JP3448684B2 - Painting system - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a coating system capable of controlling the position of a magnetically levitated work material to a desired position even in a paint atmosphere where it is difficult to detect the position of the work material. It is a thing.

[0002]

2. Description of the Related Art Many factories are equipped with a painting system for painting a predetermined work material. This coating system usually comprises a supporting means, a conveying means and a coating means. Here, the work material means an article to be coated made of a magnetic material in the present specification.

According to this coating system, first, the work material is directly supported by the supporting means, and the work means is
The supported work material is conveyed, and by the coating means,
The transferred work material is painted.

[0004]

However, as described above, when the work material is coated by the coating means, the work material is directly supported. Therefore, after coating the work material, it is necessary to dry the work material, change the support position of the work material, and apply the coating again. That is, in order to apply one color to one work material, there is a problem that the work material must be applied at least twice. By the way,
There is a problem that it is difficult to improve the efficiency of the painting work or shorten the painting time (the time from the start of painting to the end of painting).

By the way, among the methods of supporting the work material non-directly, there is a method of levitating the work material by magnetic force (hereinafter referred to as "magnetic levitation" for convenience). In such a magnetic levitation method, it is necessary to detect the position of the work material in order to hold the work material at a desired position. Here, an optical position detection sensor is usually used to detect the position of the work material. However, in the paint atmosphere, the paint interferes,
It was difficult to accurately measure the position of the work material.
Therefore, there is a problem that it is difficult to hold the position of the magnetically levitated work material at a desired position even in a paint atmosphere where it is difficult to detect the position of the work material.

In order to solve this problem, a coating system according to a first aspect of the present invention comprises a magnetic force generating means which is made of an electromagnet material and consumes electric energy to generate a magnetic force, and the magnetic force generating means. A paint adhering means for adhering paint to a predetermined work material levitated by magnetic force, a supplying means for supplying electric energy to the magnetic force generating means, and a current value flowing through the magnetic force generating means is detected. Magnetic flux in the vicinity of the first detection means and the magnetic force generation means
By the second detection means for detecting the value and the experiment in advance
Data required by the magnetic force generating means .
A plurality of experimental current data indicating the current value and a plurality of experimental magnetic flux data indicating a magnetic flux value in the vicinity of the magnetic force generating means, respectively,
First database for storing experimental position data
The storage means and the first detection means and the second detection means
When the current value and the magnetic flux value are detected, the first storage
The experimental position data stored in the database as a database
Of the data stored in the first storage means in association with the experimental current data having a value substantially the same as the value detected by the first detecting means and the experimental magnetic flux data having a value substantially the same as the value detected by the second detecting means. If we derive the experimental position data
Both based on the value of the derived experimental position data,
And a first control means for controlling the electric energy supplied by the supply means or the magnetic force generated by the magnetic force generation means.

According to the coating system of the first aspect, when the supplying means supplies the electric energy to the magnetic force generating means, the magnetic force generating means generates the magnetic force by the consumption of the electric energy. The work material is levitated by the generated magnetic force (hereinafter, the magnetic force generated by the magnetic force generating means is referred to as “generated magnetic force” for convenience). Then, the paint is applied to the magnetically levitated work material by the paint applying means. That is, it is possible to perform coating while the work material is supported indirectly. For this reason, the number of times the coating material needs to adhere to the work material, that is, the number of coating steps required to coat the work material is reduced. As a result, the efficiency of the painting work can be improved and the painting time can be shortened.

On the other hand, a plurality of experimental current data indicating the value of the current flowing through the magnetic force generating means is previously stored in the first storage means ,
And the magnetic force generating means a magnetic force in the vicinity (hereinafter, a magnetic force generation magnetic force near convenience, referred to as "near the magnetic force.") In association with each of the plurality of experimental flux data showing the position of the workpiece material A plurality of experimental position data shown is stored.
Then, when the current value and the magnetic flux value are detected by the first detection means and the second detection means, the first control means causes the experimental current having the substantially same value as the detection value by the first detection means. De
Experiments detection value and substantially the same value by chromatography data and the second detection means
It is stored in the first storage means in association with the magnetic flux data .
Based on the value of the experimental position data, the electric energy supplied by the supply means (hereinafter, the electric energy supplied by the supply means is referred to as “supply energy” for convenience) or the generated magnetic force is controlled (changed or held). That.
Same here. ) Will be done. Therefore, the position of the magnetically levitated work material can be controlled even in a paint atmosphere where it is difficult to detect the position of the work material. As a specific example, the position of the magnetically levitated work material is maintained at a desired position (for example, a steady position or a position where the paint is favorably attached) even in such a paint atmosphere. The "generated magnetic force" and the "neighboring magnetic force" are usually (theoretically) the same value.

[0009]

[0010]

According to a second aspect of the present invention, there is provided the coating system of the first aspect.
The coating system described above is provided with differentiating means for differentiating the position data used for control by the first control means, and the first control means is also based on the value of the experimental position data differentiated by the differentiating means. Controlling the electric energy supplied by the supply means or the magnetic force generated by the magnetic force generation means.

According to the coating system of the second aspect, the same operation as the coating system of the first aspect , and
The first control means controls the supplied energy or the generated magnetic force also based on the value of the experimental position data differentiated by the differentiating means. That is, the real differentiated by the differentiating means
The position of the work material is controlled by the first control means based on the value of the test position data. Here, the real by the differential means
The speed of the work material (including the "moving direction") is obtained by differentiating the test position data, but when the position of the work material is controlled, the speed of the work material is different even if the position of the work material is the same. At times, it is necessary to make the supplied energy or the magnitude of the generated magnetic force different values. Therefore, the position control of the work material is stabilized by controlling the supplied energy or the generated magnetic force based on the speed of the work material as described above.

[0013]

[0014]

According to a third aspect of the present invention, there is provided a coating system, which is composed of an electromagnet material and consumes electric energy to generate a magnetic force, and a magnetic force generated by the magnetic force generating means. Paint adhering means for adhering paint to the work material, supplying means for supplying electric energy to the magnetic force generating means, third detecting means for detecting a current flowing through the magnetic force generating means, and the magnetic force. The fourth detecting means for detecting the magnetic flux in the vicinity of the generating means, the voltage variable indicating the voltage applied to the magnetic force generating means (hereinafter, simply referred to as “voltage variable”), and the current flowing in the magnetic force generating means. A current variable (hereinafter, simply referred to as “current variable”), a magnetic flux variable (hereinafter, simply referred to as “flux variable”) indicating the magnetic flux generated by the magnetic force generating means, and a work material Position variable indicating the position (hereinafter, simply referred to as “position variable”) and a speed variable indicating the speed of the work material (hereinafter, simply referred to as “speed variable”), and Second storage means for storing equation data theoretically derived by constructing a virtual model, voltage data values applied to the magnetic force generation means for equation data stored in the second storage means, and A theoretical position data value indicating the theoretical position of the work material by introducing a current value data value and a magnetic flux value data value based on the detection data values by the third detection means and the fourth detection means, and the theory of the work material. First calculation means for calculating a theoretical speed data value indicating the upper speed and a theoretical current data value theoretically flowing in the magnetic force generation means, and a theoretical position obtained as a result of the calculation by the first calculation means. Second calculating means for calculating a theoretical voltage data value applied to the magnetic force generating means in accordance with the data value, a theoretical position data value, a theoretical velocity data value obtained as a result of the calculation by the first calculating means, and Third calculation means for calculating a theoretical current data value theoretically flowing through the magnetic force generating means and a theoretical magnetic flux data value theoretically generated by the magnetic force generating means, and a third calculation thereof based on the theoretical current data value. The difference between the theoretical current data value obtained as a result of the calculation by the means and the detected current data value by the third detection means is corrected, and the theoretical magnetic flux data value obtained as a result of the calculation by the third calculation means and the fourth detection means are used. Correction means for correcting the difference from the detected magnetic flux data value, and the magnetic force generation means generate the magnetic field according to the theoretical voltage data value obtained as a result of the calculation by the second calculation means. A second control means for controlling the voltage applied to the force generating means, wherein the first computing means stores the data values introduced into the equation data stored in the second storage means as the data values. The theoretical voltage data value obtained as a result of the calculation by the second calculating means and the data value corrected by the correcting means are used.

