JPH0139388B2 - - Google Patents

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a conveyance device using a linear motor, and particularly to a conveyance device that prevents movement of a conveyance body that occurs when the conveyance body is evacuated from a conveyance path and restored. Regarding equipment.

A linear motor car transport device will be explained below as an example.

A linear motor car is equipped with multiple stators along the rails, a secondary conductor is provided on the conveyor (hereinafter referred to as carrier), and the driving force induced in the secondary conductor by the action of the magnetic force generated by the excitation of the stator is used. , which transports carriers on rails.

The stators are distributed along the rails,
For example, a carrier is provided for each station where objects to be transported are loaded/taken out, and by giving start and stop commands to the stator from a controller, the carrier can be transported from a predetermined station to a target station.

In the case of a financial institution, the station is incorporated into a mechanism such as a cash insertion machine, cash dispensing machine, cash teller machine, etc., and the carrier is evacuated from the rail and restored to the rail by a lift mechanism or the like.

In the linear motor car transport device as described above, the rails may have an inclination (or vertical in some cases) depending on the location where the station is installed.

If the carrier stopped on the rail moves from its predetermined stopping position due to the braking force of the stator being cut off due to the evacuation operation, the lift mechanism may not operate correctly, and the carrier may not be able to return to the rail. If you move before the carrier starts, it may interfere with the start.

Therefore, there is a need for a transport device that has a simple means for fixing the free state of the carrier that temporarily occurs during evacuation and recovery.

[Conventional technology]

Conventional evacuation/recovery operations will be explained below.

First, an outline of the linear motor car transport device will be explained.

In Fig. 2a, 3 is a storage box for cash, etc., 4 is a support stand, 5 is a guide having a mechanism for running on the rail 1 by means of rollers 6, etc., 7 is a secondary conductor, and 3 to 7 are carriers. is configured.

A stator 2 is composed of an acceleration/deceleration motor, a stop motor, etc., and is driven by a station controller in the station. This stator 2 is incorporated into a cash insertion machine, a cash storage machine, etc. together with a lift mechanism.

Further, reference numerals 8a, 8b, . . . , 8d are rail elements, which are provided at four locations on the rail at the stop position of the station, and the carrier is supported by the rail element 8 for evacuation or recovery.

FIG. 2b is a sectional view of the lift mechanism, showing a state in which the carrier is stopped at the station.

The lift mechanism will be explained below.

In Fig. 2b, 20 and 21 are guide columns, 2
3 and 24 are slider blocks, 25 is a crank mechanism, 26 is a gear, and M2 is a lift motor.

That is, the carrier is supported by the slider blocks 23 and 24 together with the rail element 8, and the gear 26 is rotated by the rotation of the lift motor M2.
The crank mechanism 25 operates to raise and lower the carrier together with the slider blocks 23 and 24 connected thereto.

Completion of the lift operation is detected by switch SW2, and lift-down completion is detected by switch SW2, and lift-up completion is detected by switch SW3.

Reference numerals 27 and 28 are auxiliary rail mechanisms which replenish the rail element 8 to allow other carriers to pass when the carrier is lifted up together with the rail element 8, and are opened and closed by the auxiliary rail motor M1. Opening/closing of the auxiliary rail is confirmed by turning on/off switch SW1.

29 is the shutter, 30 is the shutter 29 and the lid 31 of the storage box 3 when the carrier has been lifted up.
M3 is a shutter motor.

That is, when the carrier is lifted up, the lid 31 of the storage box 3 is locked to the shutter 29, and the lid 31 of the storage box is opened and closed together with the shutter 29 by the shutter motor M3. SW4 is a switch for checking whether the shutter is open or closed.

With the above mechanism, the carrier is evacuated from the rail 1 and restored.

The operation sequence is as follows.

(Sequence of evacuation operation) Stop confirmation → Lift up → Auxiliary rail closed → Shutter open (Recovery operation sequence) Shutter closed → Auxiliary rail open → Lift down → Start Next, the stopping operation of the carrier will be explained.

FIG. 2c is a side view of the station, showing a state in which the carrier is stopped at a predetermined position. In the figure, m1, m1', and m2 are stop motors, and m3, m3' are acceleration/deceleration motors.

Stop motors m1 and m1' are each single-phase AC
A tensile force and a repulsive force are applied alternately to the secondary conductor 7 of the motor carrier according to the AC cycle as shown in Fig. 2d, and the carrier is placed between the motors m1 and m1'. Make it stop.

The stopping motor m2 is a DC motor and exerts a deterrent force on the movement of the carrier.

The acceleration/deceleration motors m3 and m3' each have three phases.
These are AC motors that apply acceleration/deceleration force by changing their phases.

The carrier stopping operation is performed as follows.

When the carrier enters the station, the station controller drives the acceleration/deceleration motor to a deceleration mode while detecting the speed of the carrier to decelerate the carrier. When the carrier is decelerated below a certain speed, the stop motors m1, m
1' and m2.

After confirming that the carrier has stopped, the stator drive is stopped and the evacuation operation is started.

As mentioned above, the evacuation operation starts with lift-up, and as shown in FIG. After the lift-up is started, the guide rollers 32 and 33 move along the guides 34 and 35, so that the position of the carrier relative to the station is fixed.

In the restoration operation, the auxiliary rail is opened in the opposite direction to the above operation, and after the carrier is lifted down and installed at a predetermined position, the acceleration/deceleration motors m3 and m3' are driven and the vehicle starts moving.

During the conventional evacuation/recovery described above, the stopped carrier starts the lift-up operation and is in a free state until it is supported by the rail element 8 and the guides 34, 35, and at the time of recovery, the carrier starts from the lift-down position. Until then, we are in the same situation. Therefore, if the rail has a slope, it may move from the set position due to its own weight.

