Position detection device and method

Abstract

Provided is a position detection device capable of stably detecting the positions of sliders even when the signals detected by the sensors of the modules are deviated for each slider. A position detection device (51) for a conveying device in which a plurality of sliders (4) move along a conveying path having at least one module (7) includes: a position scale (32a) provided to the sliders (4); a sensor (29) provided to the module (7) and configured to detect the position scale (32a); a parameter detection unit (54) configured to detect, for each slider (4), a parameter for adjusting a Lissajous figure obtained based on an A-phase signal and a B-phase signal obtained by digitally converting signals output from the sensor (29); and a correction unit (55) configured to correct at least one of the A-phase signal or the B-phase signal for each slider (4) based on the parameter.

Description

Technical Field

[0001] This invention relates to a position detection device and method used in a conveying device in which multiple sliding members move along a conveying path. Background Technology

[0002] A conveying device in which multiple sliding members move along a conveying path has been developed (see Patent Document 1). The conveying path is constructed by combining at least one module. Each module contains multiple coils that form the stator of a linear motor and a drive circuit that controls the power supplied to the coils. Each sliding member contains a permanent magnet that forms the rotor of the linear motor. When the power supplied to the coils is controlled by the drive circuit, causing the coils to generate a moving magnetic field, the sliding member moves along the conveying path.

[0003] Compared to existing belt conveyors, this conveyor system offers superior flexibility. For example, unlike conventional belt conveyors, it eliminates the need for multiple sliding components to move simultaneously; instead, it allows for individual movement and positioning of multiple sliding components. Furthermore, by appropriately reconfiguring the modules, suitable conveying paths can be constructed to meet various application requirements. Therefore, this conveyor system can be utilized for a wide range of purposes (manufacturing, processing, packaging, etc.).

[0004] To detect the position of the slider, a position scale is installed on the slider. A sensor is installed in the module to detect the position scale of the slider. The position of the slider is detected based on the A-phase and B-phase signals obtained by digitally converting the signals output by the sensor in the module. Furthermore, the slider is servo-controlled so that the detected position of the slider tracks the target position.

[0005] Prior art literature

[0006] Patent documents

[0007] Patent Document 1: JP 2023-19218 Summary of the Invention

[0008] --The technical problem the invention aims to solve--

[0009] However, in this conveying device, the signals detected by the module's sensors (such as the magnetic flux density detected by the magnetic sensor) deviate from each slider due to various factors (such as manufacturing deviations of the scale, machining dimensional deviations of the sliders, etc.). Suppressing these deviations is difficult, and if the deviations become large, errors in the slider position detection will occur, making the system uncontrollable.

[0010] The present invention addresses the aforementioned problems and aims to provide a position detection device and method that can stably detect the position of a slider even if the signal detected by the module's sensor deviates for each slider.

[0011] --Methods for solving problems--

[0012] To address the aforementioned problems, one aspect of the present invention is a position detection device for a conveying device that moves multiple sliders along a conveying path having at least one module. The device comprises: a position scale disposed on the sliders; a sensor that detects the position scale disposed on the module; a parameter detection unit that detects parameters for adjusting a Lissajous figure for each slider, the Lissajous figure being obtained based on an A-phase signal and a B-phase signal obtained by digitally converting a signal output from the sensor; and a correction unit that corrects at least one of the A-phase signal or the B-phase signal for each slider based on the parameters.

[0013] Another aspect of the present invention is a position detection method for a conveying device for moving multiple sliders along a conveying path having at least one module, comprising the following steps: a sensor disposed on the module detects a position scale disposed on the slider; for each slider, parameters for adjusting a Lissajous figure are detected, the Lissajous figure being obtained based on an A-phase signal and a B-phase signal obtained by digitally converting a signal output from the sensor; and for each slider, at least one of the A-phase signal or the B-phase signal is corrected based on the parameters.

[0014] --The Effects of the Invention--

[0015] According to the present invention, even if the signal detected by the module's sensor deviates for each slider, the position of the slider can be detected stably. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the conveying device.

[0017] Figure 2 This is a 3D view of the module's appearance.

[0018] Figure 3 A three-dimensional diagram showing the internal structure of the module.

[0019] Figure 4 This is a three-dimensional view of the stator's appearance.

[0020] Figure 5 This is a 3D view of the sliding component.

[0021] Figure 6 This is a structural diagram of the conveying device system.

[0022] Figure 7 This is a block diagram of a position detection device according to an embodiment of the present invention.

[0023] Figure 8(a) represents the ideally adjusted Lissajous figure. Figure 8 (b) represents the Lissajous figure with gain offset.

[0024] Figure 9 This diagram illustrates the transfer of a sliding component from a belt conveyor to a disassembly / assembly module.

