JPH0530786A - Vertical linear motor - Google Patents

Abstract

PURPOSE:To cause a carrier capsule to come to a standstill without dropping at the time of occurrence of the malfunction of the carrier capsule even in the case of using a non-contact position transducer. CONSTITUTION:The position of a carrier capsule 6 is detected by a non-contact position transducer 7, a carrier capsule position-transducing signal obtained as a result is sent to a controller 1 and a thrust command is operated in the controller and sent to respective drivers 3a-3c, while the carrier capsule position- transducing signal from the position transducer 7 and a thrust signal from the controller 1 are sent to a malfunction detector 2. In this case, when a malfunction occurs in the carrier capsule 6, the malfunction detector 2 renews the desired value of the carrier capsule position at each set-up time of a timer 9 by the carrier capsule position-transducing signal from the position transducer 7 and a malfunction signal from the malfunction detector 2 and outputs the desired value to the controller 1.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vertical linear motor.

[0002]

2. Description of the Related Art A conventional vertical linear motor will be described with reference to FIG. 9. 1 is a controller, 2 is an abnormality detector, and 3a.
3a to 3c are drivers, 4a to 4c are primary armature coils,
5 is a vertical linear motor, 6 is a transport capsule having a secondary side movable magnet, 7 is a position detector, 12 is a brake device, 13 is a pulley, 14 is a belt, and a position detector 7
Is the transport capsule 6 via the pulley 13 and the belt 14.
Is linked to.

In the vertical linear motor shown in FIG. 9, the position detector 7 detects the position of the carrier capsule 6 having the secondary movable magnet, and the resulting carrier capsule position detection signal is sent to the controller 1. Here, the thrust command is calculated, and the resulting thrust command is sent to all the drivers 2a to 2c, and the exciting currents of the primary armature coils 4a to 4c provided corresponding to these drivers 2a to 2c are supplied. The transfer capsule 6 is controlled to perform positioning and speed control of the transport capsule 6.

At this time, the carrier capsule position detection signal from the position detector 7 and the thrust command from the controller 1 are input to the abnormality detector 2, and if an abnormality occurs in the carrier capsule 6, the abnormality detector 2 causes the controller to operate. A stationary signal is output to 1 to set the thrust of the armature coils 4a to 4c to zero. Then, the brake device 12, which is directly connected to the position detector 7 via the pulley shaft, is actuated, the pulley 13 is locked, and the conveyor capsule 6 is suspended by the belt 14 and kept stationary.

[0005]

The conventional vertical linear motor shown in FIG. 9 has the following problems. That is, the brake device 12 cannot be used when the position of the transport capsule 6 is detected in a non-contact manner without using the belt 14. Therefore, when the controller 1 stops and the thrust of the armature coils 4a to 4c becomes zero, there is a problem that the transport capsule 6 falls.

The present invention is proposed in view of the above problems, and an object of the present invention is to drop a transport capsule when an abnormality occurs in the transport capsule even when a non-contact position detector is used. The point is to provide a vertical type linear motor that can be stopped without moving.

[0007]

To achieve the above object, the present invention is directed to a primary side armature coil, a carrier capsule having a secondary side movable magnet, and position detection for detecting the position of the carrier capsule. And a controller that calculates a thrust command based on the position detection signal of the carrier capsule from the same position detector, and the thrust command from the controller controls the exciting current of the primary armature coil to position the carrier capsule.・ In a vertical linear motor having a driver for speed control and an abnormality detector for detecting an abnormality of the transport capsule by the transport capsule position detection signal from the position detector and the thrust command from the controller,
When an abnormality occurs in the transport capsule, the transport capsule position target value is updated at each timer setting time by the transport capsule position detection signal from the position detector and the fault signal from the malfunction detector, and output to the controller. It is equipped with a stationary device for abnormal situations.

[0008]

The vertical linear motor of the present invention is configured as described above, the position detector detects the position of the carrier capsule, and the carrier capsule position detection signal obtained as a result is sent to the controller. The command is calculated and the thrust command is sent to each driver, while the carrier capsule position detection signal from the position detector and the thrust signal from the controller are sent to the abnormality detector. At this time, when an abnormality occurs in the transport capsule, the abnormality detector uses the transport capsule position detection signal from the position detector and the abnormality signal from the abnormality detector to set the transport capsule position target value at each timer setting time. Update and output to the controller.

[0009]

1 is a controller, 2 is an abnormality detector, 3a to 3c are drivers, and 4a to 4c are primary side armature coils. , 5 is a vertical linear motor, 6 is a carrier capsule having a secondary side movable magnet, and 7 is a non-contact position detector.

Reference numeral 11 denotes an abnormal stationary device, and the abnormal stationary device 11 has a switch 8, a timer 9 and a position target value memory 10. Next, the operation of the vertical linear motor shown in FIG. 1 will be specifically described. The position of the carrier capsule 6 is detected by the non-contact position detector 7, the carrier capsule position detection signal obtained as a result is sent to the controller 1, the thrust command is calculated here, and the thrust command obtained as a result is calculated. While transmitting to the drivers 3a to 3c according to the position of the transport capsule, the transport capsule position detection signal from the position detector 7 is sent to the abnormality detector 2, and the thrust command from the controller 1 is sent to the abnormality detector 2.

