JPH0630524B2 - Traveling control device for moving body for carrier device - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a traveling control device for a moving body for a carrier that is moved along a moving body guide.

[Conventional technology]

When this type of moving body is applied to, for example, a transfer facility for automatically transferring various works and tools in a factory or the like, the linear part of the moving body guide is moved at high speed, and the moving body guide The curved portion is moved at a low speed to prevent the moving body from falling off the guide, and the moving speed of the moving body is controlled in order to automatically stop the moving body at a predetermined position.

Then, conventionally, in order to automatically control the operation of the moving body, a communication device for instructing the moving speed of the moving body is provided on the side of the side of the moving path, etc., and the speed command is transmitted to the moving body side sequentially. In this way, the moving body is operated at the set moving speed.

[Problems to be solved by the invention]

However, in the above-mentioned conventional means, it is necessary to change the arrangement of the communication device according to the layout change of the moving body guide that is the moving route of the moving body, and it is troublesome to modify the equipment due to the changing layout.

The present invention has been made in view of the above circumstances, and an object thereof is to make it possible to easily change the layout of a moving body guide.

[Means for solving problems]

A characteristic configuration of a traveling control device for a moving body for a transport device according to the present invention includes a moving speed command mark, a mark length detecting means, and a speed control means, and the moving speed command mark is arranged along a moving direction. The mark length detecting means and the speed control means are installed on the moving body guide side and are mounted on the moving body. The mark length detecting means detects the length of the moving speed command mark, and the speed control means The point is that the output is input to set the target moving speed, and the action and effect thereof are as follows.

[Action]

That is, the target moving speed of the moving body is given as the length of the moving speed command mark installed on the moving body guide, and on the moving body side, the mark length detecting means is used for the moving speed command set on the moving body guide. Detect the mark length,
The speed control means controls the moving speed of the moving body so that the target moving speed is reached based on the detected length of the moving speed command mark.

〔The invention's effect〕

Therefore, the operation of the moving body can be changed only by changing the length of the moving speed command mark provided on the moving body guide side and the installation position thereof, and the layout of the moving body guide can be easily changed.

〔Example〕

 Embodiments of the present invention will be described below with reference to the drawings.

As shown in FIG. 3 to FIG. 5, a guide rail (B) as a moving body guide is movably supported by a vehicle body (A) for moving articles as a moving body having traveling wheels (1). , Provided in a loop, the vehicle body (A) is driven from a predetermined starting point (a) by being driven by a linear motor (M), and predetermined points (b), (c), (d) described later. In (1), various articles can be transported along the guide rail (B) while automatically adjusting the moving speed.

In the linear motor (M), a primary coil (C) is provided on the vehicle body (A) side, and a secondary conductor (P) is provided on the guide rail (B) side.
Are provided respectively, and the primary coil (C) is located below the secondary conductor (P).

The configuration of each unit will be described below.

As shown in FIG. 4 and FIG. 5, the guide rail (B) is formed such that its cross-section is formed in a substantially U shape, and the traveling wheel (1) is engaged with the lower surface of the inner wall thereof. A concave groove to be inserted is provided, and the primary coil (C) on the vehicle body side is provided on the lateral side surface of the inner wall.
(D) as a speed control means to be installed in the vehicle or the body (A)
Three power supply trolley rails (2a) for supplying electric power to various devices such as etc. from the external power supply (E) by three-phase AC,
5 of trolley rails (2) consisting of two signal trolley rails (2b) for exchanging control signals between the central control unit (F) on the ground side and the control unit (D) on the vehicle body side Books are arranged vertically.

In addition, as will be described later in detail, a moving speed command formed of a magnetic material such as iron so that the target moving speed (ω) is commanded to the vehicle body (A) based on the length along the moving direction. A mark (hereinafter referred to as a target movement speed command mark or mark) (m) is provided at the upper end of the guide rail (B) in a state of protruding toward the opening side.

In order to provide the secondary conductor (P) on the guide rail (B), the guide rail (B) is formed of a non-magnetic material (P ₁ ) such as aluminum, and the lower side surface thereof is the secondary conductor (P) structure. It acts as a non-magnetic material (P ₁ ) for the inside of the guide rail (B), and inside the lower wall of the guide rail (B) from the end side of the guide rail (B), magnetic material such as iron for the secondary conductor is formed. Insert the material (P ₂ ), and then insert the wedge (3) from the lateral direction of the guide rail (B) into an appropriate position,
(P ₂ ) is fixed in a state where the guide rail (B) is allowed to expand and contract in the longitudinal direction. That is, the secondary conductor (P) is a non-magnetic material (P ₁ ) formed on the lower surface of the guide rail (B) itself.
And a magnetic material (P ₂ ) inserted into the lower wall of the lower wall, a so-called composite type is formed so that high thrust can be generated.