According to the coating system of the third aspect , when the supplying means supplies the electric energy to the magnetic force generating means, the magnetic force generating means generates the magnetic force by the consumption of the electric energy. The work material is levitated by the generated magnetic force. Then, the paint is applied to the magnetically levitated work material by the paint applying means. That is, it is possible to perform coating while the work material is supported indirectly. For this reason, the number of times the coating material needs to adhere to the work material, that is, the number of coating steps required to coat the work material is reduced. By the way,
The efficiency of painting work is improved and the painting time is shortened.

By the way, the second storage means shows the mutual relation of each variable (voltage variable, current variable, magnetic flux variable, position variable and speed variable) and is theoretically derived by constructing a virtual model in advance. The equation data is stored. Then, when the consumed energy and the nearby magnetic force are detected by the third detection means and the fourth detection means, the equation data stored in the second storage means is calculated by the first calculation means. 4) The detected current data value and the detected magnetic flux data value based on the detected data value by the 4 detection means are introduced, and the theoretical position data value, the theoretical velocity data value and the theoretical current data value are calculated. Therefore, it is possible to estimate the position of the work material even in a paint atmosphere where it is difficult to detect the position of the work material. On the other hand, as described above, the theoretical position data is calculated by the equation data, but since this equation data is theoretically derived by constructing a virtual model in advance, it is possible to use the magnetic force generating means by conducting an experiment in advance. The complicated work of measuring the correlation between the flowing current, the magnetic flux in the vicinity of the magnetic force generating means, and the position of the work material one by one is eliminated, and further, when various situations are changed (for example, the type of work (size, size, Even when the shape, material, etc.) is changed, or the magnetic force generating means is replaced, etc.), the complicated work of re-measurement of the correlation is eliminated.

When each data value is calculated by the first calculating means, the second calculating means calculates the theoretical voltage data value applied to the magnetic force generating means in accordance with the theoretical position data value. The second control means controls the voltage applied to the magnetic force generation means according to the theoretical voltage data value. Therefore, the position of the magnetically levitated work material can be controlled even in a paint atmosphere where it is difficult to detect the position of the work material. As a specific example, the position of the magnetically levitated work material is held at a desired position even in such a paint atmosphere.

Further, when the theoretical position data value, the theoretical velocity data value and the theoretical current data value are calculated, the theoretical current data value and the theoretical magnetic flux data value are calculated by the third calculating means based on these respective data values. The difference between the theoretical current data value and the detected current data value is calculated by the correction means, and the difference between the theoretical magnetic flux data value and the detected magnetic flux data value is corrected. Then, the data value after correction by this correction means is
It is introduced into the equation data stored in the second storage means. Therefore, the deviation between the theoretical position and the actual position of the magnetically levitated work material is reduced or prevented. This is usually due to various factors (for example, initial setting, loss (including unexpected and minute) in the case of a real device, compared with the case of a theoretically constructed virtual model. , Disturbance, etc.) causes a deviation.

A coating system according to a fourth aspect is the third aspect.
In the described coating system, the second calculating means calculates the theoretical voltage data value applied to the magnetic force generating means also based on the theoretical speed data value obtained as a result of the calculation by the first calculating means.

According to the coating system of the fourth aspect , the same operation as the coating system of the third aspect , and
The second calculation means calculates the theoretical voltage data value applied to the magnetic force generation means, also based on the theoretical velocity data value obtained as a result of the calculation by the first calculation means. here,
The speed of the work material is obtained by differentiating the position data by the differentiating means, but when controlling the position of the work material, if the speed of the work material is different even if the position of the work material is the same, the theoretical voltage data value It is necessary to make the size of the different value. Therefore, since the calculation of the theoretical voltage data value is performed based on the theoretical speed data value (that is, the speed of the work material) as described above, the position control of the work material is stable. Further, since the theoretical velocity data value obtained by the first calculating means is used, it is possible to prevent the theoretical velocity data value from including a noise component as in the case where the position data value is differentiated by the differentiating circuit. .

The coating system according to claim 5 is the coating system according to claim 4.
Alternatively, in the coating system according to the fifth aspect , the second calculation means calculates the theoretical voltage data value applied to the magnetic force generation means, also based on the theoretical current data value obtained as a result of the calculation by the first calculation means. Is.

According to the coating system of the claim 5, on which acts similarly to the painting system according to claim 4 or 5, the second computing means, resulting theoretical current of calculation by first computing means The theoretical voltage data value applied to the magnetic force generating means is also calculated based on the data value. Here, the position of the work material is related to both the magnitude of the magnetic flux generated by the magnetic force generating means and the magnitude of the current flowing through the magnetic force generating means. Therefore, when controlling the position of the same work material, even if the magnitude of the magnetic flux generated by the magnetic force generation means has the same value, the position of the work material is the current value flowing through the magnetic force generation means. It may be different depending on. However, according to the present coating system, since the calculation of the theoretical voltage value data is performed based on the theoretical current data value as described above, the position control of the work material is stabilized.

The coating system according to claim 6 is an electromagnet material.
Consists of a magnet that consumes electrical energy and generates a magnetic force.
Generated by the energy generation means and its magnetic force generation means
Apply paint to a specified work material that is levitated by magnetic force.
Paint attaching means for attaching and magnetic force generating means
Supply means for supplying electric energy to the
Third detecting means for detecting a current flowing through the live means, and the magnet
A fourth detecting means for detecting a magnetic flux in the vicinity of the energy generating means, and
A voltage variable indicating the voltage applied to the magnetic force generating means,
The current variable indicating the current flowing through the magnetic force generating means,
A magnetic flux variable indicating the magnetic flux generated by the energy generating means,
Position variable indicating the position of the work material, and the speed of the work material
Represents the mutual relationship of the speed variables, and
The equation data derived theoretically by building a model
A second storage means for storing the data, and the second storage means.
Apply the stored equation data to the magnetic force generating means
Voltage data value, the third detection means and the fourth detection means
Current value data value according to the detection data value by the detection means
And magnetic flux value data values are introduced to
Theoretical position data value indicating the position, theoretical value of the work material
Theoretical velocity data value indicating velocity, and the magnetic force generating means
First calculator that calculates the theoretical current data value that theoretically flows in
Stage and theory obtained as a result of calculation by the first calculation means
According to the position data value, it is applied to the magnetic force generating means.
Second calculation means for calculating a theoretical voltage data value, and its second
2 theoretical voltage data value obtained as a result of calculation by the calculating means
The magnetic force generating means by the supplying means.
Second control means for controlling the applied voltage.

