JP2013090417A - Linear carrier device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a linear carrier device capable of recognizing a position of a mover with high accuracy.SOLUTION: A linear carrier device 3 comprises: a mover 13 including plural permanent magnets 13a; plural stators 14 including plural coils 14a; and a hall element 17 which detects a magnetic field of the permanent magnets 13a of the mover 13. At a rear position in a carrying direction of the beginning of permanent magnets 13a of the mover 13, a detection piece 18 is provided and a sensor 19 for detecting the detection piece 18 is provided on a carrying path of the mover 13. When a position of the mover 13 is recognized from the magnetic field of the beginning of permanent magnets 13a of the mover 13 detected by the hall element 17, the recognized position of the mover 13 becomes a temporary position, when the sensor 19 detects the detection piece 18, the temporary position is replaced with the position of the detection piece 18 detected by the sensor 19, which is an actual position of the mover 13, and the position of the mover 13 is recognized with the actual position of the mover 13 as a reference. The present invention enables recognition of the mover with high accuracy.

Description

  The present invention relates to a linear transport device, and more particularly to a linear transport device that recognizes the position of a mover by a magnetic field of a permanent magnet of a mover detected by a Hall element.

Conventionally, a mover made of a plurality of permanent magnets arranged with different magnetic poles alternately, a plurality of stators made of a plurality of coils provided at a position facing the mover, and an adjacent stator There is known a linear transport device including a Hall element that is provided and detects a magnetic field of a permanent magnet of the mover (Patent Document 1).
In such a linear transport device, the position of the mover is recognized based on the magnetic field detected by the Hall element.

JP 2010-130740 A

However, the magnetic field of the permanent magnet provided at the head in the transport direction in each of the plurality of movers varies depending on the individual difference of the permanent magnets, the mounting position, etc., compared to the magnetic field of the portion where the plurality of permanent magnets are aligned. .
For this reason, even if the position of the mover is recognized based on the magnetic field of the permanent magnet provided at the head, an error occurs in the recognized position. For example, all the movers are stopped at a predetermined stop position with high accuracy. There was a problem that it could not be made.
In view of such a problem, the present invention provides a linear transport unit capable of recognizing the position of the mover with high accuracy.

That is, the invention of claim 1 includes a mover made of a plurality of permanent magnets arranged alternately with different magnetic poles, a plurality of stators made of a plurality of coils provided adjacent to the mover, and adjacent to the mover. A linear transport device comprising a Hall element provided between the fixed stators and detecting the magnetic field of the permanent magnet of the mover, and a control means for recognizing the position of the mover based on the magnetic field detected by the Hall element In
While providing a detection piece behind the leading permanent magnet in the mover in the conveyance direction, a sensor for detecting the detection piece is provided on the conveyance path of the mover,
When the control means recognizes the position of the mover based on the magnetic field of the permanent magnet at the head of the mover detected by the Hall element, the recognized position of the mover is set as a temporary position, and the sensor further detects the detection piece. Is detected, the position where the sensor detects the detection piece is replaced with the actual position of the mover from the temporary position, and the position of the mover is recognized based on the actual position of the mover.

  According to the above invention, the moving piece is provided with the detection piece, and the detection piece is detected by the sensor, so that the temporary position of the moving piece recognized based on the magnetic field is the position where the sensor has detected the detection piece. Since the actual position of the mover is replaced, the position of the mover can be recognized with high accuracy based on the actual position of the sensor.

Sectional drawing which shows the filling apparatus and linear conveyance apparatus concerning a present Example. It is a figure explaining a linear conveyance apparatus, Comprising: (a) shows a top view, (b) shows a side view, respectively. It is a graph explaining the control at the time of stopping a needle | mover, (a) shows speed and time, (b) shows the relationship between distance and time, respectively.

The illustrated embodiment will be described below. FIG. 1 is a sectional view showing a filling device 2 for filling a bottle 1 with a liquid and a linear transport device 3 for transporting the bottle 1 to the filling device 2. 2 and the linear transport device 3 are controlled by a control means (not shown).
The filling device 2 includes a filling nozzle 2a that is inserted into the mouth of the bottle 1, and the filling nozzle 2a is provided so as to be lifted and lowered by a lifting means (not shown). Further, the outer diameter of the filling nozzle 2 a is manufactured to be slightly smaller than the inner diameter of the mouth of the bottle 1.
The linear transport device 3 is configured to transport the bottle 1 below the filling nozzle 2 a in the filling device 2, but each bottle 1 is placed so that the filling nozzle 2 a does not contact the mouth of the bottle 1. It is necessary to stop with high accuracy below the filling nozzle 2a.
In addition, since the said filling apparatus 2 itself is conventionally well-known, it shall abbreviate | omit about detailed description.

The linear transport device 3 includes a plurality of carriers 11 that support the bottle 1 on its upper surface, a transport rail 12 that moves the carrier 11 in the transport direction, a mover 13 fixed to the lower surface of the carrier 11, and the above A plurality of stators 14 provided on the transport rail 12 and driving the movable element 13 are provided.
The carrier 11 supports a plurality of bottles 1 in the transport direction in accordance with the number of filling nozzles 2a in the filling device 2, and guide rollers 11a are provided on both sides of the carrier 11 as shown in FIG.
The transport rail 12 includes a base 15 provided along the transport path of the carrier 11 and side walls 16 provided on both sides of the base 15. A guide groove 16a for guiding the provided guide roller 11a is formed.
Thus, by guiding the guide roller 11a provided on the carrier 11 by the guide groove 16a formed inside the side wall 16, a slight gap is formed between the movable element 13 and the stator 14. Yes.

2A and 2B are diagrams for explaining in detail the stator 14 and the movable element 13 in the linear transport device 3, FIG. 2A is a plan view, and FIG. 2B is a side view. In FIG. 2, the carrier 11 moves from the right side to the left side in the figure.
The mover 13 is composed of a plurality of permanent magnets 13a arranged with different magnetic poles alternately on the lower surface of the carrier 11, and these permanent magnets 13a are composed of at least two adjacent stators 14 and 14. It is aligned with the same length as the distance.
A plurality of the stators 14 are provided on the upper surface of the base 15 along the conveying direction of the carrier 11, and are provided at positions facing the movable element 13. The adjacent stators 14 and 14 are adjacent to each other. Is separated by a predetermined distance.
Each stator 14 is constituted by a plurality of coils 14a, and the control means controls each coil 14a so that the magnetic poles of adjacent coils 14a are alternately changed.

Between the adjacent stators 14, Hall elements 17 for detecting the magnetic field of the permanent magnet 13 a of the mover 13 are provided. In this embodiment, each Hall element 17 is connected to each stator 14. It is provided at a position adjacent to the downstream side in the transport direction of the carrier 11.
The hall element 17 detects the magnetic field of the permanent magnet 13a in the mover 13 and transmits it to the control means. The control means recognizes the position of the mover 13 by the magnetic field detected by the hall element 17. It is supposed to be.

The control means alternately changes the magnetic poles of the coils 14a in the stator 14, so that the mover 13 moves in the transport direction based on Fleming's left-hand rule.
When the mover 13 moves and passes through the Hall element 17, the Hall element 17 detects the magnetic field of the permanent magnet 13 a of the mover 13, and the control means moves each movable element based on the magnetic field detected by the Hall element 17. The position of the child 13 is recognized.
Specifically, when the hall element 17 detects the magnetic field of the permanent magnet 13 a located at the head in the transport direction of the movable element 13, the position of the movable element 13 is determined by the position where the hall element 17 is provided. The position of the mover 13 is recognized on the basis of.

Such a linear transport device 3 that includes the mover 13 and the stator 14 and recognizes the position of the mover 13 when the Hall element 17 detects a magnetic field is known in the art. It was possible to control the position of the mover 13.
However, when the bottle 1 is transported to the filling device 2 as in the present embodiment, the filling nozzle 2a is inserted into the bottle 1 when the carrier 11 stops and the bottle 1 and the filling nozzle 2a are displaced. There is a possibility that the problem that the filling nozzle 2a may come into contact with the bottle 1 may occur.
For this reason, it is necessary to recognize the position of the mover 13 with higher accuracy and to stop the mover 13 with higher accuracy. However, as described above, the Hall element 17 detects the magnetic field of the permanent magnet 13a of the mover 13 as described above. Only by doing, the actual position of each movable element 13 could not be recognized with high accuracy.
That is, in each of the movable elements 13 in the plurality of carriers 11, although the magnetic field of the portion where the permanent magnet 13a is adjacent is constant, it is positioned at the head due to individual differences of the permanent magnet 13a, variation in mounting accuracy, and the like. This is because the magnetic field generated by the end permanent magnet 13a varies.
As a result, for example, although the carrier 11 itself is located at the same position, the timing at which the magnetic field of the leading permanent magnet 13a in each movable element 13 is detected by the Hall element 17 is shifted. When comparing the distance to 17, a slight error occurs between them.
The error in the distance between each movable element 13 and the Hall element 17 becomes an error in the position of the movable element 13 recognized by the control means. Thereafter, the control means moves the movable element 13 based on the position where the Hall element 17 is provided. Even if an attempt is made to stop, the above error directly becomes an error of the stop position.

In order to deal with such a problem, the linear transport device 3 according to the present embodiment provides the detection piece 18 on the carrier 11 and recognizes the position of the mover 13 with high accuracy on the transport path of the mover 13. The transport rail 12 is provided with a sensor 19 for detecting the detection piece 18.
The detection piece 18 protrudes laterally from the carrier 11 as shown in FIG. 1, and the detection piece 18 is transported more than the leading permanent magnet 13a in the mover 13 as shown in FIG. It is provided at the rear, and here, it is provided at the center of the carrier 11 in the transport direction.
The sensor 19 is a proximity sensor for detecting the detection piece 18, and is fixed to a stay 20 provided on the side of the side wall 16 as shown in FIG. It is provided on the upstream side in the transport direction with respect to the element 17.
Further, the positional relationship between the detection piece 18 and the sensor 19 is such that when the moving movable element 13 stops at the stop position, the magnetic field of the leading permanent magnet 13a in the movable element 13 is detected by the Hall element 17, The sensor 19 is set to detect the detection piece 18.

Next, the operation of the linear conveyance device 3 including the detection piece 18 and the sensor 19 will be described using the graph of FIG. 3A shows the elapsed time on the horizontal axis, the speed of the mover 13 on the vertical axis, FIG. 3B shows the elapsed time on the horizontal axis, and the movement distance of the mover 13 on the vertical axis. ing.
First, when the mover 13 moving at a constant speed approaches the stop position, the leading permanent magnet 13a in the mover 13 approaches the Hall element 17 provided near the stop position, and the magnetic field of the leading permanent magnet 13a is reached. Is detected by the Hall element 17 (t0).
When the Hall element 17 detects the magnetic field of the leading permanent magnet 13a in this way, the control means recognizes the position of the movable element 13 based on the position where the Hall element 17 is provided, and the control means based on the magnetic field. The recognized position of the movable element 13 is recognized as the temporary position of the movable element 13.
Subsequently, when a predetermined time elapses from the time t0 when the magnetic field of the leading permanent magnet 13a is detected by the Hall element 17 and the carrier 11 advances a predetermined distance, the control means controls the coil 14a of the stator 14 to obtain a predetermined value. The mover 13 is decelerated by the deceleration (t1).

Here, since the magnetic field of the leading permanent magnet 13a in the mover 13 varies as described above, the temporary position of the mover 13 recognized by the control means is different from the actual actual position of the mover 13. An error has occurred.
In FIG. 3B, the temporary position of the mover 13 recognized by the control means is indicated by a curve made of a solid line, and the actual position of the mover 13 is shown by a curve made of a two-dot chain line. The curve indicating the shift is parallel to the curve indicating the temporary position.
Here, while the control means decelerates the mover 13 from t1, the Hall element 17 detects the magnetic field of the permanent magnet 13a of the mover 13, and the control means temporarily detects the mover 13 from the detected magnetic field. The position is continuously recognized.

Thereafter, when the mover 13 moves while decelerating, the detection piece 18 provided on the carrier 11 is detected by the sensor 19, and the control means determines the position where the sensor 19 detects the detection piece 18 as the actual position of the mover 13. To replace from the temporary position of the mover 13 (t2).
That is, since the distance of the sensor 19 relative to the stop position is measured in advance, the accurate distance to the stop position of the mover 13 is determined by detecting the detection piece 18 by the sensor 19. Thus, the actual position of the mover 13 can be recognized with high accuracy.
In other words, in FIG. 3B, the control means recognizes the position of the movable element 13 based on the temporary position indicated by the solid line until t2, but the control means is controlled by the detection piece 18 passing through the sensor 19. The position of the movable element 13 is re-recognized as the position at the actual position t2 indicated by the two-dot chain line.
Based on the actual position of the mover 13, the control means decelerates the mover 13 at a predetermined acceleration as shown in FIG. 3A, and stops the mover 13 at a predetermined stop position (t3). .
It should be noted that the magnetic field of the permanent magnet 13a constituting the mover 13 from the time when the control means recognizes the actual position of the mover 13 to the time when the mover 13 is stopped at the stop position. Are aligned and stable, and the position of the movable element 13 can be accurately recognized by the Hall element 17, so that it can be stopped at the stop position with high accuracy.

Thereafter, the control means performs the above control on the movers 13 provided on all the carriers 11 in the linear conveyance device 3, whereby all the carriers 11 stop at the same stop position, and the bottle 1 conveyed by the carrier 11 is removed. It becomes possible to always stop at the same position with respect to the filling nozzle 2a of the filling device 2.
As described above, according to the present embodiment, the detection piece 18 is provided on the movable element 13 and the sensor 19 for detecting the detection piece 18 is provided so that the position of the movable element 13 can be recognized with high accuracy. It is possible.
For this reason, it becomes possible to stop the carrier 11 at a stop position with high accuracy, so that even in an apparatus that requires high-accuracy positioning such as inserting the filling nozzle 2a into the bottle 1 described above, the conveyance of articles is performed. It is possible to do.
In the embodiment described above, the sensor 19 detects the detection piece 18 after the control means decelerates the movable element 13. However, after the sensor 19 detects the detection piece 18, It is good also as a structure which decelerates the needle | mover 13. FIG.

DESCRIPTION OF SYMBOLS 3 Linear conveying apparatus 13 Movable element 13a Permanent magnet 14 Stator 14a Coil 17 Hall element 18 Detection piece 19 Sensor

Claims (2)

Movable elements composed of a plurality of permanent magnets arranged with different magnetic poles alternately, a plurality of stators composed of a plurality of coils provided at positions facing the movers, and provided between adjacent stators A linear transport device comprising: a Hall element that detects a magnetic field of a permanent magnet of the mover; and a control unit that recognizes the position of the mover based on the magnetic field detected by the Hall element.
While providing a detection piece behind the leading permanent magnet in the mover in the conveyance direction, a sensor for detecting the detection piece is provided on the conveyance path of the mover,
When the control means recognizes the position of the mover based on the magnetic field of the permanent magnet at the head of the mover detected by the Hall element, the recognized position of the mover is set as a temporary position, and the sensor further detects the detection piece. Is detected, the position at which the sensor detects the detection piece is replaced as the actual position of the mover from the temporary position, and the position of the mover is recognized based on the actual position of the mover. .   When the Hall element detects the leading permanent magnet of the mover, the control means controls the stator coil to decelerate the mover, and further stops the mover for a predetermined time after the sensor detects the detection piece. The linear conveyance device according to claim 1, wherein the linear conveyance device is stopped at a position.

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