JP2000209708A - Transportation equipment for linear motor type transport vehicles - Google Patents

Abstract

(57) [Summary] [PROBLEMS] To improve the transportation efficiency by enabling a carrier truck to reciprocate in a linear motor type transportation line. Mold reciprocating rails 4A and 4B are provided. Reciprocating rails 4A and 4B, respectively,
The transport vehicle 5 can travel. A transfer device 9 is provided at a front end and a rear end of the transport line 1. The transport vehicle 5 that has traveled on the outward rail 4A is decelerated by the transfer device 9 and stopped, and the luggage 20 is unloaded at this location. Next, the transport vehicle 5 rotates together with the rail portions 13A and 13B, and the rail portion 13A and the return route rail 4B are aligned. Next, the transport vehicle 5 travels on the return rail 4B and stops at the transfer device at the rear end of the transport line 1,
Similarly, the transfer of the rail 4 is performed. In this way, circulating transport is performed.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a transportation system for a linear-motor-type carriage that enables a transportation line to reciprocate and improve transportation efficiency.

[0002]

2. Description of the Related Art In transportation by a truck system or the like, there has been a problem of improving the efficiency by reciprocating the truck. The prior arts capable of reciprocating the transportation of goods include the following: (1) A method of transporting by a traveling trolley, a monorail, and a ropeway (hereinafter, referred to as “prior art 1”). (2) Conveyor transportation method (hereinafter referred to as “prior art 2”)
). (3) Transportation by self-propelled trolley (hereinafter referred to as "prior art 3")
).

[0003]

However, the prior art has the following problems. (1) Prior art 1: When transporting by traveling trolley, monorail, and ropeway, a round-trip transport line was required. In the case of a single track, it was not possible to increase the amount of transportation because only one vehicle was required to travel back and forth or a transportation line was required for crossing. (2) Prior art 2: Conveyor transportation is inexpensive and is a commonly used method. However, when transporting on a conveyor, it is necessary to connect the bends at the bend, and measures for dropping the transported goods here are required. There were restrictions on the goods to be transported. (3) Prior art 3: In the method of transporting by a self-propelled carriage, when driving by a plurality of vehicles, a round trip is always required.

Accordingly, it is an object of the present invention to solve the above-mentioned problems, and to provide a transportation facility for a linear motor-type transportation trolley capable of reciprocating traveling and improving transportation efficiency.

[0005]

According to the first aspect of the present invention,
An exciting coil attached to the transport line at a predetermined interval;
A magnetic sensor attached to each position of the exciting coil;
In a synchronous linear motor composed of a plurality of permanent magnets attached to a plurality of transport vehicles and a transport facility composed of a transport vehicle driven by the linear motor, the transport line includes the exciting coil that also serves as a reciprocating path. A forward rail and a return rail of the transport vehicle disposed therebetween;
It is characterized by comprising a linear drive device that also serves as a reciprocating path, and a transfer device provided between the forward and return rails provided at the front and rear ends of the transport line.

According to a second aspect of the present invention, the transfer device is provided such that the transfer device is rotatable about a central axis in a longitudinal direction, which is divided by a predetermined length longer than the entire length of the transport vehicle. A part of the rail and the return rail, and a drive source for rotationally driving the part of the outward rail and the return rail. In the transfer device, the transfer vehicle stops, loads and unloads the luggage, and the space between the rails. It has a feature in the transfer.

According to a third aspect of the present invention, the transport line includes zones in which the excitation coil, the magnetic sensor, and the linear drive device are independent of each other, and the zone is configured by an excitation coil having an integral multiple of a plurality of phases. The number of the zones is equal to or greater than the number of the transport vehicles, and the number of the transport vehicles is always one such that one transport vehicle is present in one zone on the outward route and one return route in one zone, and the number of the transport vehicles is not greater than this. It is characterized in that it has a speed control device that measures and controls the speed of the transport vehicle.