The coating system according to claim 7 is the same as that of claim 6.
In the described coating system, calculation by the first calculation means
The theoretical position data value and theoretical velocity data value obtained as a result of
And the theoretical current data value, the magnetic force generation means is controlled.
Data value of theoretical current flowing theoretically and said magnetic force generating means
To calculate the theoretical magnetic flux data value theoretically generated by
3 calculation means and the result of calculation by the third calculation means
The theoretical current data value and the detected current value detected by the third detecting means.
The difference with the data value is corrected, and the third calculation means
Theoretical magnetic flux data value obtained as a result of calculation by
Correction means for correcting the difference from the detected magnetic flux data value due to the step
And the first calculation means is stored in the second storage means.
As each data value introduced in the stored equation data
And the theoretical voltage obtained as a result of the calculation by the third calculating means.
Pressure data value and theoretical magnetic flux data value, and the correction means
The data value after correction by is used.

[0026]

Preferred embodiments of the present invention will be described below with reference to the accompanying drawings. The present invention relates to a coating system in which a predetermined work material is magnetically levitated and a paint is attached to the magnetically levitated work material.

FIG. 1 is a schematic view of a coating system 1 which is an embodiment of the present invention. As shown in FIG. 1, the coating system 1 includes a cleaning tank 2, a first intermediate product mounting member 3, a dipping tank 4, a second intermediate product mounting member 5, and a preheating device 6.
, Transporting device 7, fluidized dipping device 8, and post-heating device 9
And a painted product placing member 10.

The cleaning tank 2 is for cleaning the work material Z, and a predetermined organic solvent is stored in this cleaning tank 2. By immersing the work material Z in the organic solvent stored in the cleaning tank 2, it is possible to remove dust and dirt adhering to the surface of the work material Z.

The first intermediate product mounting member 3 is used for allowing the work material Z after being immersed in the cleaning tank 2 to be naturally dried and temporarily stored. Dipping tank 4
Is for attaching the base paint to the work material Z that has been naturally dried by the first intermediate product placing member 3.
A base paint is stored in the dipping tank 4. By immersing the work material Z in the base coating material stored in the dipping tank 4, it is possible to enhance the rust-preventing effect of the work material Z and the coating effect.

The second intermediate product placing member 5 is for temporarily storing the work material Z, which has been dipped in the dipping tank 4, for natural drying.

The preheating device 6 is for preheating the work material Z to which the base coating material is attached by the dipping tank 4. The preheating device 6 includes a first belt member 6a and a preheating furnace 6b. The first belt member 6a is formed in the shape of an endless belt, and is driven by an electric motor, an engine, a hydraulic device, or another drive device to be temporarily stored by the second intermediate product placing member 5. The material Z is conveyed through the preheating furnace 6b to the opposite side. The preheating furnace 6b includes the first belt member 6a.
This is for heating the work material Z conveyed into the preheating furnace 6b by.

The transfer device 7 is for transferring the work material Z, which has been preheated by the preheating device 6, to the post-heating device 9 via the fluidized dipping device 8. This transport device 7
Includes a magnetic levitation system 11 described later.

Next, with reference to FIG. 2, the fluidized soaking device 8 will be described in detail. FIG. 2 is a side view of the fluidized soaking device 8. In addition, in order to facilitate understanding of the present invention, a partial sectional view is shown. The fluidized-bed immersion device 8 is for applying the coating material to the work material Z transported by the transporting device 7 by the fluidized-bed method. Here, the fluidized-bed method is a method in which a heated object to be coated (workpiece material Z in this example) is dipped in a fluidized layer for coating. The fluidized-bed immersion device 8 includes a fluidized-bed tank 8a and a vertical movement device 8b. The fluidized immersion tank 8a is a container body 8.
It is provided with a1, a perforated plate 8a2, and an air blowing hole 8a3.

The container body 8a1 is formed, for example, in a substantially columnar shape and is for storing the powder coating material. The perforated plate 8a2 is arranged inside the container body 8a1 and above the air blowing hole 8a3, and divides the inside of the container body 8a1 into an upper space A and a lower space B. The porous plate 8a2 is provided with a large number of holes, and the diameter of the holes is smaller than the size of the powder coating material. Therefore, it is possible to prevent the powder coating material stored in the upper space A of the container body 8a1 from falling into the lower space B.

The air blowing hole 8a3 is a hole for blowing air into the lower space B. The air blown into the lower space B from the air blowing hole 8a3 is sent to the upper space A side through the perforated plate 8a2. Then, the air sent to the upper space A side uniformly diffuses the powder coating material stored in the upper space A side into the upper space A.

The vertical movement device 8b is a device for moving the fluidized submersion tank 8a up and down. Here, as described above, the present invention relates to a coating system in which a predetermined work material Z is magnetically levitated and the paint is attached to the magnetically levitated work material Z. Therefore, when the work material Z is magnetically levitated, in order to control the position of the magnetically levitated work material Z, it is preferable to vertically move the entire system of the work material Z to be controlled. Absent. Therefore, by vertically moving the fluidized dipping tank 8a itself by the vertical movement device 8b, the coating material can be attached to the magnetically levitated work material Z without vertically moving the entire system of the work material Z. Of.

The post-heating device 9 shown in FIG. 1 is for drying the work material Z, which has been transported by the transport device 7 and has been coated. After this, the heating device 9 includes the second belt member 9a.
And a post-heating path 9b. Second belt member 9a
Is formed in the shape of an endless belt, and is driven by an electric motor, an engine, a hydraulic device, or another drive device to transfer the work material Z conveyed by the conveyance device 7,
It is for transporting to the opposite side through the post-heating path 9b. The preheating furnace 9b is for heating the work material Z conveyed into the post-heating furnace 9b by the second belt member 9a.

The painted product placing member 10 is for drying and cooling the painted work material and temporarily storing it.

Next, the configuration of the magnetic levitation system 11 for magnetically levitating the work material Z will be described in detail with reference to FIG. FIG. 3 is a block diagram of the magnetic levitation system 11. As shown in FIG. 3, the transfer device 7 includes an arm member 7a, an electromagnet member 7b, and a hall element 7c.
, Reference resistor 7d, first amplifier 7e, second amplifier 7f, A / D converter 7g, memory 7h, and CPU 7
i, the D / A converter 7j, the third amplifier 7k, and the power supply 7
and l.

The arm member 7a is for holding the electromagnet member 7b, and is driven by an electric motor, an engine, a hydraulic device and other driving devices, and the preheating device 6 and the post heating device 8 are provided.
It is supposed to make a round trip to and from. Electromagnet member 7b
Is a device that consumes electric power to generate a magnetic force. The work material Z is levitated by the magnetic force generated by the electromagnet member 7b. Therefore, the work material Z
In a state of being magnetically levitated, that is, in a state of supporting the work material Z indirectly, a fluidized dipping device 8 which is a kind of coating device.
It is possible to paint with. As a result, it is possible to reduce the number of adhesions of the coating material required for coating the work material Z, that is, the number of coating steps required for coating the work material Z. Specifically, the complexity of the method of directly supporting the work material Z (since the supported portion is not coated, the coating material is dried once, the supporting portion is changed and the coating is performed again). Can be eliminated. As a result, it is possible to further improve the efficiency of the painting work and shorten the painting time.

