JPS62196227A - Conveying equipment utilizing linear motor - Google Patents

Abstract

PURPOSE:To prevent trouble at the time when a moving body moves on a connected part of a moving body guide to a movable guide, by mounting a traveling wheel to the moving body and a moving body driving device to the movable guide. CONSTITUTION:A moving body V is moved by a linear motor M0 on a moving body guide A. And, the path thereof can be alternated at a right angle by rotatably providing a movable guide A1. At the set position in front of the movable guide A1, the operation of an electromagnet M1 for floating is stopped so that the moving body V is movably supported by a traveling wheel 6. An locking piece 16 attached on the front end of a hydraulic cylinder 14 in a moving body driving device Y is lockingly engaged to a locked piece 15 attached on the side portion of the moving body V, whereby the moving body V is pulled so as to be moved from the moving body guide A to the movable guide A1. With this constitution, even if there is a space between the moving body guide A and the movable guide A1, it is possible to prevent such a trouble that the moving body V is made to collide with the moving body guide A due to errors in detection of the space.

Description

Detailed Description of the Invention [Industrial Field of Application] The present invention provides a movable guide for switching routes that is repositioned so as to be selectively connected to different moving object guides, and A linear motor for propulsion to the body is provided, an electromagnet for levitating the moving body, a gap sensor for detecting the flying height of the moving body, and detection information of the gap sensor so as to bring the flying height close to a set value. The present invention relates to a conveyance facility using a magnetically levitated linear motor, in which energization control means for controlling energization of the electromagnets based on the following are provided on the movable body side.

[Conventional technology]

Such transport equipment is used, for example, in factories to transport objects such as workpieces for processing and parts for assembly, and because it is magnetically levitated, it is possible to suppress the generation of noise and dust. It is.

As the movable guide for path switching, when movable body guides are arranged side by side in the horizontal direction or vertical direction, a sliding type that can be slid in the horizontal direction or vertical direction is used; When different movable body guides are arranged so that their ends intersect, various types are used depending on the arrangement of the movable body guides, such as those that rotate around the vertical axis or rotary types. There is something.

By the way, in this type of transport equipment, by controlling the energization of the electromagnet for levitation based on the information on the floating height of the moving object detected by the gap sensor provided on the moving object side,
This is to maintain the floating height of the moving object at an appropriate state, so if there is a gap between the moving object guide and the movable guide that has been repositioned to a position adjacent to it, the movement will occur between the moving object guide and the movable guide. When moving the body, the gap sensor detects that the flying height of the moving body is large due to the gap, and as a result, for example, energization of the electromagnet is controlled to bring the moving body closer to the moving body guide. , there is a risk that the moving body may collide with the moving body guide.

For this reason, in the past, in order to prevent a large gap from occurring between the movable body guide and the movable guide whose position has been changed so as to be connected to the movable body guide, the construction precision of the movable body guide was increased, and the construction of the movable guide was I was trying to improve accuracy. Incidentally, in order to improve the construction accuracy of the movable guide, it is necessary to manufacture the structure that supports the movable guide so that its position can be changed and the structure that moves and operates the movable guide with extremely high precision.

[Problem that the invention seeks to solve]

However, this is due to the fact that flexibility must be provided between the movable body guide and the movable guide to allow relative movement between the two, and there are limits to improving the construction accuracy of the movable body guide and the movable guide. , the gap between the movable body guide and the movable guide that has been repositioned to a position connected to it,
In some cases, it was not possible to make it sufficiently small.

The present invention has been made in view of the above-mentioned circumstances, and its purpose is to eliminate the gap between the movable body guide and the movable guide whose position is changed to a position adjacent to the movable body guide. The object of the present invention is to allow a moving body to be appropriately moved across a guide.

[Means for solving problems]

A characteristic configuration of the conveyance equipment using a magnetically levitated linear motor according to the present invention is an electromagnet stop control means for stopping the operation of the electromagnet while the movable body moves through a connection point between the movable body guide and the movable guide. and an auxiliary support means for movably supporting the movable body when the electromagnet is deactivated.The functions and effects thereof are as follows.

