JP2569945B2 - Linear encoder - Google Patents
Linear encoderInfo
- Publication number
- JP2569945B2 JP2569945B2 JP2287144A JP28714490A JP2569945B2 JP 2569945 B2 JP2569945 B2 JP 2569945B2 JP 2287144 A JP2287144 A JP 2287144A JP 28714490 A JP28714490 A JP 28714490A JP 2569945 B2 JP2569945 B2 JP 2569945B2
- Authority
- JP
- Japan
- Prior art keywords
- linear encoder
- locus
- band
- side edge
- trajectory
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000001514 detection method Methods 0.000 claims description 22
- 230000004907 flux Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 1
- 239000004020 conductor Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
Landscapes
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
- Control Of Vehicles With Linear Motors And Vehicles That Are Magnetically Levitated (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Description
【発明の詳細な説明】 〔産業上の利用分野〕 本発明は、LIM（リニアインダクションモータ）式搬
送装置の位置検出および速度検出等に用いて好適なリニ
アエンコーダに関する。Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a linear encoder suitable for use in position detection and speed detection of a LIM (Linear Induction Motor) type transfer device.
第３図及び第４図は、従来のLIM式搬送装置の１例を
示したものである。同図において、１はレール、２はレ
ール１の長手方向に沿って所定の間隔で配設されたLIM
の一次側装置、３は搬送台車である。FIG. 3 and FIG. 4 show an example of a conventional LIM type transport apparatus. In the drawing, 1 is a rail, 2 is a LIM disposed at a predetermined interval along the longitudinal direction of the rail 1.
The primary device 3 is a carriage.
上記一次側装置２は積層鉄心に巻回された巻線を有
し、この巻線に交流電流が供給されると、進行磁界を発
生する。上記搬送台車３はレール１を抱持するかたちで
該レール１に係合するローラ４、４、・・・を有し、レ
ール１と対向する面には、LIMの二次側導体５が設けら
れている。The primary device 2 has a winding wound around a laminated iron core. When an alternating current is supplied to the winding, a traveling magnetic field is generated. The carriage 3 has rollers 4, 4,... Engaging with the rail 1 while holding the rail 1, and a secondary conductor 5 of LIM is provided on a surface facing the rail 1. Have been.
このLIM搬送装置を備える搬送システムでは、搬送台
車３がLIMの一次側装置２と対向する位置に到達したこ
とを検出するとともに搬送台車３の走行速度を検出し、
これらの検出結果に基づいて搬送台車３の運行を制御す
る。In the transport system including the LIM transport device, the transport vehicle 3 detects that the transport vehicle 3 has reached a position facing the primary device 2 of the LIM, and detects the traveling speed of the transport vehicle 3,
The operation of the carrier 3 is controlled based on these detection results.
これらの検出を行なう手段として、上記LIM式搬送装
置はリニアエンコーダを備えており、このリニアエンコ
ーダはレール１の一次側装置２が設けられている箇所の
裏面に配設された検出器６と、搬送台車３に設けられた
スケール７からなる。スケール７は、第５図に示す如
く、長尺状の磁性板からなるバックプレート８の両面に
巾Ｗの帯状永久磁石９及び10を各々接着してなり、この
帯状永久磁石９及び10は長手方向に沿って一定間隔で極
性が反転する磁化領域9a、9b、・・・、10a、10b、・・
・を有している。検出器６は、第６図に示す如く、帯状
永久磁石９及び10の各々に対向する面に設けられたホー
ル素子11a、11c及び11b、11dを有し、ホール素子11aと1
1cまたホール素子11bと11dはスケール長手方向に上記間
隔の1/2間隔だけ隔てている。As means for performing these detections, the LIM-type transport device includes a linear encoder, and the linear encoder includes a detector 6 disposed on the back surface of the location where the primary device 2 of the rail 1 is provided; It consists of a scale 7 provided on the carrier 3. As shown in FIG. 5, the scale 7 is formed by bonding strip-shaped permanent magnets 9 and 10 each having a width W to both sides of a back plate 8 made of a long magnetic plate. Magnetized regions 9a, 9b,..., 10a, 10b, whose polarity is inverted at regular intervals along the direction
·have. As shown in FIG. 6, the detector 6 has Hall elements 11a, 11c and 11b, 11d provided on surfaces facing the strip-shaped permanent magnets 9 and 10, respectively.