The electromagnet member 7b is a coil member 7b.
1, the magnitude of the magnetic force generated by the electromagnet member 7b changes depending on the magnitude of the current flowing through the coil member 7b1. The Hall element 7c has a Hall effect (Hall
It is an element called an element) that utilizes a kind of current magnetic effect, and is arranged on the lower surface of the electromagnet member 7b (on the side facing the work material Z) and near the center of the lower surface. The Hall element 7c outputs a signal according to the magnitude of the magnetic force in the vicinity of the electromagnet member 7b.

The reference resistor 7d is for converting the current flowing through the coil member 7b1 into a voltage in order to detect the value of the current flowing through the coil member 7b1. The first amplifier 7e amplifies the output signal of the hall element 7c, and the second amplifier 7f amplifies the signal indicating the current value flowing through the coil member 7b1. A / D converter 7g
Is for digitally converting the signals amplified by the first amplifier 7e and the second amplifier 7f.

The memory 7h writes and holds various data (information) necessary for various information (calculation) processing,
It is a device that can be read later as needed. Explaining a part of the data in detail, first, in the memory 7h, a control program for controlling the operation (moving speed, moving time, stop time, etc.) of the transport device 7 and a CPU 7i are used. A control program to be executed (including a control program regarding a derivation process 17h0 (see FIG. 4) described later) is stored.

Secondly, the detected current data and the detected magnetic flux data are stored. Here, the detected current data is data detected through the reference resistor 7d and digitally converted by the A / D converter 7g, and indicates a current value flowing through the electromagnet member 7b. On the other hand, the detected magnetic flux data is data detected through the hall element 7c and digitally converted by the A / D converter 7g, and indicates a magnetic flux value near the electromagnet member 7b (near magnetic flux value).

Thirdly, a plurality of sets of three types of data, which are obtained by conducting an experiment (test) in advance and are associated with each other, are stored. Here, the three types of data indicate experimental current data indicating a current value flowing through the electromagnet member 7b, experimental magnetic flux data indicating a magnetic flux value near the electromagnet member 7b, and a position of the work material Z with respect to the electromagnet member 7b. It is experimental position data. That is, a plurality of sets of experimental current data, experimental magnetic flux data, and experimental position data, which are obtained by performing experiments in advance and have different combinations, are stored as a database.

Fourth, steady position data, steady current data, and steady voltage data are stored. The steady position data is data indicating the steady position of the work material Z to be controlled, and the steady current data is the work material Z to be controlled.
Is the data indicating the value of the current flowing through the electromagnet member 7b when is in the steady position, and the steady voltage data is the electromagnet member 7 when the work material Z to be controlled is in the steady position.
It is data showing the voltage value applied to b. In addition, the steady position is preferably a position where a desired (suitable) adhesion state of the paint to the work material Z is desired. Of course, the steady position is not limited to a constant value at all times, and may be a value that changes at any time.

Fifth, the state feedback gain (-
F) is stored. Here, the state feedback gain is a gain (coefficient) for deriving voltage data based on position data, speed data, and current data.

The various control programs, the experimental current data, the experimental magnetic flux data, the experimental position data, the steady position data, the steady current data, the steady voltage data, and the state feedback gain are preliminarily stored in the memory 7 in advance.
It is preferably stored in h.

The CPU 7i executes various processes according to the control program and other various programs stored in the memory 7h. The derivation process 17h0 described above is executed by the CPU 7i. Here, the derivation process 17h0 is a process of deriving (calculating) theoretical voltage data indicating a voltage value theoretically applied to the electromagnet member 7b based on the detected current data and the detected magnetic flux data.

The D / A converter 7j converts various data into analog data, and as a specific example, converts the theoretical voltage data obtained as a result of the calculation by the CPU 7i into analog data. The third amplifier 7k controls the voltage actually applied to the electromagnet member 7b by utilizing the electric power supplied from the power supply 7l based on the theoretical voltage data.

Next, the operation (processing) of the magnetic levitation system 11, specifically the derivation processing 17h0, will be described with reference to FIG. FIG. 4 shows the derivation process 17h.
It is a block diagram of 0. As shown in FIG. 4, the derivation process 1
7h0 is mainly a position data derivation process 17h1, a differential position data derivation process 17h2, a differential current data derivation process 17h3, a speed data derivation process 17h4, a differential voltage data derivation process 17h5, and a theoretical voltage data derivation process 1.
It is composed of 7h6.

The position data derivation process 17h1 is a process of extracting experimental position data stored in advance in the memory 7h as a database when the current value flowing in the electromagnet member 7b and the magnetic flux value in the vicinity of the electromagnet member 7b are detected. It is a process of outputting (deriving) experimental position data corresponding to the experimental current data and the experimental magnetic flux data, which are respectively approximated to the detected current data and the detected magnetic flux data corresponding to the detected value.

Here, as described in the sections of "Prior Art" and "Problems to be Solved by the Invention", in the method of magnetically levitating the work material, in order to hold the work material at a desired position. In many cases, an optical position detection sensor is used. When such an optical position detection sensor is used in a paint atmosphere, the paint interferes with the accuracy, and it is difficult to accurately measure (detect) the position of the work material.

However, according to the present coating system 1, as described above, the experimental current data, the experimental magnetic flux data, and the experimental position data previously obtained by the experiment are stored in the database, and the current value flowing through the electromagnet member 7b is
And the magnetic flux value in the vicinity of the electromagnet member 7b is detected, the experimental current data and the experimental magnetic flux data which are respectively approximate to the detected current data and the detected magnetic flux data indicating the respective detected values from the experimental position data stored in the database. The experimental position data associated with is derived.

Therefore, even when it is difficult or impossible to directly measure the position of the work material Z, for example, in a paint atmosphere, the current value flowing in the electromagnet member 7b and the magnetic flux value in the vicinity of the electromagnet member 7b are detected. If you can,
The position of the work material Z can be estimated (recognized). Consequently, the position of the magnetically levitated work material Z can be controlled even in a paint atmosphere where it is difficult to measure the position of the work material Z. Furthermore, since we use the data obtained by conducting experiments in advance,
The complicated data processing of correcting the difference between the value of the experimental position data derived by the CPU 7i and the actual position of the work material Z can be eliminated.

The difference position data derivation process 17h2 is a process for deriving the difference position data. Specifically, it is a process of subtracting the steady position data indicating the steady position of the work material Z to be controlled from the experimental position data derived by the position data deriving process 17h1. The differential current data derivation process 17h3 is a process of deriving the differential current data. Specifically, it is a process of subtracting the steady-state current data indicating the current value when the work material Z to be controlled is in the steady position from the current data indicating the current value flowing through the electromagnet member 7b.

The velocity data deriving process 17h4 is a process for deriving velocity data by differentiating the differential position data derived by the differential position data deriving process 17h2. The term "differentiate" in this embodiment means to derive the amount of change in the differential position data per minute time (or unit time).