According to a fourth aspect of the present invention, a plurality of detection patterns are formed by detecting the width of the permanent magnet, the pitch of the exciting coil, and the magnetic flux of the permanent magnet by the magnetic sensor, and a plurality of detection patterns corresponding to the detection patterns. A pattern in an energizing direction is formed so that a thrust in a certain direction is generated in the excitation coil of the phase, and the transport carriage is caused to travel, and a thrust is generated in a reverse direction by flowing an electric current in a reverse direction to transfer the carrier. It is characterized in that the bogie can be braked and run in the opposite direction.

The invention according to claim 5 is characterized in that a stop device that can be moved and attached is provided in the middle of the transportation line, and the stop device enables stopping and loading / unloading of a load.

According to a sixth aspect of the present invention, a thrust direction to the carrier is set by the detection pattern, one magnetic sensor is provided for one exciting coil, and the magnetic sensor in the zone is provided. Are connected in series for each phase to reduce the number of lines.

In a transportation line on which a synchronous linear motor divided into a plurality of zones is laid, forward and backward rails are provided on both sides of the exciting coil, and
A transfer device will be provided. Transfer devices are provided at the leading and trailing ends of the transport line where stopping, loading and unloading, and transferring between the forward and return rails are performed. Further, when the transport vehicle is traveling on the outward route in one zone, the transport vehicle on the return route is stopped until the transport vehicle on the outward route leaves the same zone. Thereby, the reciprocating drive and transport of the carriage can be performed by one linear motor.

The detection pattern is patterned by the detection of the permanent magnet, the excitation coil, and the magnetic sensor. One sensor for the reciprocating path is provided for one excitation coil, and the number of wirings is reduced by performing series connection for each of a plurality of phases. Can be reduced.

Since a linear motor using a permanent magnet is used, a stable thrust can be obtained, the traveling is smooth, and the traveling speed of the carrier can be increased. In addition, even if a power failure occurs, the power supply line is short-circuited, so that the regenerative brake can be easily used and a collision can be prevented.

[0014]

Next, an embodiment of the present invention will be described with reference to the drawings.

FIG. 1 is a plan view showing a transport line according to an embodiment of the present invention, FIG. 2 is a front view showing a transport line according to an embodiment of the present invention, and FIG. 3 is an embodiment of the present invention. FIG. 4 is a front view showing a transportation line and a transfer device for a reciprocating rail according to the embodiment, FIG. 4 is a side view showing a stopper, and FIG.
1 is a side view of a transport line according to an embodiment of the present invention.

The transport line 1 has an equal pitch (pitch:
In (P), the exciting coils 3 having a width of (3 / the number of poles of the magnet) P (see FIGS. 1 and 2) are arranged. Here, the width indicates the length (distance) of the transport line in the longitudinal direction (the traveling direction of the transport vehicle). In the longitudinal direction of the transport line 1, U-shaped reciprocating rails 4A and 4B are disposed on both sides of the exciting coil 3 (FIG. 5, FIG. 5). reference). Reciprocating rail 4 (4
A and 4B), respectively, the transport carriage 5 (5
A and 5B) can travel. Numeral 2 indicates the traveling direction of the carrier 5. (See FIG. 1). The transport cart 5 includes
A back plate 6 is attached, and a plurality of (four to five pole) permanent magnets 7 are attached via the back plate 6. By using the back plate 6 made of a high magnetic material as the fixing plate of the permanent magnet 7, the magnetic permeability effect is increased, the efficiency is improved, the configuration of the linear motor can be simplified, and the cost can be reduced. The permanent magnet 7 has one pole (1
(Sheets) have a width of (3 / the number of poles of the magnet) P. A magnetic sensor 8 for detecting the position of the permanent magnet 7 is mounted on the center line of the exciting coil 3 (see FIG. 2).

