 5 of the linear motor is provided on the side of the travel route, the stop position S is shown.
The moving body 1 that moves in correspondence with two positions near the front and rear ends of the moving body 1 when the moving body 1 is stopped
The rotary encoders 9A and 9B that rotate in contact with the rotary encoders are provided respectively, and the pulse encoders 10A and 1B that interlock with the rotary bodies 9A and 9B are provided.
0B is provided, and the moving body 1 is further provided with a detected part 19 and a detector 21 for detecting the detected part 19 is provided on the side of the traveling route. Rotating body 9
Of A and 9B, the rotating body 9A on the side where the moving body 1 enters or
After 9B is rotationally driven by the moving body 1, the moving body 1 is arranged at a position where the detected portion 19 is detected when the moving body 1 advances to the stop position S side by an appropriate distance L1. After detecting the part, the moving body 1 is moved through one of the rotating bodies 9A or 9B.
By controlling the primary side main body 5 of the linear motor based on the output pulse of the pulse encoder 10A or 10B driven by, the moving body 1 is decelerated and stopped at the stop position S. When starting the moving body 1 from the
It is possible to accelerate the moving body 1 to a constant speed by controlling the primary side main body 5 of the linear motor based on the output pulse of the pulse encoder 10B or 10A driven by the moving body 1 via 9B or 9A. Characterize.

(Embodiment) An embodiment of the present invention will be described below with reference to the accompanying drawings.

In FIG. 1 to FIG. 3, reference numeral 1 denotes a pallet-shaped transporting moving body, and on the traveling route side of the transporting moving body 1,
A supporting horizontal shaft wheel 2 that supports both left and right sides of the transporting mobile unit 1 and a vertical guide shaft roller 3 that is adjacent to both left and right side faces of the transporting mobile unit 1 are arranged at appropriate intervals. Further, secondary conductors 4 for a linear motor are attached to both left and right sides of the moving body 1 for conveyance over the entire length thereof, and a primary side main body for a linear motor is provided between the guide vertical shaft rollers 3 on the traveling path side. 5 are arranged at appropriate intervals.

As shown in the figure, the supporting horizontal shaft wheel 2 has no brake, a unit 7 with a brake in which an electromagnetic brake 6 is combined, and a brake in which the electromagnetic brake 6 and a vertical shaft roller 3 for guiding are combined. As shown in FIG. 1, the stop position S (the stop position S may be displayed as one point on the travel route side corresponding to a specific portion of the transporting movable body 1 as shown in FIG. The space occupied by the entire moving body 1 is shown as a stop position S) and the brake-equipped units 7 and 8 are arranged at a position supporting the moving body 1 for transportation which is stopped at a stop position S and a position in front thereof. ing.

When the transporting mobile unit 1 is stopped at the stop position S,
Rotating bodies 9A and 9B which rotate in contact with the bottom surface of the moving moving body 1 in correspondence with two positions near the front and rear ends of the moving body 1 for transportation, and a pulse encoder 10 associated therewith.
A and 10B are provided respectively. As shown in FIGS. 4 and 5, the rotating bodies 9A and 9B rotate between the free ends of a pair of left and right arms 13a and 13b which are supported by a support member 11 by a rotating shaft 12 and which can be vertically swung. The drive shaft 10a of the pulse encoders 10A and 10B attached to the support member 11 is concentrically connected to one end of the rotary shaft 12 by the shaft 14, and both rotary shafts 12 and 14 The rotating bodies 9A and 9B and the pulse encoders 10A and 10B are interlockingly connected by spur gears 15 and 16 that interlock the rotating shafts 12 and 14 with each other. 17 is the arm 1
A spring 18 biases the rotating bodies 9A and 9B upward via 3b, and 18 is a stopper for the upper limit of the arm 13b.

On the other hand, as shown in FIGS. 1 and 3, a proximity switch detection part 19 is attached to the bottom of the transporting mobile unit 1. Then, on the travel route side of the transporting mobile body 1, when the transporting mobile body 1 reaches the stop control position (P2 in FIG. 6) that is a short distance before the stop position S, the detected object is detected. A stop control detector (proximity switch) 20 for detecting the portion 19 and a position where the front end of the bottom surface of the transporting movable body 1 is advanced by a predetermined distance L1 from the position where it comes into contact with the rotating body 9A, that is, a deceleration control position (6th A deceleration control detector (proximity switch) 21 for detecting the detected portion 19 when the transporting vehicle 1 arrives at (P1) in the figure is provided.

Incidentally, in FIG. 1, the transporting movable body 1 at the stop position S is shown.
2 sets of two primary side main bodies 5 for the linear motor adjacent to the secondary conductor 4 for the linear motor are shown. A side body 5 is provided.

In the above-described transfer device, by energizing all of the primary side main bodies 5 for linear motors, or by energizing only when the moving body 1 for transfer passes, the primary side main body 5 and the moving body for transfer are conventionally known. A magnetic force between the secondary conductor 4 on the body 1 side applies a thrust to the transporting mobile body 1, and the transporting mobile body 1 travels on a travel route regulated by the wheel 2 and the roller 3. As a result, it is possible to convey the object to be conveyed placed on the conveying body 1 for conveyance.