By the way, although the speed of the work material Z (including the "moving direction") is derived from the speed data, when controlling the work material Z to a steady position, not only the position of the work material Z but also the work The speed of the material Z is also important. this is,
This is because even if only the position of the work material Z is known, control becomes difficult or uncontrollable unless the movement direction and the movement speed of the work material relative to the steady position are known.
Therefore, by performing the position control of the work material Z also based on the speed of the work material Z, such position control can be stabilized. As a result, even when the work material Z is controlled to be held at the steady position, it can be stably held (so that the work material Z does not vibrate (oscillate)).

The state FG multiplication processing 17h5 multiplies the difference position data, the difference current data, and the speed data by the state feedback gain (-F),
This is a process of deriving differential voltage data. The theoretical voltage data derivation process 17h6 is a process of adding the steady voltage data to the differential voltage data, and the data obtained by adding the steady voltage data to the differential voltage data becomes the theoretical voltage data. Then, based on the value of this theoretical voltage data,
The voltage actually applied to the electromagnet member 7b is controlled. Second Embodiment Next, the coating system 1 of the second embodiment will be described. The coating system 1 of the second embodiment is different from the first embodiment in the method of estimating (deriving) the position of the work material Z. Hereinafter, the same parts as those in the first embodiment will be designated by the same reference numerals and the description thereof will be omitted and stored in the memory 7h, which is the biggest difference between the first embodiment and the second embodiment. The data (information) and the processing executed by the CPU 7i will be described in detail.

The following data is stored in the memory 7h which constitutes the coating system 1 of the second embodiment. First,
First, a control program for controlling the operation of the transport device 7,
And a control program (second derivation process 27h0) executed by the CPU 7i are stored. Secondly, the detected current data and the detected magnetic flux data are stored.

Thirdly, state equation data indicating equations derived by constructing a virtual model in advance, that is, equations shown in the following equations (1) and (2) is stored.
This state equation data includes a voltage variable indicating the voltage applied to the electromagnet member 7b (hereinafter simply referred to as "voltage variable") and a current variable indicating the current flowing through the electromagnet member 7b (hereinafter simply referred to as "current variable"). ), Electromagnet member 7
The magnetic flux variable indicating the magnetic flux generated by b (hereinafter, simply referred to as “magnetic flux variable”), the position variable indicating the position of the work material (hereinafter, simply referred to as “position variable”), and the speed of the work material. Indicating a speed variable (hereinafter simply "speed variable"
Called. ) Represents the mutual relationship.

[0062]

[Equation 1]

Fourth, steady current data, steady magnetic flux data, and steady voltage data are stored. Here, the steady magnetic flux data is data indicating the magnetic flux in the vicinity of the electromagnet member 7b (the magnetic flux generated by the electromagnet member 7b) when the work material Z to be controlled is in the steady position. Fifth, a state feedback gain (-F) is stored, and sixth, an observer gain (K) described later.
Is remembered.

C which constitutes the coating system 1 of the second embodiment
In the PU 7h, the above-mentioned second second derivation process 27h
0 is executed. This second derivation process 27h0
Is a process of calculating (deriving) theoretical voltage data based on the detected current data and the detected magnetic flux data.

The second derivation process 27h0 will be described below with reference to FIGS. 5 and 6. FIG. 5 is a diagram showing the second derivation process 27h0. As shown in FIG. 5, the second derivation process 27h0 includes a differential current data derivation process 27h1, a differential magnetic flux data derivation process 27h2, a differential voltage data derivation process 27h3, and a theoretical voltage data derivation process 27h4. .

The differential current data derivation process 27h1 is a process of subtracting the steady current data from the detected current data to derive the differential current data. Differential magnetic flux data derivation process 2
7h2 is a process for deriving the differential magnetic flux data by subtracting the steady magnetic flux data from the detected magnetic flux data.

The differential voltage data derivation process 27h3 is a process for deriving the differential voltage data based on the differential current data and the differential magnetic flux data. The difference voltage data derivation process 27h3 includes a correction process 27h5, a state variable data derivation process 27h6, and a theoretical detection data derivation process 27h7.
And the state FG multiplication processing 27h8.

The correction processing 27h5 includes the actually detected current value flowing in the electromagnet member 7b and the magnetic flux value in the vicinity of the electromagnet member 7b, and the theoretically obtained current value flowing in the electromagnet member 7b and the magnetic flux value in the vicinity of the electromagnet member 7b. This is a process of correcting the difference between and. Specifically, a process of subtracting the theoretical current data derived by the theoretical detection data deriving process from the detected current data and subtracting the theoretical magnetic flux data derived by the theoretical detection data deriving process from the detected magnetic flux data. , And a process of multiplying the data obtained as a result of the subtraction process by an observer gain (K). Here, the observer gain is a gain (coefficient) for correcting the difference between the detected current data and the theoretical current data and also for correcting the difference between the detected magnetic flux data and the theoretical magnetic flux data. Therefore,
The deviation between the theoretical position and the actual position of the magnetically levitated work material Z can be reduced or prevented. This is usually due to various factors (eg initialisation, loss (including unexpected and minor) in the case of a real device compared to the theoretically constructed virtual model. , Disturbance, etc.) causes a deviation.

The state variable data derivation process 27h6 is a process for deriving the state variable data based on the state equation data, the theoretical voltage data, and the data corrected by the correction process 27h5. Here, the state variable data includes theoretical position data indicating a theoretical position of the electromagnet member 7b, theoretical magnetic flux data indicating a theoretical speed of the electromagnet member 7b, and
It is theoretical magnetic flux data showing a theoretical magnetic flux value in the vicinity of the electromagnet member 7b. Therefore, for example, even when it is difficult or impossible to directly measure the position of the work material Z such as in a paint atmosphere, if the current value flowing in the electromagnet member 7b and the magnetic flux value in the vicinity of the electromagnet member 7b can be detected. ,
The position of the work material Z can be estimated (recognized). Consequently, the position of the magnetically levitated work material Z can be controlled even in a paint atmosphere where it is difficult to measure the position of the work material Z. Further, since the state equation is theoretically derived by constructing a virtual model in advance, the correlation between the current, the magnetic flux, and the position (the current flowing in the electromagnet member 7b can be obtained by conducting an experiment (test) in advance. The correlation between the magnetic flux in the vicinity of the electromagnet member 7b and the position of the electromagnet member 7b) can be eliminated, and further, when various situations change (for example, the type of the work material Z). (When the size, shape, material, etc.) has changed, or when the electromagnet member 7b has been replaced due to its life, etc.),
The complexity of re-measurement of such correlation can be eliminated.

The theoretical detection data derivation process 27h7 is a process for deriving theoretical detection data based on the state variable data (theoretical position data, theoretical velocity data, theoretical current data) derived by the state variable data derivation process 27h7. . Here, the theoretical detection data is theoretical detection magnetic flux data indicating a theoretical magnetic flux value in the vicinity of the electromagnet member 7b and theoretical detection current data indicating a theoretical current value flowing in the electromagnet member 7b. The theoretical current data and the theoretical magnetic flux data are used for correction by the correction process 27h5.