[0025] Figure 10 This diagram illustrates the switch from open-loop control to servo control in the module controller for disassembling and assembling modules.

[0026] Figure 11 This is a flowchart of a position detection method according to an embodiment of the present invention. Detailed Implementation

[0027] Hereinafter, a position detection apparatus and method according to embodiments of the present invention will be described with reference to the accompanying drawings. It should be noted that the position detection apparatus and method of the present invention can be embodied in various forms and are not limited to the embodiments described in this specification. These embodiments are provided to enable those skilled in the art to fully understand the invention through a thorough disclosure of the specification.

[0028] (Conveying device)

[0029] Figure 1 This is a schematic diagram of the conveying device 1. The conveying device 1 has a conveying path 2 comprising a belt conveyor 6, a disassembly module 7, and multiple linear modules 3. The linear modules 3 are straight and connected end to end. An actuator 5 is arranged near the linear modules 3 for operation. The positions of the linear modules 3 facing the actuator 5 are identified by inherent position numbers A, B, C, and D.

[0030] To form a closed conveying path 2, a belt conveyor 6 and a disassembly / assembly module 7 are installed in the conveying path 2. For example, the disassembly / assembly module 7 on the left receives a sliding member 4 from the belt conveyor 6, moves the received sliding member 4 along the axis of the disassembly / assembly module 7, and sends the sliding member 4 to the linear module 3. Similarly, the disassembly / assembly module 7 on the right receives a sliding member 4 from the linear module 3, moves the received sliding member 4 along the axis of the disassembly / assembly module 7, and sends the sliding member 4 to the belt conveyor 6. The belt conveyor 6 moves the sliding member 4 in the opposite direction to the linear module 3. Thus, the sliding member 4 circulates within the conveying path 2. Alternatively, it can be as follows... Figure 1 As shown, the conveying path 2 can be configured in the horizontal plane to make the slider 4 circulate horizontally, or the conveying path 2 can be configured in the vertical plane to make the slider 4 circulate vertically.

[0031] The conveyor device 1 is controlled by a centralized controller 8. The centralized controller 8 is a general-purpose PLC (Programmable Logic Controller), personal computer, etc. The centralized controller 8 has a processor, memory, and communication interface. The memory includes ROM and RAM.

[0032] For example, the centralized controller 8 generates a command to move the slider 4 to the target position A, which is then sent via the controller 9 to the module controller 24 of the disassembly module 7 and the linear module 3 (see reference). Figure 6 If slider 4 reaches point A, the module controller 24 of linear module 3 transmits a signal via controller 9 indicating that slider 4 has reached position number A to the central controller 8. Upon receiving this signal, the central controller 8 sends a start command to actuator controller 10. Actuator controller 10, such as a PLC or personal computer, controls actuator 5 to operate. If actuator 5 finishes operating, the central controller 8 moves slider 4 to position number B. If all actuators 5 finish operating, the central controller 8 moves slider 4 to disassembly / assembly module 7. Thereafter, the central controller 8 controls disassembly / assembly module 7 and belt conveyor 6 to circulate slider 4.

[0033] Central controller 8 and controller 9 are connected via communication links 12 such as DeviceNet, EtherCAT, and EtherNET / IP. Central controller 8 and actuator controller 10 are also connected via the same communication link 13. Controller 9 and module controller 24 of the disassembly / reassembly module 7 and linear module 3 (see reference) Figure 6 The module 7 and the linear module 3 are connected via communication lines 14, such as RS485 and I2C, that enable synchronous communication. The module controller 24 of the detachable module 7 and the linear module 3 are connected to each other (see reference). Figure 6 The communication line 15, which enables synchronous communication via RS485, I2C, etc., is connected.

[0034] The controller 9 executes the configuration software 11 upon startup of the conveyor 1. This is done in the controller 9's memory 36 (see reference 1). Figure 6 The controller 9 stores the mechanical coordinates (movement coordinates) corresponding to the inherent position numbers A, B, C, and D. Furthermore, the controller 9's memory 36 stores the velocity, acceleration, and jerk, etc., of the sliding member 4 when the module controller 24 of the disassembly module 7 and the linear module 3 creates the motion curve (velocity curve) of the sliding member 4.

[0035] (Linear module)

[0036] like Figure 2 As shown, the linear module 3 has a stator 20 with multiple coils 21. Figure 4As shown, multiple (four in this embodiment) stators 20 are provided for a linear module 3. Each stator 20 has multiple sets (two in this embodiment) of U, V, and W phase coils 21. Power is supplied to the stators 20 through a drive circuit 22. The drive circuit 22 is a power converter such as a PWM inverter, and power lines (not shown) are connected to the drive circuit 22. The drive circuit 22 is controlled by a module controller 24. Multiple (four in this embodiment) drive circuits 22 are provided for one module controller 24. The drive circuits 22 are configured in... Figure 3 The drive board 23 is shown. The module controller 24 is also configured on it. Figure 3 The driving substrate 23 shown.