Then, when the transporting movable body 1 is stopped at the stop position S, two sets of front and rear linear motor main bodies 5 at the stop position S are controlled, but the controller of the linear motor is controlled. The microcomputer to be operated is programmed to be automatically controlled by the procedure shown in the flowchart of FIG.

That is, the transporting movable body 1 traveling toward the stop position S
Contacts the rotating body 9A on the bottom surface before the detected portion 19 is detected by the deceleration control detector 21, that is, before reaching the deceleration control position P1 (see FIG. 6). Are driven to rotate as the transporting mobile unit 1 travels.
The rotation of the rotating body 9A is transmitted to the pulse encoder 10A via the spur gears 15 and 16, and the pulse encoder 10A is rotationally driven. After the driving of the pulse encoder 10A is started in this way, when the transporting moving body 1 advances by a certain distance L1 to reach the deceleration control position P1 as shown in FIG. 6, that is, the rotating body 9A (pulse When the rotation speed of the encoder 10A) becomes stable and the traveling speed of the transporting moving body 1 and the cycle of the output pulse of the pulse encoder 10A become completely proportional, the detected portion 19 is moved to the deceleration control detector 21. This is detected, and the operation of the detector 21 causes the calculation of the current speed V1 of the transporting mobile unit 1.

The current speed V1 of the transporting moving body 1 is calculated every moment based on the period of the output pulse of the pulse encoder 10A or the number of pulses per unit time, as is well known in the art. The current speed V1 of the transporting mobile unit 1 thus obtained is compared with the low set speed V2, and a preset reduction speed is set so as to decelerate the transporting mobile unit 1 having the current speed V1 to the set speed V2. The primary side main body 5 for the linear motor is controlled according to the speed.

The transporting moving body 1 passes through the stop control position P2 (see FIG. 6) after reaching the low speed set speed V2. In other words, the current speed V1 when passing through the deceleration control position P1
The deceleration control position P1 is set so as to pass through the stop control position P2 after reaching the set speed V2 by being decelerated at a predetermined deceleration even when the maximum speed is expected. Then, when the transporting mobile unit 1 passes through the stop control position, the stop control detector 20 causes the transporting mobile unit 1 to detect the detected portion 19 of the transporting mobile unit 1.
Is detected, the counting of the output pulses of the pulse encoder 10A is started based on the ON operation of the detector 20, and when the pulse count value reaches a preset value, that is, the moving body 1 for transporting is stopped at the stop control position. After moving forward from P2 by a fixed small distance L2 at a low set speed V2, stop control for stopping the transporting movable body 1 is performed. This stop control is performed by cutting off the power supply to the primary side main body 5 for the linear motor. By this stop control, the transporting mobile unit 1 moves by a slight distance by inertia and then stops. The stop control position, that is, the preset value is set so that the stop position at this time matches the stop position S.

After the transporting mobile unit 1 has stopped at the stop position S by the above control, the supporting horizontal shaft wheel 2 in contact with the transporting mobile unit 1 is braked by the electromagnetic brake 6 to lock the transporting mobile unit 1. This completes a series of stop controls.

The transporting mobile unit 1 stopped at the stop position S is started by energizing and energizing the primary body 5 for the linear motor facing the secondary conductor 4 for the linear motor of the transporting mobile unit 1. However, it is possible to accelerate by using the output pulse of the pulse encoder 10B that is linked to the rotating body 9B that is already in the vicinity of the front end of the bottom surface of the transfer moving body 1 and that is on the starting direction side at the time of this start. Take control.

That is, as in the case of the deceleration stop control, the current speed of the transportation vehicle 1 in the process of acceleration is calculated from the output pulse of the pulse encoder 10B that is rotationally driven as the transportation vehicle 1 travels. The power supply state to the primary side main body 5 for the linear motor is controlled so that the current speed increases in accordance with a preset constant acceleration, so that as shown in FIG. It is possible to perform acceleration control of the transporting moving body 1 after starting so that the vehicle reaches a predetermined traveling speed V3 when moving.

In the above embodiment, the acceleration control is performed with a constant acceleration, but if the traveling distance L3 until reaching the set traveling speed V3 does not need to be constant, as shown by the broken line in FIG. It is also possible to perform acceleration control up to the set traveling speed V3 at an arbitrary acceleration according to the load of the transporting vehicle 1 of FIG.

As shown in FIG. 1, the reverse control stop control detector 22 is arranged at the symmetrical position of the stop control detector 20 with the center of the stop position S as the center of symmetry, and the deceleration control detector 22 is also provided. When the deceleration control detector 23 for reverse traveling is arranged at a symmetrical position of 21, the deceleration stop control for stopping the transporting moving body 1 traveling in the reverse direction at the stop position S is used for the deceleration control detection. The encoder 23, the stop control detector 22, and the pulse encoder 10B are used to perform acceleration control of the transporting vehicle 1 starting in the backward direction from the stop position S, using the pulse encoder.
It can be done using 10A. In other words, when only the transporting vehicle 1 traveling in the forward direction is subjected to deceleration stop control and start acceleration control at the stop position S, the stop control detector 22 and the deceleration control detector 23 are unnecessary. .