[For production]

That is, when the movable body moves through the connection point between the movable body guide and the movable guide, the electromagnet stops levitating the movable body, and instead, the movable body is movably supported by the auxiliary support means. That's what I do.

〔Effect of the invention〕

Therefore, even if there is a gap between the movable body guide and the movable guide that has been repositioned to a position adjacent to it, troubles caused by the gap sensor erroneously detecting the gap can be avoided, and the movable body guide and the movable guide can be separated. It is now possible to move a mobile object appropriately over a period of time.

〔Example〕

Embodiments of the present invention will be described below based on the drawings.

As shown in FIG. 6, a moving body guide (A) is provided along the movement path of the moving body (V) for conveyance, and the moving body (V) is provided with a moving body guide (A).
V) is magnetically levitated, and a linear motor (M
. ) while being driven by the transfer station (ST
).

However, the moving path should be formed so that there is a bent path portion that bends 90 degrees (two straight moving body guides (A)).
are arranged so that their ends intersect at an intersection angle of 90 degrees, and a path switching section (SW) is provided with a movable guide (A1) rotatable around the vertical axis (X) at the intersection ) is provided.

To explain the movable body guide (^), as shown in FIGS. 4 to 6, it includes a main body (2) made of a magnetic material such as iron and having a flat cross-sectional shape, and a support for the main body (2). Part (3)
It consists of

And the negative coil (C+) of the linear motor (M.)
.

(C2) are attached to the upper surface portion (2A) of the main body portion (2) at intervals in the longitudinal direction of the movement path. In other words,
In the station (ST), a station secondary coil (C1) for decelerating, stopping and accelerating the moving body (V), and a relay primary coil (C2) for accelerating the moving body (V). is provided. In addition, as will be described later, the movable body (V) is decelerated and stopped at a location in front of the route switching section (SW). A primary coil (C1) is provided.

In addition, the moving body (V) may be passed through the station (ST) without stopping, and in that case, the primary coil (C8) for the station is used as the primary coil for the station (ST). Become.

As shown in FIG. 6, coil drive control devices (B+) and (Bz) are provided for the primary coils (C1) and (Ct) for the station and Nakasakaki, respectively, and these coil drive control devices (B1) A central control device (F) is provided to centrally control the operation of , (BZ), and the central control device (F)
and the coil drive control devices (B1) and (12), while exchanging various information such as stop command information, start information, passing information, and traveling direction information, for the traveling of the mobile object (V).
- It is designed to control energization to the secondary coils (C1) and (CZ).

As shown in FIGS. 4 and 5, the movable body (V) is provided with an exterior cover (K) on which a cargo storage area (1) is formed, and the cover (on) A frame (1) is provided inside, which also serves as a support frame for various devices. Then, the secondary conductor (4) of the linear motor (M) is connected to the negative coil (C+).

(C2), install the moving body in a horizontal position facing the front and back direction, and move the moving body (V) to the moving body guide (^).
A first electromagnet (M1) for floating the body (M1) is provided so as to attract the bottom wall (2a) of the main body (2), and a first electromagnet (M1) is provided to attract the bottom wall (2a) of the body (2). A second electromagnet (M2) that regulates the position in the left and right direction,
The side wall portion (2b) of the main body portion (2) is provided so as to have a suction effect.

However, each of the first electromagnet (M1) and the second electromagnet (M2) is provided at one location in the left-right direction of the moving body (V), two in the front and the front, and one in the other location in the left-right direction. It is provided.

A first gap sensor (S,) for detecting the flying height of the movable body (V) with respect to the movable body guide (A) is provided near each of the first electromagnets (M,), and
) to detect the lateral distance from the moving body guide (A).
A gap sensor (S2) is provided near each second electromagnet (M2).

In order to maintain the flying height within a set range, the first electromagnets (M, ) is provided with energization control means (Z) for controlling energization.

This energization control means (Z) will be explained based on FIG. ) The first battery (E) installed in
A switch circuit (SK
) is provided so as to be operated by the output of the comparator (5) so as to be operated only when the flying height is at a set value.

Although not described in detail, the energization to the second electromagnet (h2) is also controlled by the energization control means for the first electromagnet (M1) (a-power control means having the same configuration as c), based on the detection information of the second gap sensor (S2). It is configured to be controlled by G.

In addition, in FIGS. 4 and 5, (7) refers to the moving body (
V) is a slit plate with holes formed at predetermined intervals in the front-rear direction, and is a two-phase photointerrupter type optical sensor (8) installed at the installation location of the secondary coil (C9).
As the moving body (V) passes, the slit plate (7)
By detecting the number of times the light is interrupted, the time interval, and the phase difference between the two-phase detection signals,
) position, running speed, and direction of movement are detected. The detection information is control information for controlling the energization of the secondary coil (C1) when the moving body (V) is stopped in front of the station (ST) or the route switching section (S-). It will be used as. Furthermore, in the figure (M3) is the station (ST)
This is an electromagnet for holding the moving body (V) stopped at .

Also, as shown in Fig. 8, the moving vehicle (V) stopped near the route switching section (S-) and the center side? Il+ device (F)
In order to exchange information with
B) is provided to notify the moving vehicle (V) before the route switching that the route switching section has started, and to notify the moving vehicle (V) after the route switching that the route switching operation is completed. A switch circuit (SO) for stopping the supply of electric power from the battery (E) to the energization control means (Z) is configured to be able to notify the user of the change in the power supply control means (Z). Based on the command information of (10), the switch is configured to be operated to turn off upon notification that the route switching section has started, and to be operated to enter upon notification that the route switching operation has been completed. Move guide (A)
While the movable body (V) is moving, the electromagnets (1, (M It constitutes an electromagnet stop control means (W) for stopping the operation of the electromagnet.

and four wheels (6) constituting an auxiliary support means (11) that supports the movable body (V) in a movable state when the electromagnets (M1) and (?h) are deactivated. The mobile object (V) is equipped with the following.

As shown in FIGS. 1 to 3 and 7, a movable guide controller (G) capable of communicating with the central control device (F) is provided, and an electric motor for rotating the movable guide (A) is provided. A drive circuit (12) for the motor (11) and a rotational position detection sensor (13) for detecting the rotational position of the movable guide (A
G), and connect the movable guide (A) to a different movable guide (A).

The movable guide (A1) is configured to be rotated by command information from a movable guide controller (G) in order to change its position so as to be selectively connected to (A).

Also, moving the movable body (V) from the movable body guide (A) to the movable guide (A1), and moving the movable body (V) from the movable guide (A, ) to the movable body guide (A). A movable body drive device (Y) is provided to perform each of these operations, and the movable body (V) is movably supported by the rollers (6) in the vicinity of the route switching section (SW), while the movable guide ( A,) and the movable body guide (^).

To explain the movable body drive device (Y), a multiple telescoping fluid pressure cylinder (14) is connected to a movable guide (A1).
A locking piece (16) is provided at the tip of the fluid pressure cylinder (14) to lock the locking piece (15) provided on the side of the movable body (V). A solenoid (17) is provided for moving the locking piece (16) into and out of the locked piece (15), and a fluid pressure cylinder (
The control valve (18) and the operation circuit (19) of the solenoid (17) of the movable guide controller (G) are connected to the movable guide controller (G). ) and locking piece (15
) while operating the moving body (V).

[Another example]

In the above embodiment, a case where a rotary movable guide (A) is provided is illustrated, but as shown in FIG.
The present invention can also be applied to the case where A1) is slid in parallel between movable body guides arranged in parallel.