1c and the Hall elements 11b and 11d are separated from each other in the longitudinal direction of the scale by 1/2 of the above distance.
ホール素子11a、11cの出力信号Sa、Scまたホール素子
11b、11dの出力信号SbSdは、第７図に示す如き信号処理
回路（検出回路）12へ供給される。14a、14bはアンプ、
15a、15bは基準電圧Vr1を設定された比較器、16a、16b
はアンドゲート、17a、17bは絶対値回路、18は加算点、
19は基準電圧Vr2を設定された比較器である。この比較
器19は位置信号Spを送出し、アンドゲート16a、16bはこ
の位置信号SpによりゲートされてＡ相パルスPa、Ｂ相パ
ルスPbを交互に送出する。Ａ相パルスPaとＢ相パルスPb
は移動速度に応じたパルス間隔を持ち、搬送台車３の速
度信号としてフィードバックされる。Output signals Sa, Sc of Hall elements 11a, 11c and Hall elements
The output signals SbSd of 11b and 11d are supplied to a signal processing circuit (detection circuit) 12 as shown in FIG. 14a and 14b are amplifiers,
15a, 15b are comparators set to the reference voltage Vr1 , 16a, 16b
Is an AND gate, 17a and 17b are absolute value circuits, 18 is an addition point,
Reference numeral 19 denotes a comparator to which the reference voltage Vr2 is set. The comparator 19 sends out a position signal Sp, and the AND gates 16a and 16b are gated by this position signal Sp to send out A-phase pulse Pa and B-phase pulse Pb alternately. A-phase pulse Pa and B-phase pulse Pb
Has a pulse interval corresponding to the moving speed, and is fed back as a speed signal of the carrier 3.
上記LIM式搬送装置が水平走行だけでなく、垂直走行
をも行なう搬送システムでは、第２図に示す如く、搬送
台車３がレール水平部1Aからレール垂直曲線部1Bを経由
してレール垂直部1Cへと、またはその逆に走行する。同
図において、2A、2B、2CはLIMの一次側装置である。In the transport system in which the LIM-type transport device performs not only horizontal travel but also vertical travel, as shown in FIG. 2, the transport vehicle 3 moves from the rail horizontal section 1A to the rail vertical section 1C via the rail vertical curved section 1B. Travel to and vice versa. In the figure, 2A, 2B, and 2C are primary devices of the LIM.
この種の搬送システムでは、従来、水平走行時および
垂直走行時は前記のようにリニアエンコーダの出力を信
号処理して搬送台車３の閉ループ速度制御を行なうが、
レール垂直曲線部1Bでは、検出器６は設けず、レール垂
直曲線部1Bに配設されている一次側装置への給電電圧は
予め調整して設定するようにしている。In this type of transport system, conventionally, during horizontal travel and vertical travel, the output of the linear encoder is signal-processed to perform closed loop speed control of the transport trolley 3 as described above.
In the rail vertical curved section 1B, the detector 6 is not provided, and the power supply voltage to the primary device provided in the rail vertical curved section 1B is adjusted and set in advance.
ところが、搬送台車３の重量は、最大積荷時と空荷時
で異なるので、この給電電圧の調整・設定は厄介で時間
がかかり、調整コストが高くなり、システム全体のコス
トに占めるウエイトが大きいくなる。However, since the weight of the transport vehicle 3 is different between the maximum loading time and the empty loading time, the adjustment and setting of the power supply voltage is troublesome and time-consuming, the adjustment cost is high, and the weight in the total system cost is large. Become.