According to Fleming's left-hand rule, a magnetic force acts on the permanent magnet 7 with respect to the magnetic flux of the permanent magnet 7 traversing the exciting coil 3, and a thrust acts as a reaction force on the carrier 5. The magnitude of the thrust is determined by the number of turns of the exciting coil 3, the current and the magnetic flux density. As described above, the thrust of the transport trolley can be adjusted by the number of permanent magnets and the number of turns of the exciting coil, so that the cost can be easily reduced.

As shown in FIG. 3, the transfer device 9
Are installed at the front end and the rear end of the transport line 1 (that is, the start point and the end point). The forward rail 4A and the return rail 4B are separated from the end of the transport line 1 by a length longer than the total length of the transport carriage 5 by a predetermined distance, and constitute a part 13A and 13B of the forward rail and the return rail.
A rotating frame 12 that is rotatable by a geared motor 14 is attached to the ends of the rails 13A and 13B. The rotating frame 12 is stopped and locked by a telescopic or rotatable stopper 15 for stopping the rotating frame 12. The rails 13A and 13B are rotatable about the central axis in the longitudinal direction by the rotating frame 12. The transport carriage 5 is rotated by the rotating frame 12 together with the rails 13A and 13B, and can move onto the forward rail 4A or the backward rail 4B.
Since the rails 4 and 13 are U-shaped (see FIG. 5), the carrier 5 does not fall. 3 and 5, reference numeral 10 denotes an entire frame, 11 denotes a positioning device for a carriage, 16 denotes a control box, and 17 denotes a whole frame.
Adjustment bolt for height adjustment of the, 23 is a distribution board,
24 is a cable rack. Reference numeral 18 denotes a transport caster for transporting the entire frame 10 when assembling or disassembling the equipment.

The permanent magnet 7 of the carrier 5 is provided with an exciting coil 3
At a predetermined position in the vicinity. The transport vehicle 5 includes a traveling wheel 21 that contacts a traveling surface (lower surface) of the rail 4 having a U-shaped cross section and a side wheel 22 that contacts a side surface.
have.

Although not shown, a stop device may be provided at a predetermined position in the middle of the transportation line, and the stop may be performed to load and unload the cargo.

The place where the transfer device 9 shown in FIG. 3 is provided is the tip of the transport line 1. When loading the load on the transport trolley 5 at this location, the transport trolley 5 traveling on the forward rail 4A is decelerated by the transfer device 9 and stopped by the positioning device 11. Then, the luggage 20 is unloaded from the bed 19 at this location. Next, new luggage 20 is loaded. Or, it remains empty. Next, the transport vehicle 5 rotates together with the rail portions 13A and 13B, and the rail portion 13A and the return route rail 4B are aligned. Next, the transporting trolley 5 travels on the return rail 4B, stops at a transfer device (not shown) at the rear end of the transport line 1, and performs transfer of the rail 4 in the same place. In this way, circulating transport is performed.

FIG. 6 is a diagram of a linear drive control system in a plurality of zones 25. A linear drive 28 is connected to each zone 25, and the zone 25 is further divided into a plurality of sections 27A and 27B. The plurality of linear driving devices 28 are controlled by a distributed control device 29, and the overall system is controlled by a general control panel 30.

The signal from the magnetic sensor 8 is input to a linear drive unit 28, a distributed control unit 29, and a general control panel 30. In the zone 25, the excitation coil 3, the magnetic sensor 8 and the linear drive device 28 which are separate from the reciprocating path are independent of each other, and each zone 25 has one transporting carriage 5 for the reciprocating path, and the number exceeding the transporting carriages The driving is controlled so as not to be performed.