The state FG multiplication process 27h8 is a process for multiplying the state variable data by the state feedback gain to derive differential voltage data. This differential voltage data is the difference between the value of the steady voltage data and the voltage value that should theoretically be applied to the electromagnet member. The differential voltage data theoretical voltage data derivation process 27h8 is a process of adding steady voltage data to the differential voltage data to derive the theoretical voltage data. Therefore, the electromagnet member 7
The voltage value that should be theoretically applied to b can be derived.

Further, since the voltage applied to the electromagnet member 7b is controlled according to the value of the theoretical voltage data, it is magnetically levitated even in the paint atmosphere where it is difficult to measure the position of the work material Z. The position of the existing work material can be controlled. Further, since the theoretical voltage value data is used as input data for the state variable data derivation process 27h6, the input conditions of the actual coating system of the second embodiment and the virtual model coating system can be made the same. is there.

The present invention has been described above based on the embodiments, but the present invention is not limited to the above embodiments, and various improvements and modifications can be made without departing from the spirit of the present invention. Is something that can be easily guessed.

According to this embodiment, the memory 7h stores a plurality of sets of three types of data, which are obtained by conducting experiments in advance and are associated with each other, as a database. However, the data stored in the memory 7h is not necessarily limited to a plurality of sets of data that are associated with each other in advance, and may be equation data that approximates the mutual correlation of the experimental data. good. With this configuration, it is possible to fill the gap between each data.

Further, according to the present embodiment, the state FG multiplication process 27h8 derives the theoretical voltage data based on the state variable data derived by the state variable deriving process 27h5. However, the status FG multiplication process 27h8
In the derivation process of the theoretical voltage data by the above, it is not necessary to use all the variables of the state variables derived by the state variable derivation process. Similarly, a value obtained by differentiating the theoretical position data may be used as the theoretical speed data, or a value obtained by subtracting the steady current data from the detected current data may be used as the theoretical current data.

Incidentally, some terms in the claims will be described just in case so as not to cause a doubt. First, the meaning of “electrical energy” described in the claims includes at least the meanings of current, voltage, and electric power. Further, the meaning of “magnetic force” includes at least the meaning of magnetic field and magnetic flux density. Further, the type of electric energy consumed by the magnetic force generation means and the type of electric energy supplied by the supply means may be the same or different.

The present invention includes the following inventions. First, as a first invention, "a magnetic force generating means which is made of an electromagnet material and consumes electric energy to generate a magnetic force, and a predetermined force levitated by the magnetic force generated by the magnetic force generating means. Paint adhering means for adhering paint to the work material, supply means for supplying electric energy to the magnetic force generating means, third detecting means for detecting a current flowing through the magnetic force generating means, and magnetic force generating means. Fourth detecting means for detecting magnetic flux in the vicinity of the means, a voltage variable indicating a voltage applied to the magnetic force generating means, a current variable indicating a current flowing through the magnetic force generating means, and a magnetic force generating means generated by the magnetic force generating means. The magnetic flux variable indicating the magnetic flux, the position variable indicating the position of the work material, and the speed variable indicating the speed of the work material are expressed in relation to each other, and a theoretical model is constructed in advance. Second storage means for storing the above-derived equation data, a voltage data value applied to the magnetic force generation means for the equation data stored in the second storage means, the third detection means and the fourth detection means. A theoretical position data value indicating the theoretical position of the work material and a theoretical speed indicating the theoretical speed of the work material by introducing a current value data value and a magnetic flux value data value according to the detection data value by the detection means. According to the data value and the first calculation means for calculating the theoretical current data value theoretically flowing through the magnetic force generation means, and the theoretical position data value obtained as a result of the calculation by the first calculation means, the magnetic force generation means. Second calculating means for calculating a theoretical voltage data value applied to the magnetic field, and the magnetic force generating means by the supplying means according to the theoretical voltage data value obtained as a result of the calculation by the second calculating means. Painting system according to that said to and a second control means for controlling a voltage applied to the (A). "And the like.

According to this coating system, when the magnetic force is generated by the magnetic force generating means, the work material is floated by the generated magnetic force, and the paint is applied to the floated work material by the paint adhering means. Is attached. That is, it is possible to apply the coating while directly supporting the work material. Therefore, it is possible to reduce the number of painting steps required for painting the work material. As a result, it is possible to improve the efficiency of the painting work and shorten the painting time.

By the way, each variable (voltage variable, current variable,
Magnetic flux variables, position variables, and velocity variables) are shown, and equation data theoretically derived by constructing a virtual model in advance are stored, and energy consumption by the third detection means and the fourth detection means is stored. And when the magnetic force in the vicinity is detected, the theoretical position data value, the theoretical velocity data value, and the theoretical current data value are calculated based on this equation data. Therefore, the position of the work material can be estimated even in a paint atmosphere where it is difficult to detect the position of the work material. On the other hand, as described above, the theoretical position data is calculated by the equation data. Since the equation data is theoretically derived by constructing a virtual model in advance, the magnetic force generating means can be obtained by conducting an experiment in advance. It is possible to eliminate the complicated work of measuring the correlation between the current flowing through the magnetic flux, the magnetic flux near the magnetic force generating means, and the position of the work material one by one,
Further, even when various situations are changed, the complicated work of re-measurement of the correlation can be eliminated.

Further, according to the theoretical voltage data value,
Since the voltage applied to the magnetic force generating means is controlled, the position of the magnetically levitated work material can be controlled even in a paint atmosphere where it is difficult to detect the position of the work material. As a specific example, the position of the magnetically levitated work material can be maintained at a desired position even in such a paint atmosphere.

As a second invention, "in the coating system (A), the magnetic force is generated based on the theoretical position data value, theoretical velocity data value and theoretical current data value obtained as a result of the calculation by the first calculating means. Third theoretical processing means for computing a theoretical current data value theoretically flowing through the means and a theoretical magnetic flux data value theoretically generated by the magnetic force generating means, and a theoretical current data value obtained as a result of the computation by the third computing means. Correction means for correcting the difference between the detected current data value by the third detection means and the difference between the theoretical magnetic flux data value obtained as a result of the calculation by the third calculation means and the detected magnetic flux data value by the fourth detection means. And the first calculation means calculates as data values to be introduced into the equation data stored in the second storage means by the third calculation means. Result theoretical voltage data values obtained and theoretical flux data values, as well as coating systems, characterized in that is to use a data value after correction by the correction means (B). "And the like.

According to this coating system (B), in addition to the effect of the coating system (A), the difference between the theoretical current data value and the detected current data value is corrected by the correction means, and Since the difference between the theoretical magnetic flux data value and the detected magnetic flux data value is corrected, the deviation between the theoretical position and the actual position of the magnetically levitated work material can be reduced or prevented.

[0083]

According to the coating system of the first aspect, when the magnetic force is generated by the magnetic force generating means, the generated magnetic force (the magnetic force generated by the magnetic force generating means) causes the work material to move. The coating material is floated and the coating material is adhered to the floated work material by the coating material adhering means. That is, it is possible to apply the coating while directly supporting the work material. Therefore, there is an effect that it is possible to reduce the number of painting steps required for painting the work material. As a result, there is an effect that the efficiency of the painting work can be improved and the painting time can be shortened.