In constructing the vehicle body (A) for transportation, as shown in FIGS. 4 and 5, main frames (4) having a substantially U-shaped front view are provided at both front and rear ends of the vehicle body. At the same time, a connecting frame (5) for connecting the main frames (4) is provided. A carrier (6) for transporting articles, which has as its main parts the front and rear members formed by bending the pipe-shaped member into a substantially U-shape when viewed from the front, is provided in the lower part of the vehicle body.

Further, the primary coil (C) is provided on the upper portion of the coupling frame (5), and even if an attractive force is generated between the secondary conductor (P) and the primary coil (C), the primary coil ( C) is the guide rail
(B) so that it does not touch the lower surface of the outer wall of the guide rail (B) along with the vertical movement of the vehicle body (A), the primary coil (C) and the secondary conductor (P) Is a wheel for traveling, which is used for the traveling wheel (7) for regulating the distance.
It is provided on the lower side of (1).

Further, the traveling wheel (1) is attached to the vertical middle portion of the main frame (4), and the guide rail (B) is attached.
A pair of left and right guide rollers (8) that prevent the vehicle body (A) from falling off the guide rails (B) by contacting the projections provided on the upper and lower ends of the main frame with the main frame. It is provided on the upper end of (4) and on the front and rear sides of the traveling wheel (1). In the figure, (9) is a current collector for the trolley rail (2).

Furthermore, on one side of the pair of front and rear traveling wheels (1), an electromagnetic brake (10) that is in a braking state when not energized and is in a released state when energized is provided, and on the other side,
An incremental rotary encoder (11) that outputs a pulse signal (S ₀ ) for detecting the rotation speed, that is, the traveling speed and the traveling distance is provided.

Further, the presence or absence of the mark (m) for the target moving speed command is detected, and the mark detection signal (S ₁ ) which becomes “H” level when the mark (m) exists and becomes “L” level when it does not exist is output. The magnetic sensing type proximity sensor (12) is attached to the upper end of the main frame (4) on the side where the rotary encoder (11) is attached.

Then, as shown in FIG. 3, the mark (m) for the target moving speed command is set at the starting point (a) and the starting point of the curved portion.
(b), the end point (c) of the curved portion, and the point (d) on the front side of the starting point (a), respectively, the length corresponding to the target moving speed (ω) of each section shown in FIG. (L) is formed and provided, based on the detection information by the mark length detection means (G) for detecting the length (L) of the mark (m) described later, the linear motor (M) While controlling the energization to the primary coil (C), the vehicle body (A), the straight line portion at high speed, the curved portion at low speed, while automatically changing the moving speed, respectively, the starting point (a)
Starting from, make a round along the guide rail (B), so as to stop at the starting point (a), while controlling the operation of the vehicle body (A), through the signal trolley rail (2b) hand,
The central control unit (F) and the vehicle-body side control unit (D) are made to communicate with each other while automatically starting and stopping.

Next, based on the configuration of the mark length detection means (G), and the detection information by the mark length detection means (G),
The configuration of the control device (D) that controls the moving speed of the vehicle body (A), that is, the energization of the primary coil (C) of the linear motor (M) will be described in detail.

In the mark length detecting means (G), as shown in FIG. 1, a mark detection signal (S) from the proximity sensor (12) is generated.
A counter (13) for counting the output pulse signal (S ₀ ) from the rotary encoder (11) is provided only while ₁ ) is at “H” level, and the count value by this counter (13)
By detecting the length (L) of the mark (m) based on (n), the correct length (L), that is, the target moving speed (ω), is obtained regardless of the change in the moving speed of the vehicle body (A). ) Can be detected.

In the control device (D), the counter (13)
Based on the count value (n), that is, the detection length (L), the CPU (14) that calculates the target movement speed (ω) is set so that the target movement speed (ω) becomes faster as the detection length (L) becomes longer. ), And based on the target moving speed (ω) calculated by the CPU (14), the power supplied to the primary coil (C) (V)
To control the vehicle body (A)
A speed controller (15) for controlling the moving speed of the is provided.

However, the control device (D) is configured by the counter (13), the CPU (14), and the speed controller (15).

Next, the operation of the control device (D) will be described.