At this time, if an abnormality occurs in the carrier capsule 6, the stationary device 11 operates at the time of abnormality.
(1) When the carrier capsule 6 is stuck and the carrier capsule 6 does not reach the target position, (2) Part of the primary side armature coil is broken, or part of the driver fails and the same driver There will be described two cases, that is, the case where the transport capsule 6 does not reach the target position because the primary side armature coil corresponding to 1 becomes inoperable.

First, a case will be described in which the target position of the carrier capsule 6 is 2 m, but the carrier capsule 6 is fixed at a position of 1 m, as in the first abnormality occurrence example of FIGS. In this case, the abnormality detector 2 outputs an abnormality signal to the switch 8 of the stationary device 11 at the time of abnormality. At this time, the same switch 8
Turns on and the above-mentioned abnormality signal is output to the timer 9. The timer 9 outputs the initial position of the transport capsule 6 to the position target value memory 10. Then, the position target value memory 10 changes the target position to 1 m as shown in the transfer capsule position response of FIG. 4 when the position target value of the transfer capsule 6 is newly input to the controller 1, and Stay in the abnormal position. Since the current in the primary armature coil is proportional to the difference between the target value and the position of the transport capsule, by switching the target value when there is an abnormality, the position deviation becomes zero. i _B →
The heat generation of the primary side armature coil is also reduced to i _A.

Next, as in the second abnormality occurrence example of FIGS. 7 and 8, while the carrier capsule 6 is operating at the target value 2m of the carrier capsule 6, the primary armature coil corresponding to the driver 3a at the position of 1m. A case where a part of the wire 4a is broken or the driver 3a fails and the corresponding primary armature coil 4a becomes inoperable and an abnormality occurs will be described. In this case, the target value is updated to the position 1 m of the transport capsule 6 when the abnormality occurs, and the transport capsule 6 is about to be stopped at this position. However, since the primary armature coil 4a is inoperable, the carrier capsule 6 is stopped at the 0.5m position by the primary armature coil 4b corresponding to the driver 3b. By updating the transport capsule position 0.5 m output after the elapse of the set time of the timer 9 to the next target value, the current of the primary side armature coil 4b is reduced to i _A , and the primary side armature coil 4b is reduced. Also, the heat generation is reduced.

[0014]

As described above, the vertical linear motor of the present invention detects the position of the carrier capsule by the position detector and sends the carrier capsule position detection signal obtained as a result to the controller, where the thrust command is calculated. Then, the thrust command is sent to each driver, while the carrier capsule position detection signal from the position detector and the thrust signal from the controller are sent to the abnormality detector. At this time, when an abnormality occurs in the transport capsule, the abnormality detector uses the transport capsule position detection signal from the position detector and the abnormality signal from the abnormality detector to set the transport capsule position target value at each timer setting time. Since the data is updated and output to the controller, even when a non-contact position detector is used, the carrier capsule can be made to stand still without being dropped when an abnormality occurs in the carrier capsule.

[Brief description of drawings]

FIG. 1 is a system diagram showing an embodiment of a vertical linear motor according to the present invention.

FIG. 2 is an explanatory diagram showing a time response (transport capsule position response) in a normal state.

FIG. 3 is an explanatory diagram showing a time response (armature coil current) under normal conditions.

FIG. 4 is an explanatory diagram showing an example (part 1) of abnormality occurrence (transport capsule position response).

FIG. 5 is an explanatory diagram showing an example (part 1) of abnormality occurrence (armature coil current).

FIG. 6 is a model diagram when an abnormality occurs.

FIG. 7 is an explanatory diagram showing an example of abnormality occurrence (part 2) (transport capsule position response).

FIG. 8 is an explanatory diagram showing an example (part 2) of abnormality occurrence (armature coil current).

FIG. 9 is a system diagram showing a conventional vertical linear motor.

[Explanation of symbols]

 1 Controller 2 Abnormality Detector 3a-3c Driver 4a-4c Primary side armature coil 5 Vertical linear motor 6 Transport capsule with secondary side movable magnet 7 Position detector 8 Switch 9 Timer 10 Position target value memory 11 Stationary when abnormal apparatus

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Sakura Hayakawa 1-1-1 Wadazaki-cho, Hyogo-ku, Kobe-shi, Hyogo Mitsubishi Heavy Industries Ltd. Kobe Shipyard (72) Inventor Kazuhiro Ueshiro Kobe-shi, Hyogo Hyogo 1-1-1, Wadasaki-cho, Tokyo-ku, Mitsubishi Heavy Industries, Ltd. Kobe Shipyard (72) Inventor Manabu Kinugasa 1-9-13 Akasaka, Minato-ku, Tokyo Power Reactor / Nuclear Fuel Development Corporation Head Office

Claims (1)

Claim: What is claimed is: 1. A primary side armature coil, a transfer capsule having a secondary side movable magnet, a position detector for detecting the position of the transfer capsule, and a transfer capsule from the same position detector. A controller that calculates a thrust command based on a position detection signal, a driver that controls the exciting current of the primary armature coil by the thrust command from the controller to perform positioning and speed control of the transport capsule, and the position detection In a vertical linear motor having a transport capsule position detection signal from the container and an abnormality detector that detects an abnormality in the transport capsule based on the thrust command from the controller, when a transport capsule abnormality occurs, the transport from the position detector is performed. When the target value of the transport capsule position is set by the timer by the capsule position detection signal and the abnormality signal from the abnormality detector Vertical linear motor is characterized in that to update and comprises an abnormality at rest device to be output to the controller for each.