FIG. 7 shows the excitation coil 3 of one section 27.
This is a diagram showing the configuration of FIG. The multi-phase power supply lines 31 from the linear drive device 28 are connected in parallel through the distribution board 23 for the power supply switch 32 for each section 27. Wiring 3
Reference numeral 8 denotes a star connection in which three phases are connected in series and connected by terminals. Excitation coil 3 of section 27
Is constituted by an integral multiple of a plurality of phases, and the exciting coil 3 and the magnetic sensor 8 corresponding to the phases are connected in series. Since the series connection is performed for each phase as described above, the number of wirings can be reduced. The signals of the magnetic sensor 8 corresponding to the three phases are transmitted to the linear driving device 28 through the amplifier circuit 34. Further, by connecting this signal to the OR circuit 35, the detection can be continued as long as the carriage 5 is present in the section 27. This signal is supplied to a three-phase power switch 32.
Is turned on, and the signal addressed to each section 27 is continuously transmitted to the linear driving device 28. As a result, the current can be supplied only to the section 27 where the transport vehicle 5 exists, and the position signal of the transport vehicle 5 is sent to know the position.

FIG. 8 shows a driving method of the linear motor.
3 shows how current flows (commutation pattern) depending on the positions of the permanent magnet 7 and the exciting coil 3. Multi-pole permanent magnet 7
{Five permanent magnets (5 poles) having a width of (3 / the number of magnet poles) P are attached to the carriage 5}, the exciting coil 3 and the 1 attached to the center line of the exciting coil 3 Eight types of detection patterns 36 are patterned by the detection of the directional magnetic sensor 8. The current output pattern is patterned (1/4 positive, 1/8) so that the maximum thrust in a certain direction acts on the exciting coil 3 corresponding to the detection pattern 36.
Stop, 1/4 negative current direction) (output pattern 3)
7). In the switching section of the zone 25, the magnetic sensor 8 is placed at the entrance of each zone 25 by the width of the permanent magnet 7.
By overlapping, the transfer to the next zone 25 becomes smooth without a decrease in thrust.

As described above, one magnetic sensor 8 can be installed for one excitation coil 3 by patterning the detection, and the wiring (signal line) 38 is formed by performing series connection for each of a plurality of phases. In addition, the number of power supply lines 31 can be reduced. The magnetic flux from the permanent magnet 7 is applied to the exciting coil 3
, The current force is extracted. The magnitude of the thrust is determined by the number of turns of the exciting coil 3, the current and the magnetic flux density.

The equipment of the present invention is manufactured in advance in a factory or the like,
Since it can be carried to the site and connected here, the transportation line can be easily extended, and the cost can be reduced.

[0028]

As described above, according to the present invention, the following useful effects can be obtained. (1) By providing a forward transportation rail, a return rail, and a transfer device to form a circulating transport line, the transport vehicle can reciprocate, and the transport volume can be increased and transport efficiency can be increased. The cost can be reduced by also using the excitation coil in the reciprocating path. (2) Since a linear motor using a permanent magnet is used and the direction of the linear motor is determined by patterning the magnetic motor and the number of poles of the permanent magnet to determine the direction, a stable thrust can be obtained. (3) Since the transportation line is divided into zones and sections, traveling of a plurality of transportation vehicles and reduction of transportation power are possible, transportation can be performed at low cost, and the mechanism is simplified. be able to. (4) Since a linear motor is used, there is no drive unit in the transport trolley, so the structure can be simplified, a large amount of luggage can be loaded for the size of the trolley, and the payload can be increased, increasing the transport volume and increasing the transport efficiency. Can be realized.

[Brief description of the drawings]

FIG. 1 is a plan view showing a transport line according to an embodiment of the present invention.

FIG. 2 is a front view showing a transport line according to the embodiment of the present invention.

FIG. 3 is a front view showing a transportation line and a reciprocating rail transfer device according to the embodiment of the present invention.

FIG. 4 is a side view showing a stopper.

FIG. 5 is a side view showing a transportation line according to the embodiment of the present invention.

FIG. 6 is a drive control system diagram in a plurality of zones according to the embodiment of the present invention.

FIG. 7 is a wiring diagram showing a configuration of an excitation coil of one section according to the embodiment of the present invention.