Further, in FIG. 1, the brake-equipped unit 8 is provided at a position that supports both front and rear ends of the transporting mobile unit 1 that is stopped at the stop position S, and a position that is separated from the transporting mobile unit 1 in the front-back direction.
(Although the unit 7 may be used), the supporting horizontal axis wheel 2 of the unit 8 with a brake has an allowable range of the current speed V1 of the transporting mobile unit 1 when passing through the deceleration control position P1. When the traveling speed is higher than the above, braking is performed by the electromagnetic brake 6, and the speed of the transporting moving body 1 can be forcibly decelerated to within an allowable range.

(Operation and Effect of the Invention) As described above, according to the traveling control method for a linear motor-driven moving body according to the present invention, the output pulse of the pulse encoder on the side that is driven first by the moving body traveling toward the stop position. When the moving body is decelerated and stopped at the stop position by controlling the primary body of the linear motor on the travel route side based on the above, and the moving body is started from the stop position, the pulse encoder on the starting direction side By controlling the primary side main body of the linear motor on the basis of the output pulse of, the moving body can be accelerated to a constant speed. That is, not only the deceleration stop control but also the acceleration control to a constant speed can be accurately performed by using the output pulse of the pulse encoder.

In addition, the moving body is provided with a detected portion, and a detector for detecting the detected portion is arranged on the traveling path side. The detector is provided at the stop position in the rotating body at two front and rear positions. It is arranged at a position where the detected part is detected when the moving body travels an appropriate distance to the stop position side with respect to the rotating body that is driven first by the moving body, and the detected body of this detector is detected. Since the primary side main body of the linear motor is controlled on the basis of the output pulse of the pulse encoder on the side driven by the moving body through one of the rotating bodies at the time of detecting the portion, the rotating body that rotates in contact with the moving body. Although the speed of the moving body is detected by the pulse encoder driven by, the rotating body is not in an unstable rotation state immediately after the rotating body starts rotating in contact with the moving body. Moving speed and Fully current to detect the velocity of the moving body in a stable rotating state matching, it is possible to control the primary-side main body of the linear motor on the basis of this.
Therefore, the deceleration stop control of the moving body can be accurately performed.

Further, one pulse encoder driving rotating body is arranged corresponding to the longitudinal center position of the moving body at the stop position, and one pulse encoder is interlocked with this rotating body for decelerating and stopping the one pulse encoder. When it is configured to be used for both control and acceleration control, in both of the deceleration stop control and the acceleration control, it is possible to secure only a control distance of about half of the entire length of the moving body. According to this, by properly using the two pulse encoders, it is possible to obtain a control distance that is substantially equal to the entire length of the moving body, and slow down the deceleration and acceleration to perform smooth control.

[Brief description of the drawings]

FIG. 1 is a plan view of the moving body stopped at a stop position, and FIGS. 2 and 3 are the moving body and a horizontal shaft wheel for supporting, a vertical shaft roller for guiding, and a primary side main body for a linear motor. Fig. 4 is a vertical sectional front view showing the positional relationship with, etc., Fig. 4 is a side view showing the interlocking structure of the rotating body and the pulse encoder,
FIG. 5 is a plan view of the same, FIG. 6 is a diagram for explaining speed changes during deceleration stop control, FIG. 7 is a flowchart for explaining control procedures, and FIG. 8 is a view for explaining speed changes during acceleration control. is there. 1 ... Transportation moving body, 2 ... Supporting horizontal axis wheel, 3
...... Vertical axis roller, 4 …… Linear motor secondary conductor, 5 …… Linear motor primary body, 6 …… Electromagnetic brake, 7,8 …… Brake unit, 9A, 9B ……
Rotating body for driving the pulse encoder, 10A, 10B ... Pulse encoder, 19 ... Detected part, 20,22 ... Stop control detector, 21,23 ... Deceleration control detector.

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁶ Identification code Office reference number FI technical display location // B61B 13/08 B61B 13/08 B

Claims (1)

(57) [Claims] 1. In a system in which a secondary conductor for a linear motor is provided on the moving body side and a primary body of the linear motor is provided on the traveling path side, the movement of the moving body when stopped at the stop position. Rotating bodies that rotate in contact with the moving moving body are provided corresponding to two positions near the front and rear ends of the body, and a pulse encoder that interlocks with each rotating body is provided. Further, the moving body is detected. A detector for detecting the detected portion is provided on the side of the traveling path, and this detector has a rotary body on the side where the moving body enters from among the two rotary bodies at the front and rear. After being driven to rotate by the moving body, the moving body is arranged at a position to detect the detected part when the moving body moves to the stop position side by an appropriate distance. Driven by a moving body through By controlling the primary side body of the linear motor based on the output pulse of the pulse encoder on the moving side, the moving body is decelerated and stopped at the stop position, and when the moving body is started from the stop position, the start A linear characterized by accelerating the moving body to a constant speed by controlling the primary side body of the linear motor based on the output pulse of a pulse encoder driven by the moving body via the rotating body on the direction side. A traveling control method for a motor-driven moving body.