勿論、レール垂直曲線部1Bにも検出器６を配設して閉
ループの電圧調整（速度制御）を行なえばよいが、固定
配置の検出器６に対して長尺体である帯状永久磁石９及
び10が曲線軌跡移動するから、第２図に示す如く、帯状
永久磁石９及び10の前部側および後部側が検出器６の検
出点から外れた移動軌跡を描く場合が発生し、一次側装
置2Bへの適性な給電開始タイミングや給電停止タイミン
グを看過したり、搬送台車３の推力不足を招いたりす
る。Needless to say, the detector 6 may be provided also on the rail vertical curved portion 1B to perform closed-loop voltage adjustment (speed control). However, the elongated permanent magnet 9 and 2, the front and rear sides of the strip-shaped permanent magnets 9 and 10 draw a movement trajectory deviating from the detection point of the detector 6, as shown in FIG. The power supply start timing and the power supply stop timing that are appropriate for the vehicle may be overlooked, or the transport vehicle 3 may have a shortage of thrust.
本発明は上記問題を解消するためになされたもので、
走行体のカーブ走行時も、磁気検出手段が帯状磁石の一
部を看過することのないリニアエンコーダを提供するこ
とを目的とする。The present invention has been made to solve the above problems,
It is an object of the present invention to provide a linear encoder in which the magnetic detection means does not overlook a part of the band-shaped magnet even when the traveling body is traveling on a curve.
本発明は上記目的を達成するため、帯状磁石が、垂直
曲線部の曲率中心に対して外側となる外側長手方向側縁
の中点の軌跡が、常に、内側長手方向側縁の両端隅み部
の軌跡より外側にある形状を有しており、上記外側長手
方向側縁の中点の軌跡と両端隅み部の軌跡との間もしく
は両軌跡が一致する場合は該軌跡上に磁気検出手段の検
出点が位置する構成とした。In order to achieve the above object, the present invention provides a belt-shaped magnet in which the locus of the middle point of the outer longitudinal side edge which is outside the center of curvature of the vertical curved portion is always at both end corners of the inner longitudinal side edge. And when the locus between the midpoint locus of the outer longitudinal side edge and the locus of both corners or both locus coincides with each other, the magnetic detection means The detection point is located.
請求項２では、帯状磁石の巾をＷ、帯状磁石の長さを
Ｌ、帯状磁石巾方向中心の移動軌跡の回転半径をＲ、磁
気検出手段の回転半径方向の検出に必要な巾をｍとした
場合、帯状磁石の巾Ｗが、下式 を満足する値である構成とした。In claim 2, the width of the band-shaped magnet is W, the length of the band-shaped magnet is L, the radius of rotation of the locus of movement of the center of the band-shaped magnet in the width direction is R, and the width required for detection of the magnetism detecting means in the direction of the radius of rotation is m. When the width W of the belt-shaped magnet is Was satisfied.
〔作用〕 本発明では、磁気検出手段の検出点が帯状磁石の外側
長手方向側縁の中点の軌跡と両端隅み部の軌跡との間に
位置するように、帯状磁石の巾と長さが決定されている
ので、走行体のカーブ走行時に、帯状磁石の前後端部が
検知されないまま走行体が走行するような事態は防止さ
れる。[Operation] In the present invention, the width and length of the band-shaped magnet are set so that the detection point of the magnetic detection means is located between the trajectory of the center point of the outer longitudinal side edge of the band-shaped magnet and the trajectory of both corners. Is determined, it is possible to prevent a situation in which the traveling body travels without detecting the front and rear ends of the band-shaped magnet when the traveling body is traveling on a curve.