FIG. 8 is an explanatory diagram showing a driving method of the linear motor according to the embodiment of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Transport line 2 Traveling direction of carrier trolley 3 Excitation coil 4 Reciprocating rail 4A Outgoing rail 4B Returning rail 5, 5A, 5B Carriage 6 Back plate 7 Permanent magnet 8 Magnetic sensor 9 Transfer device 10 Overall frame 11 Positioning device 12 Rotating frame 13A , 13B Part of forward and return rails 14 Geared motor 15 Stopper 16 Control box 17 Adjustment bolt 18 Casters 19 Carrier 20 Luggage 21 Running wheels 22 Side wheels 23 Distribution board 24 Cable rack 25 Zone 27, 27A, 27B Section 28 Linear drive device 29 Distributed control device 30 General control panel 31 Power supply line 32 Power supply switch 34 Amplification circuit 35 OR circuit 36 Detection pattern 37 Output pattern 38 Wiring (signal line)

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Yoji Nakano 1-1-2 Marunouchi, Chiyoda-ku, Tokyo Nihon Kokan Co., Ltd. (72) Inventor Hitoshi Ishizuka 1-1-2 Marunouchi, Chiyoda-ku, Tokyo Sun (72) Inventor Toshiyuki Namioka 88, Ono-cho, Tsurumi-ku, Yokohama-shi, Kanagawa Prefecture F-term (reference) in Japan Steel Pipe Works Co., Ltd.

Claims (6)

[Claims] 1. A synchronous type comprising an exciting coil attached to a transportation line at a predetermined interval, a magnetic sensor attached to each position of the exciting coil, and a plurality of pole permanent magnets attached to a plurality of carriages. In a transportation facility comprising a linear motor and a transport vehicle driven by the linear motor, the transport line is provided with a forward rail and a return rail of the transport vehicle that are arranged with the excitation coil also serving as a reciprocating path, and a reciprocating path. A transport facility for a linear motor-type transport trolley, comprising: a dual-purpose linear drive device; and a transfer device provided between the forward and return rails provided at the front and rear ends of the transport line. 2. The transfer device according to claim 1, wherein the transfer device is configured to be rotatable around a central axis in a longitudinal direction, which is separated by a predetermined length longer than a total length of the transport vehicle. And a drive source for rotationally driving a part of the outward rail and the return rail,
The transportation equipment according to claim 1, wherein in the transfer device, the transport vehicle stops, loads and unloads cargo, and transfers between the rails. 3. The transportation line includes zones in which the excitation coil, the magnetic sensor, and the linear driving device are independent of each other, and the zone is further divided into sections each including an excitation coil having an integral multiple of a plurality of phases. And the number of zones is equal to or greater than the number of transport vehicles.
The transport according to claim 1 or 2, further comprising a speed control device that constantly measures and controls the speed of the transport vehicle so that one transport vehicle is present in each zone on the outward route and the return route in the zone, and no more vehicles are present. Facility. 4. A plurality of detection patterns are formed by detecting the width of the permanent magnet, the pitch of the excitation coil, and the magnetic flux of the permanent magnet by the magnetic sensor, and the plurality of excitation coils corresponding to the detection pattern are formed. A pattern in an energizing direction is formed so that a thrust in a certain direction is generated, and the transport vehicle is caused to travel.In addition, a thrust is generated in a reverse direction by flowing an electric current in a reverse direction to brake the transport vehicle and reverse the direction. The vehicle according to claim 1, 2 or 3,
Transport equipment as described. 5. The transportation equipment according to claim 1, wherein a stop device which can be moved and attached is provided in the middle of the transportation line, and the stop device can stop and unload a load. 6. A direction of a thrust to the carrier trolley is set by the detection pattern, one magnetic sensor is provided for one excitation coil, and a signal line of the magnetic sensor in the zone is set for each phase. The transportation equipment according to claim 4 or 5, wherein the number of lines is reduced by connecting in series.