JPS62123904A - Conveyor control method - Google Patents

Abstract

PURPOSE:To enable delivery to the next drive section even on stoppage at any position in drive sections by controlling positions before delivery in response to the position of the stoppage of a carrier truck. CONSTITUTION:When a truck 1 is forwarded from a drive section 2(n-1) and stopped at the position of a point B in a drive section 2n, the presence of a sufficient acceleration section in the next delivery direction is detected by a position detector 4. When the acceleration section is not obtained sufficiently, the position of the truck 1 is controlled at a point H once and the acceleration section is acquired enough, and the truck 1 is carried to the next delivery section 2(n+1). Accordingly, the acceleration section for the next delivery can be ensured by controlling positions, thus acquiring a stable conveyor having excellent controllability.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Application of the Invention] The present invention relates to control of a transport machine, and in particular to control suitable for a transport machine that enables positioning of a trolley over a wide range within a drive section. [Background of the Invention] Conventional This type of conveyor is described in Japanese Patent Application Laid-Open No. 58-6067. However, in this conveyor, it is essential that the cart stop position be within the acceleration range necessary for sending the cart to the next drive section, and when it is stopped, it will not be able to accelerate enough to reach the next drive section. If this is not achieved and the cart stops midway, or if the sending drive unit is unable to obtain sufficient acceleration even if the center of the guide rail is raised or lowered, it will return to its original position and need to be sent out again. There are issues such as what needs to be done. Due to this problem, about 172 in the control section becomes the acceleration section for the next delivery, so the positioning range of the trolley is about 1/2 of the usage rate of the drive section, and it is difficult to stop within the entire section of the drive section. No consideration was given to points.

[Purpose of the invention]

An object of the present invention is to provide a method for controlling a conveyor machine that can send an object to the next drive section no matter where the conveyor stops within the drive section responsible for sending out and receiving. .

[Summary of the invention]

In order to achieve the above object, the present invention provides position control for moving the conveying string truck to a position where it can be delivered to the next drive unit when the conveying truck stops very close to the Nm1 part to be sent next. By doing so, the next transmission becomes possible.

[Embodiments of the invention]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS. 1 to 6, taking a conveyance machine using a linear motor as an example.

FIG. 1 shows an overview of the conveyor.

The configuration will be explained. A drive unit 2 that accelerates, decelerates, and positions and stops the truck 1, a guide rail 3 that connects the plurality of drive units 2, and a position detector 4 that detects the position of the truck 1 is provided in each drive unit 2. .

For example, when the trolley 1 is stopped at the point A as shown in Fig. 2, if the direction of primary delivery is the direction of the arrow M, the acceleration section of the drive unit 2n is sufficient. It can be accelerated so as to reach the driving unit 2 (n+1) to be sent next. However, if the cart 1 is stopped at the point shown in FIG. ) may become impossible to reach.

However, if the next sending direction is arrow M, the drive unit 2n
It is possible to obtain a sufficient acceleration section, and it is possible to accelerate so as to reach the next sending drive unit 2 (n-1).

FIG. 4 shows a diagram in which the trolley 1 is stopped at a turning point similar to that shown in FIG.

If the direction in which the cart is sent out at this time is the direction of the arrow M, it is impossible to send out the cart in this state as described above. However, trolley 1
By controlling the position so that the signal is returned to the point C indicated by the broken line, it is possible to send the signal to the next sending section 2 (n+1).

In addition, in FIG. 5, similar to FIG.
When the feeder is stopped at a position where feedout is not possible at (n+1), the feedable position is the farthest position in the feedout direction within the stopped driving section 2n.

FIG. 6 shows a configuration diagram of the present invention. A position detector 4n for detecting the position of the trolley 1 is connected as an input to the calculation unit 6, and a command unit 9 for inputting commands such as the stop position and delivery speed of the trolley is connected to the other input. ing.

The calculation unit 6 creates a control signal for controlling the trolley 1,
Connected to amplifier 7. The output of the amplifier 7 is connected to the input of the power section 8 to control the drive section 2n.

The operation will be explained. Carriage 1 is drive unit 2 (n-1)
When the drive unit 2n is sent out from the carriage and stopped at the illustrated point B position, work processing or the like is performed on the conveyed object on the trolley at this position. Therefore, the weight of the objects loaded on the trolley 1 constantly changes. Due to this change in weight, position control is applied to the position of the X point, for example, and the trolley 1 is moved to the next drive unit 2 (n
+1), there are times when it is possible and times when it is not possible.

However, since the maximum loading capacity of trolley 1 is fixed, trolley 1
The point at which it can be delivered when loaded with maximum weight is inevitably determined. In the present invention, assuming that this point is the H point, the cart 1 is positioned and stopped at the B point sent out from the drive unit (2n-1), and it is determined whether there is a sufficient acceleration section in the primary sending direction. It is detected by the position detector 4n, and if a sufficient acceleration section cannot be obtained, the cart 1 is once positioned at point H to obtain a sufficient acceleration section by position control, and then the cart 1 is transported to the next delivery section.

Therefore, the present invention compensates for the drawback that the driving part could not be stopped in the acceleration section as in the past, and enables positioning and stopping at all positions within the driving part, and also enables acceleration for the next delivery depending on the stopping position. Since the section can be secured by position control, it has the effect of providing a stable and highly controllable conveyor.

In another embodiment, an actuator dedicated to position control may be added to the drive section before delivery.

〔Effect of the invention〕

According to the present invention, when the stop position of the cart does not have an acceleration section necessary for the next delivery, position control is performed to ensure the acceleration section, even if the cart stops within the acceleration section. This has the effect of allowing transport to the next delivery section.

Further, as another effect, positioning can be performed at all positions within the drive unit, so there is an effect that a flexible conveyor can be provided.

[Brief explanation of drawings]

FIG. 1 shows an outline of the conveyor. FIGS. 2 to 5 are diagrams showing a state in which the truck is stopped within the drive section. FIG. 6 is a diagram showing the circuit configuration of the present invention. DESCRIPTION OF SYMBOLS 1... Bogie, 2... Drive unit, 3... Guide rail, 4... Position detector, 6... Arithmetic unit, 7... Amplifier, 8... Power part, 9 ...Director.

Claims (1)

[Claims] 1. In a transport machine consisting of a plurality of drive units that drive the transport trolley, a transport trolley, a guide rail connecting the drive units, and a position detector that detects the position of the transport trolley, stopping the transport trolley A method for controlling a conveying machine characterized by controlling the position before sending out according to the position.