以下、本発明の１実施例を図面を参照して説明する。 Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
第１図において、Ｗは帯状永久磁石９、10の巾、Ｌは
帯状永久磁石９、10の長さ、Ｒは帯状永久磁石９、10の
中心Ｏの移動軌跡（搬送台車３が前記したレール垂直曲
線部1Bを走行する時の中心Ｏの移動軌跡）20の半径であ
り、ｍは検出器６の検出に必要な巾（検出巾）ある。ま
た、OTは上記移動軌跡（円弧）の中心である。In FIG. 1, W is the width of the belt-shaped permanent magnets 9 and 10, L is the length of the belt-shaped permanent magnets 9 and 10, and R is the movement locus of the center O of the belt-shaped permanent magnets 9 and 10 (the rail of the transporting cart 3 is the rail described above). The radius of the center O (moving trajectory of the center O when traveling on the vertical curved portion 1B) 20 and m is the width (detection width) required for detection by the detector 6. Also, O T is the center of the movement locus (arc).
本実施例では、帯状永久磁石９、10の巾Ｗが下記
（１）式 を満足するように設定してある。In this embodiment, the width W of the belt-shaped permanent magnets 9 and 10 is determined by the following equation (1). Is set to satisfy.
即ち、帯状永久磁石９、10の移動軌跡20の中心OTに対
して外側の長手方向側縁F1の中点Ａの軌跡21が、帯状永
久磁石９、10の移動軌跡20の中心OTに対してＴ側縁F1よ
り内側の長手方向側縁F2の両端隅み部Ｂ、Ｃの軌跡22の
外側にある。That is, the trajectory 21 of the midpoint A of the outer longitudinal side edges F1 with respect to the center O T of the moving track 20 of band-shaped permanent magnet 9 and 10, the center O T of the moving track 20 of band-shaped permanent magnet 9 On the other hand, both end corners B and C of the longitudinal side edge F2 inside the T side edge F1 are outside the locus 22.
従って、搬送台車３がレール垂直曲線部1Bを走行する
時、帯状永久磁石９、10の隅み部Ｂ、Ｃの軌跡はＡ点の
軌跡の内側にあり、適当な位置に検出器６を配置すれば
帯状磁石は必ず検出器６の前面を通過し、速度信号がフ
ィードバックされないといった事態が無くなる。Therefore, when the carriage 3 travels along the rail vertical curved section 1B, the trajectories of the corners B and C of the strip-shaped permanent magnets 9 and 10 are inside the trajectory of the point A, and the detector 6 is arranged at an appropriate position. Then, the band-shaped magnet always passes through the front surface of the detector 6, and the situation that the speed signal is not fed back is eliminated.
本発明は以上説明した通り、帯状磁石の外側長手方向
側縁の中点の軌跡と内側長手方向側縁の両端隅み部の軌
跡との間に磁気検出手段の検出点が位置するので、レー
ル垂直曲線部の一次側装置に磁気検出手段を配設して、
このレール垂直曲線部を走行する走行体にフィードバッ
ク制御をかけることができ、該一次側装置への給電電圧
を予め調整して設定しなくて済むので、その実用的効果
は極めて大である。As described above, according to the present invention, since the detection point of the magnetic detection means is located between the locus of the midpoint of the outer longitudinal side edge of the band-shaped magnet and the locus of both corners of the inner longitudinal side edge, the rail The magnetic detection means is arranged on the primary device of the vertical curve part,
Feedback control can be applied to the traveling body traveling on the rail vertical curved portion, and it is not necessary to adjust and set the power supply voltage to the primary side device in advance, so that the practical effect is extremely large.
第１図は本発明の実施例を説明するための帯状磁石と検
出器との位置関係を示す図、第２図は従来の問題点を説
明するための帯状磁石と検出器との位置関係を示す図、
第３図はLIM式搬送装置の構成を示す正面図、第４図は
同搬送装置の構成を示す斜視図、第５図はリニアエンコ
ーダの構成を示す斜視図、第６図はリニアエンコーダの
ホール素子と帯状磁石との関係を示す図、第７図はリニ
アエンコーダの検出回路のブロック図である。 ６……磁気検出手段である検出器、12……信号処理回
路、９、10……帯状永久磁石、 20、21、22……軌跡。FIG. 1 is a diagram showing a positional relationship between a band-shaped magnet and a detector for explaining an embodiment of the present invention, and FIG. 2 is a diagram showing a positional relationship between a band-shaped magnet and a detector for explaining a conventional problem. Diagram,
FIG. 3 is a front view showing the configuration of the LIM type transport device, FIG. 4 is a perspective view showing the configuration of the transport device, FIG. 5 is a perspective view showing the configuration of the linear encoder, and FIG. FIG. 7 is a block diagram of a detection circuit of a linear encoder, showing a relationship between the element and the band-shaped magnet. 6 Detector as magnetic detection means, 12 Signal processing circuit, 9, 10 Band permanent magnet, 20, 21, 22 Track.