As shown in FIG. 2, the start command from the central control unit (F) is sent to the C via the signal trolley line (2b).
When input to the PU (14), the electromagnetic brake (10) is operated to release the brake, and a voltage (V) corresponding to a preset initial speed is supplied to the primary coil (C). Then, the vehicle body (A) is accelerated and started.

After that, until the mark (m ₀ ) indicating the stop position provided at the starting point (a) is detected, each point (b), (c), shown in FIG. 3 is detected.
In the speed controller (15), to repeat the acceleration and deceleration based on each detection length (L) of the mark (m) provided in (d),
The energizing voltage (V) to the primary coil (C) is controlled so that the moving speed (ω) becomes faster as the detection length (L) becomes longer, and the points (a), (b), (c) The moving speed of the vehicle body (A) between) and (d) is set to the target moving speed (ω), respectively. However, when the mark (m ₀ ) provided at the starting point (a) is detected, the vehicle body (A) stops so that the target moving speed (ω) is below the length of this mark (m ₀ ). It is set to zero. When the vehicle body (A) reaches the starting point (a) after going around the guide rail (B), the electromagnetic brake (10) is de-energized and the vehicle body is stopped at this starting point (a). (A) will be automatically stopped and held. Further, in the case of emergency stop, based on the reception of the emergency stop command from the central control unit (F), cut off the energization to the primary coil (C) and the electromagnetic brake (10), Auto body (A)
Will be stopped.

[Another embodiment]

In the above embodiment, the vehicle body (A) start start command, the vehicle body side control device (D) via the signal trolley line (2b)
Although an example is shown in which the transmission is made to the vehicle
It may be provided at each of the starting points (a) of (B).

Further, in the above embodiment, in the mark length detecting means (G), the pulse signal (S ₀ ) is counted corresponding to the traveling of the vehicle body (A), and the length (L) is directly measured. Although the case where the detection is performed is illustrated, the moving speed of the vehicle body (A) may be detected to obtain the detection length (L).

Further, in the above embodiment, as the command mark (m) for the target moving speed (ω), the magnetic material is formed so as to have a length corresponding to the target moving speed (ω). For example, a light reflection tape is formed with a length corresponding to the target moving speed (ω), and a means for forming the presence or absence of the tape and a length thereof is provided. The configuration of the means (G) can be variously changed.

Further, in the above embodiment, the case where the moving body guide (B) is provided in the form of a loop has been exemplified, but for example, as shown by a phantom line in FIG. 3, the moving body (A) is branched to travel. line
(B ₁ ) may be provided.

Further, in the above embodiment, the vehicle body (A) having the traveling wheel (1) is illustrated as the moving body, but the present invention is a magnetic levitation type moving body that does not use the traveling wheel (1). Can also be applied to. The moving body guide (B) may be any one that guides the moving route of the moving body (A), and instead of physically controlling the moving route of the moving body (A), for example, moving A light-reflective tape is provided along the moving path of the body, and a means for detecting the position of the light-reflective tape is provided on the moving body side, or an induction wire that generates an induction radio wave or induction magnetism along the moving path of the moving body. It can be applied to various types such as an electromagnetic induction type by providing a magnet or a magnet.

Further, in the above-mentioned embodiment, the case where the linear motor is used as an example has been described, but the present invention can be applied to the case where a normal rotary type electric motor is used, regardless of whether it is a DC type or an AC type. It is also applicable when using various types of motors.

[Brief description of drawings]

The drawings show an embodiment of a speed control device for a moving body according to the present invention, FIG. 1 is a block diagram showing the configuration of the control device, FIG. 2 is a drawing showing changes in the operating speed of the moving body, and FIG. FIG. 4 is a schematic plan view showing the layout of the body guide, FIG. 4 is a schematic side view of the moving body, and FIG. 5 is a schematic front view showing the configuration of the moving body guide and the moving body. (A) …… Movement, (B) …… Movement guide, (D) …… Speed control means, (L) …… Length, (ω) …… Target movement speed, (m) …… Movement speed Command mark, (G) ... Mark detection means.

Claims (1)

[Claims] 1. A travel control device for a moving body for a carrier device, comprising a moving speed command mark (m), mark length detecting means (G), and speed control means (D). The mark (m) is installed on the moving body guide (B) side along the moving direction, and the mark length detecting means (G) and the speed control means (D) are mounted on the moving body (A), The mark length detection means (G) detects the length (L) of the moving speed command mark (m), and the speed control means (D) inputs the output and sets it as the target moving speed (ω). Travel control system for mobile vehicles.