On the other hand, the first storage means stores a plurality of data in advance.
Experimental current data, and associates each of a plurality of the experimental flux data, experimental position data indicating the position of the workpiece material is stored. Then, when the current value and the magnetic flux value are detected by the first detection means and the second detection means, the first control means causes an experimental voltage of substantially the same value as the detection value by the first detection means.
Flow data and a value substantially the same as the value detected by the second detecting means.
The supplied energy (energy supplied by the supply means) or the generated magnetic force is controlled based on the value of the experimental position data stored in the first storage means in association with the experimental magnetic flux data . Therefore, there is an effect that the position of the magnetically levitated work material can be controlled even in a paint atmosphere where it is difficult to detect the position of the work material. Specifically, for example, even in such a paint atmosphere, the magnetically levitated work material can be held at a desired position.

[0085]

According to the coating system of the second aspect , in addition to the effect of the coating system of the first aspect ,
Since the supplied energy or the generated magnetic force is controlled based on the value of the experimental position data differentiated by the differentiating means, that is, the position of the magnetically levitated work material is controlled, the position control of the work material is performed. The effect is that it can be stable.

[0087]

According to the coating system of the third aspect , when the magnetic force is generated by the magnetic force generating means, the work material is levitated by the generated magnetic force and is levitated by the paint adhering means. Paint is attached to the work material. That is, it is possible to apply the coating while directly supporting the work material. Therefore, there is an effect that it is possible to reduce the number of painting steps required for painting the work material.
As a result, there is an effect that the efficiency of the painting work can be improved and the painting time can be shortened.

By the way, each variable (voltage variable, current variable,
Magnetic flux variables, position variables, and velocity variables) are shown, and equation data theoretically derived by constructing a virtual model in advance are stored, and energy consumption by the third detection means and the fourth detection means is stored. And when the magnetic force in the vicinity is detected, the theoretical position data value, the theoretical velocity data value, and the theoretical current data value are calculated based on this equation data. Therefore, there is an effect that the position of the work material can be estimated even in a paint atmosphere where it is difficult to detect the position of the work material. On the other hand, as described above, the theoretical position data is calculated by equation data, but since this equation data is theoretically derived by constructing a virtual model in advance,
There is an effect that the complicated work of measuring the correlation between the current flowing in the magnetic force generating means, the magnetic flux in the vicinity of the magnetic force generating means, and the position of the work material one by one can be eliminated by conducting an experiment in advance. Also has an effect that the complicated work of re-measurement of the correlation can be eliminated even when various situations are changed.

Further, according to the theoretical voltage data value,
Since the voltage applied to the magnetic force generating means is controlled, it is possible to control the position of the magnetically levitated work material even in a paint atmosphere where it is difficult to detect the position of the work material. . As a specific example, the position of the magnetically levitated work material is held at a desired position even in such a paint atmosphere.

Furthermore, since the correction means corrects the difference between the theoretical current data value and the detected current data value and the difference between the theoretical magnetic flux data value and the detected magnetic flux data value, the magnetic levitation is performed. There is an effect that it is possible to reduce or prevent the deviation between the theoretical position and the actual position of the work material being made.

According to the coating system of claim 4 , in addition to the effect of the coating system of claim 3 ,
The theoretical voltage data value applied to the magnetic force generating means is calculated by the second calculating means based on the theoretical speed data value obtained as a result of the calculation by the first calculating means, so that the workpiece is magnetically levitated. There is an effect that the position control of the material can be stabilized. Further, since the theoretical velocity data value obtained by the first calculating means is used, it is possible to prevent the theoretical velocity data value from including a noise component as in the case where the position data value is differentiated by a differentiating circuit. There is an effect that can be.

According to the coating system of the fifth aspect , in addition to the effects of the coating system of the third or fourth aspect , the second computing means further includes the theoretical current obtained as a result of the computation by the first computing means. Since the theoretical voltage data value applied to the magnetic force generating means is calculated also on the basis of the data value, there is an effect that the position control of the magnetically levitated work material can be stabilized. As a specific example, if the magnitude of the magnetic flux generated by the magnetic force generating means is the same, it is possible to prevent the positions of the work materials from being different even though they are the same work material. is there.

According to the coating system of the sixth aspect, the magnet
When the magnetic force is generated by the energy generating means, the generation
The work material is levitated by the magnetic force, and the paint adhesion means
Allows the paint to adhere to the floated work material.
To be That is, the work material is coated in a state of being directly supported.
Wearable. Therefore, the coating required to coat the work material
The number of mounting steps can be reduced. Pull
Aims to improve the efficiency of painting work and shorten the painting time.
It is possible. By the way, each variable (voltage variable,
Current variable, magnetic flux variable, position variable and velocity variable)
To show the relationship of and build a virtual model in advance.
The equation data theoretically derived from
Energy consumption by the third detection means and the fourth detection means
-And the near magnetic force are detected,
Based on the theoretical position data value, theoretical velocity data value and
The theoretical current data value is calculated. Therefore, the work
In a paint atmosphere where it is difficult to detect the position of the material
Also, the position of the work material can be estimated.
On the other hand, as mentioned above, theoretical position data is converted into equation data.
This equation data is calculated in advance by a virtual model.
Is derived theoretically by constructing
The magnetic force generation means by conducting an experiment in advance.
Current and magnetic force near the magnetic force generating means and the position of the work material
Eliminates the cumbersome task of measuring the correlation with
And even if various situations change,
Complicated work of re-measurement of such correlation
Can be eliminated. Also, such theoretical electric
The voltage applied to the magnetic force generation means according to the pressure data value
Is controlled, it is difficult to detect the position of the work material.
Magnetically levitated work even in difficult paint atmospheres.
The position of the lumber can be controlled. As a specific example,
Even in such paint atmosphere, magnetically levitated wafers
Since the position of the bark material can be held at the desired position,
is there. On the other hand, according to the coating system of claim 7,
In addition to the effect of the coating system according to claim 6,
The theoretical current data value and the detected current
The difference between the theoretical magnetic flux data and
Since the difference between the data value and the detected magnetic flux data value is corrected,
The theoretical position and the actual position of the work material being floated
It is possible to reduce or prevent the deviation from the position.
It

[Brief description of drawings]

FIG. 1 is a schematic diagram of a coating system that is an embodiment of the present invention.

FIG. 2 is a side view of a fluidized-bed immersion device that constitutes the coating system.

FIG. 3 is a block diagram of a magnetic levitation system that constitutes the coating system.

FIG. 4 is a block diagram showing a process executed by the CPU.

FIG. 5: CPU constituting the coating system of the second embodiment
It is a block diagram of.

FIG. 6 is a CPU constituting a coating system according to a second embodiment.
It is a block diagram which shows the process of.