Claims (2)
体に取着され該走行体の前後方向に長尺状であってNS極
が交互に並ぶ磁極列を有する所定長の帯状磁石と、上記
走行体の軌道側に固定配置され上記磁極列の磁束変化を
検出する磁気検出手段と、この磁気検出手段の出力信号
を信号処理する回路とを備えるリニアエンコーダにおい
て、 帯状磁石が、垂直曲線部の曲率中心に対して外側となる
外側長手方向側縁の中点の軌跡が、常に、内側長手方向
側縁の両端隅み部の軌跡より外側にある形状を有してお
り、上記外側長手方向側縁の中点の軌跡と両端隅み部の
軌跡との間もしくは両軌跡が一致する場合は該軌跡上に
磁気検出手段の検出点が位置するよにしたことを特徴と
するリニアエンコーダ。1. A belt-shaped magnet attached to a traveling body traveling on a traveling route having a vertical curved portion and having a length in the front-rear direction of the traveling body and having a magnetic pole row in which NS poles are alternately arranged. A linear encoder fixedly disposed on the track side of the traveling body and configured to detect a change in magnetic flux of the magnetic pole array, and a circuit for processing an output signal of the magnetic detection unit; The locus of the midpoint of the outer longitudinal side edge, which is outside the center of curvature of the portion, always has a shape outside the locus of both corners of the inner longitudinal side edge, and A linear encoder characterized in that the detection point of the magnetic detecting means is located on the trajectory between the trajectory of the midpoint of the side edge in the direction and the trajectory of both corners or both trajectories.
帯状磁石中心の移動軌跡の回転半径をＲ、磁気検出手段
に必要な上記回転半径外方側への検出可能域をｍとした
場合、帯状磁石の巾Ｗが、下式 を満足する値であることを特徴とする請求項１記載のリ
ニアエンコーダ。2. The width of the strip magnet is W, the length of the strip magnet is L,
Assuming that the radius of rotation of the movement locus of the center of the band-shaped magnet is R and the detectable area to the outside of the radius of rotation required for the magnetic detection means is m, the width W of the band-shaped magnet is expressed by the following formula. The linear encoder according to claim 1, wherein the value satisfies the following.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2287144A JP2569945B2 (en) | 1990-10-26 | 1990-10-26 | Linear encoder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2287144A JP2569945B2 (en) | 1990-10-26 | 1990-10-26 | Linear encoder |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH04161801A JPH04161801A (en) | 1992-06-05 |
| JP2569945B2 true JP2569945B2 (en) | 1997-01-08 |
Family
ID=17713644
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2287144A Expired - Fee Related JP2569945B2 (en) | 1990-10-26 | 1990-10-26 | Linear encoder |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2569945B2 (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4591694B2 (en) * | 2005-07-01 | 2010-12-01 | 村田機械株式会社 | Mobile system |
| JP5783410B2 (en) * | 2011-07-22 | 2015-09-24 | 村田機械株式会社 | MOBILE SYSTEM AND MOBILE POSITION DETECTING METHOD |
| JP7768843B2 (en) * | 2022-06-08 | 2025-11-12 | 住友重機械工業株式会社 | Positioning device, drive device |
-
1990
- 1990-10-26 JP JP2287144A patent/JP2569945B2/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| JPH04161801A (en) | 1992-06-05 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| LAPS | Cancellation because of no payment of annual fees |