[Problem that the invention seeks to solve]

As explained above, conventional carriers do not have a means to fix stopped carriers or carriers waiting to start, so if the rail has a slope, there is a risk that the carriers will move and move from their designated positions. The problem is that such a carrier may deviate from the rail element and become unable to evacuate or be unable to start. Furthermore, the mechanical fixing means used to solve the above problem has the problem that the device is complicated and expensive.

[Means for solving problems]

The above-mentioned conventional problems are caused by the means for operating the stopping means until the conveyor is fixed on the lift means when the conveyor in a stopped state is evacuated from the conveyance path, and the time required to operate the stop means until the conveyor is detached from the lift means and started at the time of recovery. This problem can be solved by the conveyance device of the present invention, which is equipped with a means for operating the stop means.

[Effect]

That is, as shown in Fig. 2d, the stop motors m1 and m1' alternately apply a tensile force F or a repulsive force F' to the secondary conductor of the carrier according to the AC cycle to stop it. Therefore, even if the carrier is in a free state during the evacuation operation, the stopping force in the rail direction and the rolling direction of the roller 6 is in effect until the secondary conductor is present in the stator, and during that time it is supported by the lift, Moreover, since it is guided by the guide, the carrier does not move even if the rail is inclined, and therefore, it can stably perform the evacuation operation.

Also, when recovering, if you start the stop motor before leaving the guide, when you get onto the rail,
A stopping force acts on the carrier to prevent it from moving.

〔Example〕

Examples will be described below using figures.

Figure 1a is a block diagram showing the configuration of a station controller that performs carrier acceleration/deceleration/stop control and evacuation/recovery control, Fig. 1b is a flowchart showing the evacuation operation, and Fig. 1c is a flowchart showing the recovery operation. It's a chat.

In FIG. 1a, 40 communicates with the system controller through the communication control unit 41, and
2, a control unit that controls each part according to the program stored in the carrier, 44 a speed detection unit that detects speed using the slit of the carrier guide 5 and speed detectors S1 to S4, and 45 acceleration/deceleration motors m3 and m.
3' is an acceleration/deceleration motor drive section; 46 is a stop motor drive section that drives stop motors m1, m1' and m2; 47 is a lift motor drive section; 48
49 is the shutter motor drive unit, 43 is each operation confirmation switch S1 to S.
This is an interface section with 4.

The operation sequence of the present invention in the above station controller will be explained with reference to FIGS. 1b and 1c.

In this example, the stop motor is set to be turned off when lift-up is completed and turned on when lift-down is started.

(Stay-away operation) (1) The control unit 40 drives the acceleration/deceleration motor drive unit 45 while referring to the speed of the approaching carrier determined by the speed detection unit 44, and when the speed of the carrier reaches a certain speed or less, the stop motor is activated. The drive section 46 is driven.

(2) After confirming that the carrier has stopped, start the lift motor drive section 47.

(3) Monitor the lift-up confirmation switch SW3, and when the switch is turned on, close the auxiliary rail motor drive unit 48 and instruct the stop motor drive unit 46 to operate the stop motors m1, m1', m1',
Turn off the drive of m2.

(4) Next, after confirming that the auxiliary rail is closed, drive the shutter to open, and after confirming the operation, complete the evacuation operation.

(Recovery operation) (1) When the shutter 29 is on standby in the closed state, when a transport command is received from the system controller, the auxiliary rail motor drive unit 48 is driven to open the auxiliary rail, and the stop motor drive 46 is driven to the stopped state. Set to .

(2) After confirming that the auxiliary rail is open, drive the lift down.

(3) After confirming lift down, stop motor drive section 46
At the same time, the acceleration/deceleration motor drive unit 45 is activated to start the carrier.

As described above, the magnetic force of the stopping stator can be applied to the carrier during the evacuation/recovery operation, thereby preventing the carrier from moving.

In the above description, the switch SW3 is used to turn on and off the stop motors m1, m1' and m2, but any means that detects the state in which the carrier is fixed to the station mechanism may be used.

〔Effect of the invention〕

As explained above, by driving the stop motor, a restraining force can be applied to the carrier, which has the effect of stably performing evacuation and recovery operations even on a sloped rail.

[Brief explanation of drawings]

Fig. 1a is a block diagram of the station controller to be carried out, Fig. 1b is a flowchart of the evacuation operation, Fig. 1c is a flowchart of the recovery operation,
FIG. 2a is a diagram showing the structure of the carrier and stator, FIG. 2b is a sectional view of the lift mechanism, FIG. 2c is a side view of the same, FIG. 2d is a diagram showing the action of the stopping motor on the carrier, It is. In the figure, m1, m1', m2 are stop motors, m
3, m3' is an acceleration/deceleration motor, SW2 is a lift-down detection switch, SW3 is a lift-up detection switch, 7 is a rotor plate, 8a to 8d are rail elements, 32, 33 are guide rollers, 34, 3
5 is a guide, 40 is a control section, 45 is an acceleration/deceleration motor drive section, 46 is a stop motor drive section, and 47 is a lift motor drive section.

Claims (1)

[Claims] 1. A conveyance device having a lift means for evacuating and restoring the conveyance body with respect to the conveyance path, and a means for driving and stopping the conveyance body having a secondary conductor by excitation of a stator provided along the conveyance path. means for operating the stopping means until the conveying body is fixed to the lift means when the conveyance body in a stopped state is evacuated from the conveyance path; and means for operating the stopping means until the conveyance body is separated from the lift means and started at the time of recovery. A conveying device characterized by comprising: