Linear conveyor systems and controls

Abstract

The linear conveying system (51) comprises: a movable part (1P~1R) having a permanent magnet; a fixed part (2a~2c) having a coil for generating a magnetic field for driving the movable part and connected and configured to form a conveying path for the movable part to move; a stator control part (3a~3c) for energizing the coil and detecting the position of the movable part; and a controller part (4) for generating a current command for driving the movable part based on information about the position of the movable part, i.e., position information, and outputting the current command to the stator control part. The movable part comprises: an output movable part, which is a movable part among the movable parts that carries an output device for outputting energy or data; and a processing movable part, which is a movable part that carries a processing device (21, 22) for processing a processing object and is connected to the output device via a cable to receive energy or data from the output device. The controller part controls the output movable part and the processing movable part.

Description

Technical Field

[0001] The present invention relates to a linear transport system and a control device for controlling linear transport using a fixed part and a movable part. Background Art

[0002] In a production line that realizes factory automation, movable parts set on the same conveying path are controlled individually, and multiple processes are constructed on the same conveying path, thereby achieving a reduction in production cycle time, etc. For example, a linear conveying system used in a production line has: a movable part, which has a permanent magnet; a fixed part, which has a coil; and a controller part that controls the position of the movable part. By mounting a processing device on the movable part, the linear conveying system can simultaneously and parallelly perform the movement of the processing device and the processing operation, which can further reduce the production cycle time, etc.

[0003] The movable part of the linear conveyor system as described above is equipped with a processing device and a power supply unit such as a battery or a contactless power supply unit for supplying power to the processing device. In this case, as the power capacity of the battery or the contactless power supply unit increases, the weight of the power supply unit also increases. Therefore, if the acceleration during operation is reduced so as to fall within the driving capacity of the movable part, the production cycle time will be extended. In addition, if the weight of the movable part increases, the vibration when stopping will increase and the control accuracy will deteriorate.

[0004] The mobile power supply device of Patent Document 1 carries out device inspection on a self-propelled vehicle and moves the device on a specific path, and a power supply vehicle carrying a power source accompanies the self-propelled vehicle to supply power to the device.

[0005] Patent Document 1: Japanese Patent Application Laid-Open No. 7-17619 Summary of the invention

[0006] However, in the technology of the above-mentioned Patent Document 1, the self-propelled vehicle and the power supply vehicle are controlled by different control devices, and the power supply vehicle always detects the distance between the self-propelled vehicle and the power supply vehicle by means of a sensor, while controlling the driving of the power supply vehicle's driving motor, and moves while maintaining a certain distance from the self-propelled vehicle. In the technology of Patent Document 1, the self-propelled vehicle and the power supply vehicle are controlled by different control devices, and the power supply vehicle has the time taken for the detection processing in the sensor and the time taken for the processing of controlling the driving of the driving motor based on the detection in the sensor, so that the vehicle cannot be moved at high acceleration and deceleration, and there is a problem that a large restriction must be imposed on the driving mode of the self-propelled vehicle as a movable part.

[0007] The present invention has been made in view of the above circumstances, and an object of the present invention is to obtain a linear transport system capable of moving a movable part at high acceleration and deceleration while suppressing restrictions imposed on a driving mode of the movable part.

[0008] In order to solve the above-mentioned problems and achieve the purpose, the linear conveying system of the present invention has: a plurality of movable parts, which have permanent magnets; and a fixed part, which has a coil that generates a magnetic field to drive the movable part, and is connected and configured to form a conveying path for the movable part to move. In addition, the linear conveying system of the present invention has: a stator control part, which energizes the coil and detects the position of the movable part; and a controller part, which generates a current instruction for driving the movable part based on the information of the position of the movable part, that is, the position information, and outputs it to the stator control part. The movable part includes: an output movable part, which is a movable part among the movable parts that carries an output device that outputs energy or data; and a processing movable part, which is a movable part that carries a processing device used for processing an object and is connected to the output device through a cable to receive energy or data from the output device. The controller part controls the output movable part and the processing movable part.

[0009] Effects of the Invention

[0010] The linear transport system according to the present invention has an effect of being able to move the movable part at high acceleration and deceleration while suppressing restrictions imposed on the driving mode of the movable part. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 This is a diagram showing the configuration of the linear transport system according to the first embodiment.

[0012] Figure 2 This is a diagram showing a hardware configuration example for realizing a controller unit included in the control device according to the first embodiment.

[0013] Figure 3 This is a diagram showing the structure of a linear transport system according to the second embodiment. DETAILED DESCRIPTION

[0014] Hereinafter, a linear transport system and a control device according to an embodiment of the present invention will be described in detail with reference to the drawings.

[0015] Implementation method 1.

[0016] Figure 11 is a diagram showing the structure of the linear transport system according to Embodiment 1. The linear transport system 51 is a system that uses a linear motor to move the movable parts 1P to 1R. The linear transport system 51 includes movable parts 1P to 1R, fixed parts (stators) 2a to 2c, a control device 50, a distance calculation unit 9, an allowable distance holding unit 10, and an accompanying control unit 11.

[0017] The movable parts 1P to 1R each have a permanent magnet. The movable parts 1P to 1R move in accordance with a moving magnetic field applied from the outside. The linear transport system 51 can change the moving direction of the movable parts 1P to 1R and the thrust generated to the movable parts 1P to 1R by the direction and magnetic field strength of the moving magnetic field. In addition, the number of movable parts may be 2 or may be greater than or equal to 4. The movable parts 1P to 1R are arranged along the moving direction of the movable parts 1P to 1R. Figure 1 2 shows a case where the movable section 1P is arranged next to the movable section 1Q, and the movable section 1R is arranged next to the movable section 1P.

[0018] The fixed parts 2a to 2c are arranged along the path (transport path) along which the movable parts 1P to 1R move, that is, along the moving direction. Figure 1 2 shows a case where the fixed part 2b is arranged next to the fixed part 2a, and the fixed part 2c is arranged next to the fixed part 2b. The fixed parts 2a to 2c have coils that generate a moving magnetic field to drive the movable parts 1P to 1R.

[0019] The fixed parts 2a to 2c conduct coil current according to the position of each movable part 1P to 1R, thereby driving each movable part 1P to 1R individually. The fixed parts 2a to 2c can drive each movable part 1P to 1R at any position and speed within a range where the movable parts 1P to 1R do not collide with each other.

[0020] In addition, the fixed parts 2a to 2c have a holding mechanism for holding the movable parts 1P to 1R, so that the movable parts 1P to 1R can be driven along the fixed parts 2a to 2c without falling off. The fixed parts 2a to 2c are mechanically connected continuously and can form any path. That is, the fixed parts 2a to 2c can form a fixed conveying path by being connected and arranged.

[0021] In addition, the number of fixed parts may be 2 or may be greater than or equal to 4. In addition, the fixed part can be set to a shape that matches the shape of the conveying path, and can be set to a straight line shape, a curved line shape, or the like. In addition, it is not limited to the case where the number of fixed parts and movable parts is the same. In addition, the positional relationship between the movable parts 1P~1R and the fixed parts 2a~2c is not fixed one to one. For example, the movable part 1P can move across the fixed parts 2a~2c. Similarly, the movable parts 1Q and 1R can move across the fixed parts 2a~2c.

[0022] The stator control unit 3a controls the fixed unit 2a. The stator control unit 3b controls the fixed unit 2b. The stator control unit 3c controls the fixed unit 2c. The stator control units 3a to 3c have an inverter unit (not shown) for energizing the coils of the fixed units 2a to 2c and a position detection unit (not shown) for detecting the position of each movable unit 1P to 1R. Each inverter unit performs energization to the coil and detection of the energized current.

[0023] The position detection unit detects the magnetic field generated by the permanent magnets of the movable parts 1P to 1R by, for example, a Hall sensor installed on the fixed parts 2a to 2c, and performs position detection based on the detected magnetic field. In addition, the stator control units 3a to 3c can detect the position of each movable part 1P to 1R by any method. That is, the method of position detection is not limited to the method described in Embodiment 1. The stator control units 3a to 3c correspond to the fixed parts 2a to 2c in a one-to-one manner, and the corresponding relationship is not switched during control.

[0024] The controller unit 4 drives and controls the movable parts 1P to 1R independently. The controller unit 4 generates current instructions to the stator control units 3a to 3c based on the operation profiles of the movable parts 1P to 1R written by the user from an engineering design tool or the like. That is, the controller unit 4 generates current instructions to the inverter unit for driving the movable parts 1P to 1R as described in the operation profile. The operation profile is defined by an operation program created by the user or the like.

[0025] Furthermore, the controller unit 4 collects the position information of each movable unit 1P to 1R acquired by the stator control units 3 a to 3 c , thereby detecting the positions of all the movable units 1P to 1R in the linear transport system 51 .

[0026] The controller 4 has the above-mentioned functions, and can therefore centrally control the entire movable parts 1P to 1R. Thus, the controller 4 can arbitrarily and individually control each movable part 1P to 1R while always knowing the position and state of each movable part 1P to 1R.

[0027] In addition, the controller 4 may control some of the movable parts 1P to 1R based on the operation profile of some of the movable parts, and control the other movable parts based on the position information of the movable parts 1P to 1R. For example, the controller 4 controls the movable part 1P based on the position information of the movable part 1P and the operation profile of the movable part 1P created in advance.

[0028] Furthermore, the controller unit 4 controls the movable unit 1Q based on the operation profile of the movable unit 1Q and the position information of the movable unit 1Q generated by the accompanying control unit 11 based on the position information of the movable units 1P and 1Q.

[0029] Furthermore, the controller unit 4 controls the movable unit 1R based on the operation profile of the movable unit 1R and the position information of the movable unit 1R generated by the accompanying control unit 11 based on the position information of the movable units 1P and 1R.

[0030] The operation profile includes a position command. That is, the controller 4 controls the movable parts 1P to 1R based on the position command of the operation profile and the position information of the movable parts 1P to 1R.

[0031] The controller unit 4 is, for example, Figure 1 In the positional relationship between the movable parts 1P to 1R and the fixed parts 2a to 2c shown in the figure, a current command to the stator control part 3b for controlling the movable part 1P is created based on the position command (first position command) of the operation profile sent from the accompanying control part 11. In addition, the controller part 4 creates a current command to the stator control parts 3a and 3c for controlling the movable parts 1Q and 1R based on the position command (second position command) of the operation profile created by the user. In addition, the controller part 4 creates a current command to the stator control parts 3b and 3c based on the position command (first position command) of the operation profile sent from the accompanying control part 11, for example, when the movable part 1P is located at the boundary of the fixed parts 2b and 2c. In addition, the controller part 4 creates a current command to the stator control parts 3a and 3b based on the position command (second position command) of the operation profile created by the user, for example, when the movable part 1Q is located at the boundary of the fixed parts 2a and 2b. Furthermore, the controller unit 4 transmits position information indicating the positions of the movable units 1P to 1R acquired by the stator control units 3 a to 3 c to the distance calculation unit 9 .

[0032] The linear transport system 51 controls the movable parts 1P to 1R through the common controller unit 4, so that the movable parts 1P to 1R can be moved at high acceleration and deceleration. That is, the linear transport system 51 controls the movable parts 1P to 1R through the common controller unit 4, so, for example, there is no need for the movable part 1P to be equipped with a sensor, and there is no need to detect the movement of the movable part 1R with its own sensor, and there is no need to control the movement of the movable part 1P after detecting the movement of the movable part 1R with the sensor, so it is possible to suppress the restrictions imposed on the driving mode of the movable parts 1Q and 1R.

[0033] The distance calculation unit 9 calculates the distance between the adjacent movable units based on the position information of the movable units 1P to 1R. The distance calculation unit 9 sends the calculated distance and the position information of the movable units 1P to 1R to the accompanying control unit 11.

[0034] The allowable distance holding unit 10 stores the allowable range of the distance between adjacent movable parts (the allowable approach range described later). The accompanying control unit 11 generates a position instruction that specifies at least one position of the movable parts 1P~1R based on the distance between adjacent movable parts calculated by the distance calculation unit 9, the allowable approach range stored in the allowable distance holding unit 10, and the position information of the movable parts 1P~1R. The accompanying control unit 11 generates the position instruction in a manner that adjacent movable parts do not collide and the cables 8a, 8b connecting the adjacent movable parts do not fall off. An example of the accompanying control unit 11 is a motion controller. Details of the distance calculation unit 9, the allowable distance holding unit 10 and the accompanying control unit 11 are described later. In addition, the linear conveying system 51 can have more than or equal to 3 movable parts.

[0035] The use of the linear conveying system 51 is roughly divided into conveying use and processing use. Here, the linear conveying system of the comparative example is explained. In the case where the use of the linear conveying system of the comparative example is for conveying use, the purpose is to move the workpiece to the target position in a state where the workpiece to be conveyed is stacked on the movable part. After the workpiece reaches the target position, it is discharged or processed by a device installed on the outside. In this case, the movable part only stacks the workpiece, and there is no need to stack the processing device for discharging or processing the workpiece stacked on the movable part on the movable part, and there is no need to supply power and communicate with the processing device. Therefore, the load weight borne by the movable part is only the weight of the workpiece, and the output of the movable part can be almost entirely used for moving the workpiece.

[0036] On the other hand, when the linear conveyor system of the comparative example is used for processing purposes, the purpose is to carry out processing while the processing device is mounted on the movable part to move the movable part. In this case, power supply and communication are required to operate electrical equipment such as motors installed in the processing device. Therefore, the output when the power supply and the like are mounted on the same movable part is used for the movement of the power supply device and the communication device in addition to the movement of the processing device. Therefore, when the linear conveyor system of the comparative example is used for processing purposes, the output conditions become stricter than those for conveying purposes.

[0037] Generally speaking, when processing is performed in a linear conveyor system, high-precision positioning control is required. However, if the weight of the power supply and the like increases, the control performance of the movable part will deteriorate. Therefore, in order to maximize the positioning control performance of the movable part, it is preferred to reduce the load weight borne by the movable part carrying the processing device as much as possible. In addition, the load weight borne by the movable part is the weight of the movable part including the weight of the stacked objects such as the processing device stacked on the movable part.

[0038] In the linear transport system 51 of the first embodiment, in order to solve these problems, the movable part on which the processing devices 21 and 22 are mounted and the movable part on which the output device such as the power supply device is mounted are separated. That is, in the linear transport system 51, the movable part on which the processing devices 21 and 22 are mounted and the movable part on which the output device is mounted are set as different movable parts. Examples of the output device are a power supply device that outputs electric power and a communication device that outputs data. In addition, the communication device can also receive data from the processing devices 21 and 22.

[0039] The processing devices 21 and 22 are devices used in processing the processing object. Examples of the processing devices 21 and 22 are drive devices (servo motors, servo amplifiers, arms), proximity sensors, cameras, robots, measuring devices, inspection devices, etc. In addition, the processing of the processing object includes steps performed on the processing object until the processing object is completed, such as fixing, moving, deforming, and inspecting the processing object. An example of a drive device is a conveying device that slides and conveys a semiconductor wafer. An example of a communication device is a device (controller) that controls the processing device.

[0040] In the linear transport system 51, for example, an output device such as a power supply device or a communication device is mounted on the movable part 1P, a processing device 21 is mounted on the movable part 1Q, and a processing device 22 is mounted on the movable part 1R. Moreover, the movable part 1P and the movable part 1Q are connected by a cable 8a, and the movable part 1P and the movable part 1R are connected by a cable 8b. Thus, power is transmitted or data is sent from the output device mounted on the movable part 1P to the processing devices 21 and 22 mounted on the movable parts 1Q and 1R. In the first embodiment, the movable part 1P on which the output device is mounted is an output movable part, and the movable parts 1Q and 1R on which the processing devices 21 and 22 are mounted are processing movable parts.

[0041] In addition, the output device of the movable part 1P also supplies power, transmits and receives data, etc. to other movable parts (not shown) connected to the movable parts 1Q and 1R through cables (not shown). In this case, the output device of the movable part 1P supplies power, transmits and receives data, etc. via the movable parts 1Q and 1R. The output device of the movable part 1P can supply power, transmit and receive data, etc. to any device directly or indirectly connected through a cable. In addition, data communication can be performed between the movable parts 1P to 1R through wireless communication.

[0042] As described above, in the linear transport system 51, a power supply device or a communication device is mounted on the movable part 1P, which can be connected to the processing devices 21 and 22 via the cables 8a and 8b and can be mechanically separated without causing any problems. In other words, an output device that outputs electric energy, data, etc. is mounted on the movable part 1P, which is an output movable part.

[0043] In addition, processing devices 21, 22 and the like that receive electric energy and data output from the movable part 1P are mounted on the movable parts 1Q and 1R as processing movable parts. In addition, the processing devices 21, 22 mounted on the movable parts 1Q and 1R can send data to the communication device and the like mounted on the movable part 1P. That is, data can be transmitted and received between the devices mounted on the movable parts 1P to 1R.

[0044] In the linear transport system 51, the controller unit 4 makes the movable unit 1P as the output movable unit follow the movable units 1Q and 1R as the processing movable units in such a manner that the movable units 1P to 1R are kept in an appropriate positional relationship, so that the output device can supply power or data to the processing devices 21 and 22. As described above, in the linear transport system 51, the output device can be mounted on the movable unit 1P different from the movable unit 1Q and 1R on which the processing devices 21 and 22 are mounted, so that the processing devices 21 and 22 can be reduced in weight. Therefore, the linear transport system 51 can improve the positioning control performance of the movable units 1Q and 1R on which the processing devices 21 and 22 are mounted.

[0045] Here, the details of the power supply device mounted on the movable part 1P are described. Here, the case where the power supply device mounted on the movable part 1P is a contactless power supply device is described as an example. The contactless power supply device that supplies power to the processing devices 21 and 22 can be connected to the primary side power supply 5 that supplies power in a contactless manner. The contactless power supply device has a pickup core 6 that receives power from the primary side power supply 5, and a regulator 7 that regulates the output voltage from the pickup core 6. In this case, in the linear conveying system 51, the output of the regulator 7 is input to the processing devices 21 and 22. In addition, the power supply device may also be a contact power supply device. In this case, the power supply device is connected to the primary side power supply 5 via a cable. In addition, the power supply device may also be a battery.

[0046] The primary-side power supply 5 is fixedly arranged along the track of the pickup core 6 , and the pickup core 6 and the adjuster 7 are fixed to the movable part 1P as the output movable part and move.

[0047] The movable part 1P is equipped with, for example, only the pickup core 6 and the adjuster 7. If only the pickup core 6 and the adjuster 7 are equipped, the movable part 1P can move within the range of the stacking capacity of the movable part 1P.

[0048] The linear conveying system 51 carries only the processing devices 21 and 22 on the movable parts 1Q and 1R, and supplies power to the processing devices 21 and 22 using the power supply device and cables 8a and 8b carried on the movable part 1P. That is, it is not necessary to carry the pickup core 6 and the adjuster 7 on the movable parts 1Q and 1R. Therefore, when the linear conveying system 51 moves the processing devices 21 and 22 while the movable parts 1Q and 1R move, the movable parts 1Q and 1R only need to carry the processing devices 21 and 22, so that the increase in the load weight borne by the movable parts 1Q and 1R can be prevented. For example, in the linear conveying system 51, the output movable part equipped with the output device is lighter and smaller than the processing movable part equipped with the processing devices 21 and 22. For example, in the linear conveying system 51, the output movable part equipped with the output device is lighter and smaller than the processing movable part equipped with the processing devices 21 and 22. Thus, when the processing movable part and the output movable part are controlled by the common controller part 4, the output movable part can fully follow the high acceleration and deceleration of the processing movable part. In addition, for example, when the load weight borne by the output movable part equipped with the output device is greater than the load weight borne by the processing movable part equipped with the processing devices 21 and 22, the operating speed of the processing movable part needs to be set to be less than or equal to the operating speed of the output movable part, but the operating speed is improved compared with the case where the processing device and the output device are mounted on the same movable part. In addition, the output movable part can, for example, make the number of permanent magnets of the output movable part less than the number of permanent magnets of the processing movable part, make the size of the permanent magnets of the output movable part smaller than the size of the permanent magnets of the processing movable part, etc., thereby making the weight of the output movable part lighter than the weight of the processing movable part, and making the size of the output movable part smaller than the size of the processing movable part. Thus, the linear conveying system 51 can reduce the cost of the output movable part and reduce the occupied area of ​​the output movable part in the conveying path.

[0049] Therefore, the linear transport system 51 can move the movable parts 1Q and 1R at high acceleration and deceleration. In addition, in the linear transport system 51, the load weight borne by the movable parts 1Q and 1R is reduced, so the performance of the positioning control of the movable parts 1Q and 1R can be improved. The linear transport system 51 can control the movable parts 1Q and 1R at high acceleration and deceleration and with high precision, so it is possible to suppress the restrictions imposed on the driving mode of the movable parts 1Q and 1R.

[0050] The control of the processing in the processing devices 21 and 22 is performed, for example, by a superior controller higher than the controller unit 4. In this case, the superior controller may control the processing devices 21 and 22 by wired communication or by wireless communication. The superior controller collects various data from the processing devices 21 and 22 and stores them in a storage device or the like. The superior controller may control the processing devices 21 and 22 based on the data collected from the processing devices 21 and 22.

[0051] Furthermore, the control of the processing in the processing devices 21 and 22 may be performed by the controller unit 4. In this case, the controller unit 4 may control the processing devices 21 and 22 by wired communication or by wireless communication.

[0052] In addition, in the linear transport system 51, one or more processing devices can be connected to one output device. The controller 4 of the linear transport system 51 controls each movable part 1P to 1R in a manner that the cables 8a and 8b do not fall off. Here, an example in which the controller 4 controls the position of a combination of two movable parts, namely, the movable part 1P and the movable part 1Q, is described.

[0053] Here, the case where the movable part 1P is an output movable part equipped with a power supply device, and the movable part 1Q is a processing movable part equipped with a processing device 21 is described. The controller part 4 collects the position information of the movable parts 1P and 1Q obtained by the stator control parts 3a and 3b. The controller part 4 sends the collected position information of 1P and 1Q to the distance calculation part 9.

[0054] The distance calculation unit 9 calculates the difference between the positions of the movable parts 1P and 1Q. That is, the distance calculation unit 9 calculates the distance between the movable parts 1P and 1Q (hereinafter, sometimes referred to as the distance between movable parts). For example, when the position of the movable part 1P is Ap and the position of the movable part 1Q is Aq, the distance calculation unit 9 calculates |Δ(Ap-Aq)| which is the absolute value difference between the positions of the movable parts 1P and 1Q. The distance calculation unit 9 sends the calculated distance between movable parts to the accompanying control unit 11.

[0055] In addition, the permissible distance holding unit 10 holds the permissible approach range (distance) between the movable parts 1P and 1Q, i.e., the permissible approach range. Specifically, the permissible distance holding unit 10 holds the permissible approach range Rng(Ap-Aq) represented by the range of the permissible minimum value Min(Ap-Aq) of |Δ(Ap-Aq)| and the permissible maximum value Max(Ap-Aq) of |Δ(Ap-Aq)|. The relationship between Min(Ap-Aq), Max(Ap-Aq) and the permissible approach range Rng(Ap-Aq) is Min(Ap-Aq)≤Rng(Ap-Aq)≤Max(Ap-Aq).

[0056] Min(Ap-Aq) is set assuming, for example, that the movable parts 1P and 1Q come too close to each other and interfere with the cable 8a, or that the cable 8a bends and contacts the power supply device, the processing device 21, the movable parts 1P and 1Q, or the primary power supply 5.

[0057] Furthermore, Max (Ap-Aq) is set assuming that the movable parts 1P and 1Q are too far away from each other, causing the cable 8a to fall off, the cable connector to be damaged, the cable 8a main body to be damaged, and the like.

[0058] The controller 4 controls the movable part 1P so that |Δ(Ap-Aq)| does not deviate from the permissible approach range Rng(Ap-Aq). The movable part 1Q equipped with the processing device 21 needs to be moved under accurate positioning control. Therefore, the controller 4 applies the position command to the movable part 1Q without changing it from the operation profile set in advance by the user.

[0059] The accompanying control unit 11 generates an operation profile of the movable unit 1P based on the position information of the movable units 1P and 1Q so that |Δ(Ap-Aq)| does not deviate from the range of the permissible approach range Rng(Ap-Aq). The operation profile includes a position instruction to the movable unit 1P. The accompanying control unit 11 sends the generated operation profile to the controller unit 4. In addition, the operation profile of the movable unit 1P can be created in advance by the user.

[0060] The controller 4 controls the position of the movable part 1Q according to the position command of the operation profile set by the user, and controls the position of the movable part 1P according to the position command of the operation profile sent from the accompanying control part 11. Thus, the controller 4 can appropriately control the movable parts 1P and 1Q while keeping the cable 8a connected.

[0061] In addition, the linear transport system 51 can control the positions of the movable parts 1P to 1R in the case of a combination of three movable parts 1P to 1R, similarly to the combination of two movable parts 1P and 1Q.

[0062] Next, an example in which the controller 4 controls the position of a combination of three movable parts 1P to 1R is described. Here, the movable part 1P is an output movable part equipped with a power supply device, and the movable parts 1Q and 1R are processing movable parts equipped with processing devices 21 and 22. The controller 4 collects the position information of the movable parts 1P to 1R obtained by the stator control parts 3a to 3c. The controller 4 sends the collected position information of 1P to 1R to the distance calculation part 9.

[0063] The distance calculation unit 9 calculates the difference between the positions of the movable parts 1P and 1Q and the difference between the positions of the movable parts 1P and 1R. That is, the distance calculation unit 9 calculates the inter-movable part distance between the movable parts 1P and 1Q and the inter-movable part distance between the movable parts 1P and 1R. For example, when the position of the movable part 1P is Ap, the position of the movable part 1Q is Aq, and the position of the movable part 1R is Ar, the distance calculation unit 9 calculates |Δ(Ap-Aq)|, which is the absolute value difference between the positions of the movable parts 1P and 1Q, and |Δ(Ap-Ar)|, which is the absolute value difference between the positions of the movable parts 1P and 1R. The distance calculation unit 9 sends the calculated inter-movable part distance to the accompanying control unit 11.

[0064] In addition, the permissible distance holding section 10 holds the permissible approach range between the movable sections 1P and 1Q and the permissible approach range between the movable sections 1P and 1R. Specifically, the permissible distance holding section 10 holds the permissible approach range Rng(Ap-Aq) represented by the range of the permissible minimum value Min(Ap-Aq) of |Δ(Ap-Aq)| and the permissible maximum value Max(Ap-Aq) of |Δ(Ap-Aq)|. In addition, the permissible distance holding section 10 holds the permissible approach range Rng(Ap-Ar) represented by the range of the permissible minimum value Min(Ap-Ar)| and the permissible maximum value Max(Ap-Ar) of |Δ(Ap-Ar)|.

[0065] The relationship between Min(Ap-Ar), Max(Ap-Ar) and the permissible approach range Rng(Ap-Ar) is Min(Ap-Ar)≤Rng(Ap-Ar)≤Max(Ap-Ar).

[0066] Min(Ap-Ar) is set assuming, for example, that the movable parts 1P and 1R come too close to each other and interfere with the cable 8b, or that the cable 8b bends and contacts the power supply device, the processing device 22, the movable parts 1P and 1R, or the primary power supply 5.

[0067] Furthermore, Max (Ap-Ar) is set assuming that the movable parts 1P and 1R are too far away from each other, causing the cable 8b to fall off, the cable connector to be damaged, the cable 8b main body to be damaged, and the like.

[0068] The controller 4 controls the movable part 1P so that |Δ(Ap-Aq)| does not deviate from the permissible approach range Rng(Ap-Aq) and |Δ(Ap-Ar)| does not deviate from the permissible approach range Rng(Ap-Ar). The movable parts 1Q and 1R equipped with the processing devices 21 and 22 need to be moved under accurate positioning control. Therefore, the controller 4 applies the position command to the movable parts 1Q and 1R without changing it from the operation profile set in advance by the user.

[0069] Based on the position information of the movable parts 1P to 1R, the accompanying control unit 11 generates an operation profile of the movable part 1P in such a manner that |Δ(Ap-Aq)| does not deviate from the permissible approach range Rng(Ap-Aq) and |Δ(Ap-Ar)| does not deviate from the permissible approach range Rng(Ap-Ar). The operation profile includes a position instruction to the movable part 1P. The accompanying control unit 11 sends the generated operation profile to the controller unit 4. In addition, the operation profile of the movable part 1P can be created in advance by the user. In the following, the permissible approach ranges Rng(Ap-Aq) and Rng(Ap-Ar) are sometimes referred to as the permissible approach ranges.

[0070] The controller 4 controls the positions of the movable parts 1Q and 1R according to the position command of the operation profile set by the user, and controls the position of the movable part 1P according to the position command of the operation profile sent from the accompanying control part 11. Thus, the controller 4 can appropriately control the movable parts 1P to 1R while keeping the cables 8a and 8b connected.

[0071] In addition, the linear transport system 51 can control the positions of the movable parts of more than 4 units in the case of a combination of 4 or more movable parts, similarly to the case of a combination of 3 movable parts 1P to 1R. In the case of a combination of more than 4 movable parts, the controller unit 4 also controls the position of the processing movable part according to the position command of the operation profile set by the user, and controls the position of the output movable part according to the position command of the operation profile sent from the accompanying control unit 11.

[0072] In the linear transport system 51, the load weight borne by the movable part 1P is sometimes different from the load weight borne by the movable parts 1Q and 1R. For example, consider a case where the load weight of the movable part 1P as the output movable part is greater than the load weight of the movable parts 1Q and 1R as the processing movable parts, and the acceleration and deceleration of the movable part 1P cannot follow the movable parts 1Q and 1R and deviates from the allowable approach range Rng (Ap-Aq) and Rng (Ap-Ar). In addition, consider a case where a plurality of processing movable parts are arranged relative to one output movable part, and the output movable part cannot physically follow the movement of the processing movable part and deviates from the allowable approach range Rng (Ap-Aq) and Rng (Ap-Ar). In these cases, if the movement outside the allowable approach range is continued, it may sometimes cause damage to the power supply device, the processing devices 21 and 22, etc. or processing abnormalities in the processing action. Therefore, when the vehicle is outside the permissible approach range, the accompanying control unit 11 outputs a signal indicating that the vehicle is outside the permissible approach range (permissible approach range out-signal) to the controller unit 4 and the like.

[0073] In this case, the controller unit 4 stops, for example, the movable parts 1P to 1R. In addition, the controller unit 4 or the superior controller stops, for example, the power supply device, the processing devices 21, 22, etc. In addition, the controller unit 4 may also perform a protective action of moving each movable part 1P to 1R so that the distance between the movable parts 1P to 1R falls within the permissible approach range. In addition, the controller unit 4 may change the operation mode to an operation mode that does not deviate from the permissible approach range. In this case, the user changes the operation program that specifies the operation profile. As described above, the controller unit 4 does not perform processing, etc. in a state of deviating from the permissible approach range.

[0074] Here, the hardware configuration of the controller unit 4 will be described. Figure 2 1 is a diagram showing an example of a hardware configuration of a controller unit included in a control device according to Embodiment 1. The controller unit 4 can be implemented by an input device 300, a processor 100, a memory 200, and an output device 400. An example of the processor 100 is a CPU (also called a Central Processing Unit, a central processing unit, a processing unit, an arithmetic unit, a microprocessor, a microcomputer, a DSP (Digital Signal Processor)) or a system LSI (Large Scale Integration). An example of the memory 200 is a RAM (Random Access Memory) or a ROM (Read Only Memory).

[0075] The controller unit 4 is implemented by the processor 100 reading and executing a computer-executable control program stored in the memory 200 for executing the operation of the controller unit 4. The program for executing the operation of the controller unit 4, i.e., the control program, can be said to cause the computer to execute the procedure or method of the controller unit 4.

[0076] The control program executed by the controller unit 4 has a module structure including an execution unit that executes various processes. The execution unit is downloaded to the main storage device and generated on the main storage device.

[0077] The input device 300 receives position information of the movable parts 1P to 1R from the stator control units 3a to 3c and transmits the information to the processor 100. In addition, the input device 300 receives an operation profile including a position command from the accompanying control unit 11 and transmits the information to the processor 100.

[0078] The memory 200 stores the operation profile, the permissible approach range, etc. The permissible approach range here is the permissible approach range Rng (Ap-Aq), Rng (Ap-Ar) mentioned above. In addition, the memory 200 is used as a temporary memory when the processor 100 executes various processes. The output device 400 outputs the current command to the stator control unit 3a~3c. In addition, the output device 400 outputs the position information of the movable parts 1P~1R to the distance calculation unit 9.

[0079] The control program can be stored in a computer-readable storage medium in an installable or executable form and provided as a computer program product. In addition, the control program can also be provided to the controller unit 4 via a network such as the Internet. In addition, the functions of the controller unit 4 can be partially implemented by dedicated hardware such as a dedicated circuit, and partially implemented by software or firmware.

[0080] In addition, Figure 2 The hardware structure shown may include the functions of the stator control units 3a to 3c. Figure 2 The hardware configuration shown may include at least one function among the distance calculation unit 9 , the allowable distance holding unit 10 , and the accompanying control unit 11 .

[0081] The linear transport system 51 is applied to, for example, a production line that realizes factory automation. Examples of a production line include a production line for assembling industrial products and a production line for packaging food.

[0082] The linear conveyor system 51 independently controls the movable parts 1P to 1R arranged on the same conveyor path, thereby constructing multiple processes on the same conveyor path, thereby reducing the installation area of ​​the equipment, reducing the production cycle time, and making the equipment design more flexible. In addition, batteries can also be installed in the movable parts 1Q and 1R.

[0083] As described above, by mounting the output device for outputting power, data, etc. to the movable parts 1Q and 1R on the movable part 1P, the device mounted on the movable parts 1Q and 1R can be made lighter, so the linear transport system 51 can also be applied to a system that performs high acceleration and deceleration. In addition, the movable parts 1P to 1R can be configured with the same specifications, so the linear transport system 51 can be realized at a low cost, and the flexibility of the system change such as the change of the production line becomes higher.

[0084] As described above, the linear transport system 51 of the first embodiment includes: an output movable part that carries an output device that outputs energy or data; and a processing movable part that carries a processing device that receives energy or data from the output device. In addition, the controller 4 controls the output movable part and the processing movable part independently. Thus, the linear transport system 51 can suppress the restrictions imposed on the driving mode of the movable parts (output movable part and processing movable part) and move the movable parts with high acceleration and deceleration.

[0085] Implementation method 2.

[0086] Next, use Figure 3 Embodiment 2 will be described. In Embodiment 2, the degree of degradation of the cables 8a and 8b is predicted based on the behavior of the cables 8a and 8b.

[0087] Figure 3 2 is a diagram showing the structure of a linear transport system according to Embodiment 2. Figure 3 Among the structural elements of Figure 1 In the linear transport system 51 of the illustrated first embodiment, components that realize the same functions are denoted by the same reference numerals, and duplicate descriptions are omitted.

[0088] The linear transport system 52 further includes a bending calculation unit 31, a degradation degree calculation unit 32, and an output unit 33 in addition to the components of the linear transport system 51. The bending calculation unit 31 is connected to the distance calculation unit 9, and obtains the distance between movable parts from the distance calculation unit 9. The bending calculation unit 31 calculates the bending state (bending history) of the cables 8a and 8b based on the distance between movable parts and the lengths of the cables 8a and 8b. The bending calculation unit 31 sends the bending state to the degradation degree calculation unit 32.

[0089] The degradation degree calculation unit 32 calculates the degradation degree of the cables 8a and 8b based on the bending state. The output unit 33 outputs the degradation degree of the cables 8a and 8b calculated by the degradation degree calculation unit 32 to an external device such as a display device.

[0090] In the linear transport system 52, even if the movable parts 1P to 1R continue to move within the permissible approach range, fatigue of the cables 8a and 8b due to repeated bending stress on the cables 8a and 8b may cause damage such as disconnection of the cables 8a and 8b.

[0091] If the cables 8a and 8b are damaged, it may lead to processing failure, production line stoppage, etc. Therefore, the linear conveyor system 52 diagnoses the degree of deterioration of the cables 8a and 8b before the cables 8a and 8b are damaged, and notifies the user of the degree of deterioration of the cables 8a and 8b before the cables 8a and 8b are damaged. Thus, the cables 8a and 8b can be replaced before the cables 8a and 8b are damaged.

[0092] A method for diagnosing the degree of deterioration of the cables 8a and 8b implemented by the linear conveyor system 52 is described. Factors that affect the degree of deterioration of the cables 8a and 8b include the bending speed, bending radius, and number of bending times of the cables 8a and 8b. For example, when the movable parts 1P to 1R are close to each other, the cables 8a and 8b are bent, so the bending radius of the connector part of the cables 8a and 8b becomes smaller. Then, when the movable parts 1P to 1R are separated, the cables 8a and 8b extend, so the bending radius of the connector part becomes larger. By repeating these actions, the number of bending times is added. Therefore, the bending calculation unit 31 calculates these bending speeds, bending radiuses, and bending times based on the mechanical structure of the linear conveyor system 52 and the approach distance of the movable parts 1P to 1R.

[0093] The approach distance of each movable part 1P to 1R is calculated by the distance calculation unit 9. That is, the distance calculation unit 9 calculates the aforementioned |Δ(Ap-Aq)| and |Δ(Ap-Ar)| based on the position of each movable part 1P to 1R. In addition, the bending calculation unit 31 calculates the bending conditions such as the bending radius, bending speed, and number of bending of the cables 8a and 8b based on the mechanical structure of the linear conveyor system 52, |Δ(Ap-Aq)| and |Δ(Ap-Ar)|.

[0094] As described above, the bending calculation unit 31 calculates the bending conditions of the cables 8 a and 8 b based on the design information of the devices included in the linear transport system 52 and the actual operation results of the devices included in the linear transport system 52 .

[0095] The design information used when the bending calculation unit 31 calculates the bending condition is design information of the connector portion of the device connected to the cables 8a and 8b, the processing devices 21 and 22, the movable parts 1P to 1R, the fixed parts 2a to 2c, the pickup core 6, the regulator 7, the primary side power supply 5, etc. In addition, the operation results used when the bending calculation unit 31 calculates the bending condition are the operation results of the cables 8a and 8b, etc.

[0096] The degradation degree calculation unit 32 calculates the degradation degree of the cables 8a and 8b based on the bending state calculated by the bending calculation unit 31. The greater the degradation degree of the cables 8a and 8b, the closer the life of the cables 8a and 8b is. That is, the remaining life of the cables 8a and 8b becomes shorter as the degradation degree increases.

[0097] The user creates a calculation formula for the degree of degradation of the linear conveyor system 52 based on the durability test results of the cables 8a and 8b obtained from the cable manufacturer, theoretical calculation results of durability, and actual durability performance of the cables 8a and 8b.

[0098] The degradation degree calculation unit 32 calculates the degradation degrees of the cables 8a and 8b by applying the bending condition to the calculation formula of the degradation degree. The degradation degree calculation unit 32 calculates the degradation degree of the cable 8a and the degradation degree of the cable 8b separately.

[0099] When the calculated degradation degree reaches a predetermined value, the degradation degree calculation unit 32 outputs a degradation reaching signal indicating that the degradation degree of the cable 8a or the cable 8b has reached the predetermined value from the output unit 33 to an external device, etc. The degradation reaching signal is a signal indicating that the life of the cable 8a or the cable 8b will reach the end within a specific period (1 hour, 1 day, etc.).

[0100] The prescribed value used by the degradation degree calculation unit 32 is stored in advance by the degradation degree calculation unit 32. The prescribed value is a value at which the cables 8a and 8b can be replaced before the cables 8a and 8b reach the end of their service life. For example, the prescribed value is a value at which the cables 8a and 8b will reach the end of their service life if the linear conveyor system 52 continues to operate for a specific period of time. Therefore, the output unit 33 outputs a degradation arrival signal before the cables 8a and 8b reach the end of their service life by the specific period of time.

[0101] Thus, the linear conveyor system 52 can notify the user that the cables 8a and 8b need to be replaced, and prompt the user to replace the cables 8a and 8b before they are damaged. The user replaces the cables 8a and 8b before they are damaged. As a result, the linear conveyor system 52 can prevent the cables 8a and 8b from being damaged during processing. In addition, the output unit 33 can output information indicating the degree of degradation to an external device or the like before the degree of degradation reaches a specified value. Thus, the user can refer to the degree of degradation of the cables 8a and 8b before the degree of degradation reaches the specified value.

[0102] The controller 4 of the linear transport system 52 has the same hardware configuration as the controller 4 of the linear transport system 51. The memory 200 of the controller 4 of the linear transport system 52 stores operating profiles, allowable approach ranges, calculation formulas for degradation degrees, and the like.

[0103] As described above, according to embodiment 2, the linear conveying system 52 calculates the bending condition of the cables 8a and 8b, calculates the degree of degradation of the cables 8a and 8b based on the bending condition, and outputs a degradation arrival signal to an external device, etc., thereby being able to notify the user of the degree of degradation of the cables 8a and 8b before the cables 8a and 8b are damaged.

[0104] In the above-mentioned Embodiment 1 and Embodiment 2, the linear transport systems 51 and 52 are described as examples in which the output movable part equipped with the power supply device is the movable part 1P, the processing movable part equipped with the processing devices 21 and 22 is the movable part 1Q and 1R, and a plurality of processing devices are connected to one output device. However, with respect to the linear transport systems 51 and 52, the number of output movable parts and processing movable parts can be determined in accordance with the situation. For example, the linear transport systems 51 and 52 can also be used as the processing movable part equipped with the processing device as the movable part 1P, and the output movable part equipped with the output device as the movable part 1Q and 1R, and a plurality of output devices are connected to one processing device. That is, the number of output movable parts and processing movable parts is arbitrary, and the number of processing devices connected to one output device and the number of output devices connected to one processing device can also be determined in accordance with the situation.

[0105] The configuration described in the above embodiment is merely an example, and may be combined with other known technologies, the embodiments may be combined with each other, and part of the configuration may be omitted or changed without departing from the gist.

[0106] Description of the label

[0107] 1P~1R movable part, 2a~2c fixed part, 3a~3c stator control part, 4 controller part, 5 primary side power supply, 6 pickup core, 7 regulator, 8a, 8b cable, 9 distance calculation part, 10 allowable distance holding part, 11 accompanying control part, 21, 22 processing device, 31 bending calculation part, 32 degradation degree calculation part, 33 output part, 50 control device, 51, 52 linear conveying system, 100 processor, 200 memory, 300 input device, 400 output device.

Claims

1. A linear conveying system, characterized in that: have: A plurality of movable parts having permanent magnets; a fixed part having a coil for generating a magnetic field for driving the movable part, and connected and arranged so as to form a conveying path for the movable part to move; a stator control unit that energizes the coil and detects the position of the movable unit; as well as a controller unit that generates a current command for driving the movable unit based on position information that is information about the position of the movable unit and outputs the current command to the stator control unit, The movable part includes: an output movable part, which is a movable part among the movable parts, on which an output device for outputting energy or data is mounted; and a processing movable part, which is a movable part on which a processing device for processing an object to be processed is mounted and is connected to the output device via a cable to receive the energy or data from the output device. The controller unit controls the output movable unit and the processing movable unit.

2. The linear conveying system according to claim 1, characterized in that: Also features: an allowable distance holding unit storing an allowable range of the distance between the output movable unit and the processing movable unit, that is, an allowable approach range; a distance calculation unit that calculates a distance between the output movable unit and the processing movable unit, that is, an inter-movable unit distance, based on the position information of the output movable unit and the position information of the processing movable unit; and a companion control unit for generating a first position instruction for controlling the position of the output movable unit so that the distance between the movable units does not deviate from the allowable approach range, The controller controls the position of the output movable portion based on the first position command.

3. The linear conveying system according to claim 2, characterized in that: When the distance between the movable parts deviates from the permissible approach range, the accompanying control unit outputs a signal indicating that the distance between the movable parts is outside the permissible approach range.

4. The linear conveying system according to any one of claims 1 to 3, characterized in that: The weight of the output movable part is lighter than the weight of the processing movable part, and the size of the output movable part is smaller than the size of the processing movable part.

5. The linear conveying system according to claim 2, characterized in that: Also features: a bending calculation unit for calculating a bending condition of the cable based on the distance between the movable parts; a degradation degree calculation unit, which calculates the degradation degree of the cable based on the bending condition; as well as The output unit outputs a degradation reaching signal indicating that the degradation degree has reached the predetermined value when the degradation degree has reached the predetermined value.

6. The linear conveying system according to any one of claims 1 to 5, characterized in that: The output device is a power supply device that outputs electric power to the processing device or a communication device that outputs data to the processing device.

7. The linear conveying system according to any one of claims 1 to 6, characterized in that: The processing device includes at least one of a servo motor, a servo amplifier, an arm, a proximity sensor, a camera, a robot, a measuring device, and an inspection device.

8. The linear conveying system according to any one of claims 1 to 7, characterized in that: The controller controls the position of the machining movable part based on a second position command included in an operation profile created by a user.

9. A control device, characterized in that: have: a stator control unit that has coils for generating magnetic fields for driving a plurality of movable parts having permanent magnets and is connected to a fixed part configured so as to energize the coils constituting a conveying path for the movable parts to move, and detects the positions of the movable parts; and a controller unit that generates a current command for driving the movable unit based on position information that is information about the position of the movable unit and outputs the current command to the stator control unit, The controller unit controls the output movable unit and the processing movable unit when the movable unit includes an output movable unit that is a movable unit carrying an output device that outputs energy or data among the movable unit, and a processing movable unit that is a movable unit carrying a processing device that is used for processing an object and is connected to the output device via a cable to receive the energy or data from the output device.

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