In the above embodiment, the movable body guide (A) and the movable guide (A
1), the movable body (V) is moved between the movable body drive device (Y) and the movable guide (A).
1) may also be provided with a secondary coil (C1) and moved using a linear motor (M.). Even when using the mobile body drive device (Y), its configuration can be changed in various ways. Figures 10 and 11 show an example of this, in which a moving body (V) moving along two movable body guides (A) arranged in parallel is To move the moving body (A) to the guide (A), the end (Aa) of the movable body (A) on the upper side of the movement is configured to be swingable downward using a fluid pressure cylinder, etc., and the movable guide (^ 1) is configured to be swingable upward using a fluid pressure cylinder or the like, and a moving body (V
) is moved downward along the slope.

In the above embodiment, the movable body guide (A) and the movable guide (
The operation of the electromagnet (1) is stopped not only while the movable body (V) moves through the connection point with A1), but also while it moves on the movable guide (At). (While moving A〇, the electromagnet (M1) may be activated.

In the above embodiment, the roller (6) is used as the auxiliary support means (H).
However, as shown in FIG. 12, each of the movable body guide (A) and the movable guide (A1) is provided with a blower duct l-(20), and a pressure receiving blade (21) is provided.
may be provided on the movable body side and configured to levitate by air. In this case, an upper propulsion blade (22) may be provided on the downstream side in the moving direction, and a duct (23) for blowing air may be provided on the downstream side in the moving direction for air propulsion.

Furthermore, in carrying out the present invention, -order coil (C1),
Instead of (C2) being provided on the movable body guide side, a secondary coil may be provided on the movable body side. Furthermore, even when the secondary coils (C1) and (Cg) are provided on the movable body guide side, in addition to providing them at intervals in the longitudinal direction of the movable body guide, they are also provided so as to be continuous in the longitudinal direction of the movable body guide. It's okay.

In addition, in order to regulate the position of the movable body guide (V) in the lateral direction with respect to the movable body guide (A) and the movable guide (A,),
Guide (A) instead of using magnetic force.

You may make it provide the rolling wheel which contacts (A1).

[Brief explanation of drawings]

The drawings show an embodiment of the conveyance equipment using a linear motor according to the present invention, and FIGS. 1 and 2 are schematic plan views of the route switching section, FIG. 3 is a schematic side view of the same, and FIG. 4 is a moving body. A perspective view of
FIG. 5 is a longitudinal front view of the same, FIG. 6 is a schematic plan view of the transfer equipment, FIG. 7 is a block diagram showing the control configuration of the route switching section, FIG. 8 is a circuit diagram showing the control configuration of the moving body side, and FIG. 9 and 10 are schematic plan views of another embodiment, FIG. 11 is a schematic side view of another embodiment, and FIG. 12 is a front view of another embodiment. (A)...Moving object guide, (A1)...
・Movable guide, (11)...Auxiliary support means, (
M1)...Electromagnet, (S1)...Gear/knob sensor, (V)...Moving object, open)...
...Electromagnet stop control means, (Z)...Electrification control means.

Claims (1)

[Claims] A movable guide (A_1) for route switching is provided, which is repositioned so as to be selectively connected to different moving body guides (A), (A), and a movable guide (A_1) for propulsion to the moving body (V) for transportation is provided. In addition to providing a linear motor, an electromagnet (M_1) that levitates the moving object (V), a gap sensor (S_1) that detects the flying height of the moving object (V), and a sensor that brings the flying height closer to a set value. , the gap sensor (
A conveyance facility using a magnetically levitated linear motor, in which energization control means (Z) for controlling energization of the electromagnet (M_1) based on detection information of S_1) are provided on the movable body side, body guide (A) and the movable guide (A)
An electromagnet stop control means (W) is provided for stopping the operation of the electromagnet (M_1) while the movable body (V) moves through the connection point with the electromagnet (M_1).
When the operation of 1) is stopped, the moving body (V)
A conveyance facility that uses a linear motor and is equipped with auxiliary support means (H) that supports it in a movable state.