[Explanation of symbols]

1 coating system 7b electromagnet member (magnetic force generating means) 7c hall element (second detecting means) 7d reference resistor (first detecting means and current detecting means) 7h memory (first storing means, second storing means,
Third storage means and fourth storage means) 7i CPU (first control means, second control means,
Third control means, fourth control means, and correction means) 7k Third amplifier (supply means) 7l Power supply (supply means)

─────────────────────────────────────────────────── ─── Continuation of front page (72) Yoshimitsu Kobayashi 1-1, Yanagido, Gifu City, Faculty of Engineering, Gifu University (56) References JP-A-61-178328 (JP, A) JP-A-62-77883 ( JP, A) JP 2000-60169 (JP, A) Actually developed 64-28343 (JP, U) (58) Fields investigated (Int.Cl. ⁷ , DB name) G05D 3/00-3/20 G05B 11/00-13/04 B05C 7/00-21/00 B05D 1/00-7/26 H02N 1/00-15/04

Claims (7)

(57) [Claims] 1. A magnetic force generating means comprising an electromagnet material for consuming electric energy to generate a magnetic force, and a coating material adhered to a predetermined work material levitated by the magnetic force generated by the magnetic force generating means. A paint adhering means for causing the magnetic force generating means, a supplying means for supplying electric energy to the magnetic force generating means , a first detecting means for detecting a current value flowing in the magnetic force generating means , and a magnetic flux value near the magnetic force generating means. And a second detection means for detecting and data obtained by performing an experiment in advance,
A plurality of experimental voltages indicating the value of the current flowing in the magnetic force generating means.
Flow data and a plurality of experimental magnetic flux data indicating magnetic flux values in the vicinity of the magnetic force generating means, respectively, and a plurality of experimental position data indicating the position of the work material are previously stored in the database.
A first storage means for storing the converted current value and a current value by the first detection means and the second detection means;
When the magnetic flux value is detected , data is stored in the first storage means.
Of the experimental position data stored as a base,
The experimental current data having a value substantially the same as the value detected by the first detecting means.
Data and a value substantially the same as the value detected by the second detecting means.
The experimental position data previously stored in the first storage means in association with the experimental magnetic flux data is derived and
A first control means for controlling the electric energy supplied by the supply means or the magnetic force generated by the magnetic force generation means on the basis of the value of the experimental position data issued. Coating system. 2. A differential means for differentiating position data used for control by the first control means is provided, and the first control means supplies the position data based on the value of the position data differentiated by the differentiating means. The coating system according to claim 1 , wherein the coating system controls the electric energy supplied by the means or the magnetic force generated by the magnetic force generating means. 3. A magnetic force generating means that is composed of an electromagnet material and consumes electric energy to generate a magnetic force, and a coating material adheres to a predetermined work material levitated by the magnetic force generated by the magnetic force generating means. Paint adhering means for causing the magnetic force generating means, supplying means for supplying electric energy to the magnetic force generating means, third detecting means for detecting a current flowing through the magnetic force generating means, and magnetic flux near the magnetic force generating means. A fourth detecting means, and a voltage variable indicating a voltage applied to the magnetic force generating means,
A current variable indicating the current flowing through the magnetic force generating means, a magnetic flux variable indicating the magnetic flux generated by the magnetic force generating means,
Second storage means for expressing the mutual relationship between the position variable indicating the position of the work material and the speed variable indicating the speed of the work material, and storing equation data theoretically derived by constructing a virtual model in advance. And a voltage data value applied to the magnetic force generating means in the equation data stored in the second storage means, and a current value data value based on the detected data values by the third detection means and the fourth detection means, and A theoretical position data value indicating the theoretical position of the work material, a theoretical velocity data value indicating the theoretical velocity of the work material, and a theory that theoretically flows to the magnetic force generating means by introducing a magnetic flux value data value. The first calculation means for calculating the current data value and the theoretical voltage data applied to the magnetic force generation means according to the theoretical position data value obtained as a result of the calculation by the first calculation means. Based on a theoretical position data value, a theoretical velocity data value, and a theoretical current data value obtained as a result of the computation by the first computing means, and theoretically flows to the magnetic force generating means. The theoretical current data value, the theoretical magnetic flux data value theoretically generated by the magnetic force generating means, third calculating means, the theoretical current data value obtained as a result of the calculation by the third calculating means and the third detecting means. Correction means for correcting the difference between the detected current data value and the theoretical magnetic flux data value obtained as a result of the calculation by the third calculation means and the detected magnetic flux data value by the fourth detection means; Second control means for controlling the voltage applied to the magnetic force generation means by the magnetic force generation means according to the theoretical voltage data value obtained as a result of the calculation by the calculation means. The first arithmetic means is, as each data value introduced into the equation data stored in the second storage means, a theoretical voltage data value obtained as a result of the arithmetic operation by the second arithmetic means, and the correction means. The coating system is characterized by using the data value after correction by. 4. The second calculating means calculates the theoretical voltage data value applied to the magnetic force generating means based on the theoretical speed data value obtained as a result of the calculation by the first calculating means. The coating system according to claim 3, which is characterized in that. 5. The second calculating means calculates the theoretical voltage data value applied to the magnetic force generating means based on the theoretical current data value obtained as a result of the calculation by the first calculating means. The coating system according to claim 3 or 4, which is characterized in that. 6. Consume electric energy made of electromagnet material
A magnetic force generating means for generating a magnetic force by, floating by a magnetic force generated by the magnetic force generating means
To attach the paint to the given work material
Paint attaching means and a supply hand for supplying electric energy to the magnetic force generating means
Stage and a third detection means for detecting the current flowing through the magnetic force generating means.
And a fourth detecting means for detecting a magnetic flux in the vicinity of the magnetic force generating means.
And a voltage variable indicating the voltage applied to the magnetic force generating means,
A current variable indicating the current flowing through the magnetic force generating means,
A magnetic flux variable indicating the magnetic flux generated by the magnetic force generating means,
A position variable indicating the position of the work material and the speed of the work material
Depicts the mutual relationship of speed variables that indicate degrees and
Equations derived theoretically by constructing an ideal model
Second memory means for storing data, said the equation data stored in the second storage means
Voltage data value applied to the magnetic force generating means, and
Depending on the data value detected by the third detecting means and the fourth detecting means,
Introduce the current value data value and magnetic flux value data value
Theoretical position data value indicating the theoretical position of the work material, before
The theoretical speed data value indicating the theoretical speed of the work material, and
And the theoretical current data value that theoretically flows through the magnetic force generating means.
And a performance by the first computing means for computing
Depending on the theoretical position data value obtained as a result of
Calculating the theoretical voltage data value applied to the force generating means
2 calculation means and the theoretical voltage data obtained as a result of the calculation by the second calculation means.
The magnetic force generating means is supplied by the supplying means in accordance with the data value.
Second control means for controlling the voltage applied to the stage
A coating system that is characterized by 7. The result of the calculation by the first calculation means.
Theoretical position data value, theoretical velocity data value and theoretical current data
Theory that theoretically flows to the magnetic force generation means based on the data value
Theoretically generated by the current data value and the magnetic force generating means
Third calculation means for calculating the theoretical magnetic flux data value to be generated, and theoretical current data obtained as a result of the calculation by the third calculation means.
The difference between the data value and the current value data detected by the third detection means.
The result of the calculation by the third calculating means while correcting
The theoretical magnetic flux data value obtained and the magnetism detected by the fourth detector.
Correction means for correcting the difference from the bundle data value, wherein the first calculation means is stored in the second storage means.
As each data value introduced into the equation data, the third performance
Theoretical voltage data value obtained as a result of the calculation by the calculating means and
Theoretical magnetic flux data value, and after correction by the correction means
7. The method according to claim 6, wherein a data value is used.
The described coating system.