[0037] like Figure 3 As shown, the linear module 3 has a linear guide rail 25 that smoothly guides the linear movement of the slider 4. The track 26 of the linear guide rail 25 is mounted on the base 28 of the linear module 3. Figure 5 As shown, the carriage 27 of the linear guide 25 is mounted on the slider 4.

[0038] The linear module 3 is equipped with a sensor for detecting the identification ID of the slider 4, a sensor for detecting the position of the slider 4, and a sensor for detecting the magnetic pole position of the slider 4. Figure 3 These sensors are uniformly represented by reference numeral 29 in the accompanying drawings. In this embodiment, four sensors 29 are provided on each stator 20. The sensors 29 are magnetic sensors such as Hall sensors and magnetoresistive sensors. The sensors 29 are disposed on the sensor substrate 30.

[0039] (Module disassembly and assembly)

[0040] like Figure 1 As shown, the assembly / disassembly module 7 includes a linear module section 7a and an axial movement mechanism 7b that moves the linear module section 7a along the axial direction of the assembly / disassembly module 7. The structure of the linear module section 7a is substantially the same as that of the linear module 3. The axial movement mechanism 7b consists of a feed screw, a linear motor, etc.

[0041] (Slider)

[0042] like Figure 5 As shown, the slider 4 includes a permanent magnet 31 for driving the rotor of a linear motor. The slider 4 is equipped with an AB scale 32a as a position scale and an NS scale 32b as a magnetic pole position scale. The AB scale 32a and NS scale 32b are magnetic scales and are parallel to each other. The pole pitch (NN distance) of the NS scale 32b is equal to the pole pitch of the driving permanent magnet 31. The pole pitch of the AB scale 32a is smaller than the pole pitch of the NS scale 32b.

[0043] (Conveying device system)

[0044] Figure 6 This diagram shows the structure of the conveying system. The conveying system includes a central controller 8, a controller 9, and multiple module controllers 24. The central controller 8, as described above, is a general-purpose PLC or similar device. The controller 9 is a personal computer or similar computer. The controller 9 includes a processor 35, a memory 36, and a communication interface 37. The memory 36 includes ROM and RAM. The processor 35 executes the program stored in the memory 36. The controller 9 can be a microcontroller, or an electrical circuit such as an FPGA (Field Programmable Gate Array) or an ASIC (Application Specific Integrated Circuit).

[0045] The central controller 8 and controller 9 are connected via the aforementioned DeviceNet or other communication links 12. Controller 9 and module controller 24 are connected via the aforementioned RS485, I2C, or other communication lines 14. Adjacent module controllers 24 are also connected to each other via the aforementioned RS485, I2C, or other communication lines 15.

[0046] The controller 9 transforms the target position command (position number A, B, C, D) of the slider 4 received from the central controller 8 into a target position command (movement coordinate), and sends the target position command (movement coordinate) to all module controllers 24.

[0047] The module controller 24 is a microcontroller. The module controller 24 controls the drive circuit 22 of the disassembly / reassembly module 7 and the linear module 3. The module controller 24 includes a processor 38, a memory 39, a communication interface 40, and an interface circuit 41. The memory 39 includes ROM and RAM. The module controller 24 can also be a personal computer or other computer, or an electrical circuit such as an FPGA or ASIC.

[0048] All module controllers 24 receive the target position command for the slider 4 from controller 9. The module controller 24 of the disassembly / assembly module 7 or linear module 3, where the slider 4 is present, creates a motion curve (velocity curve, etc.) for the slider 4 based on the received target position command, generates a movement command (position command and velocity command, or position command), and controls the drive circuit 22. If the slider 4 is moved from stator 20 to another stator 20, the module controller 24 switches the drive circuit 22. If the slider 4 is moved from disassembly / assembly module 7 to linear module 3, the module controller 24 of linear module 3 continues the motion curve and controls the drive circuit 22 of linear module 3. The same applies when the slider 4 is moved from linear module 3 to another linear module 3.

[0049] The module controller 24 includes an interface circuit 41. The interface circuit 41 performs signal processing to enable feedback control of the output signal from the sensor 29 that detects the position of the slider 4. Furthermore, the interface circuit 41 performs signal processing to enable feedback control of the output signal from the current sensor 42 that detects the current of the stator 20.

[0050] The processor 38 of the module controller 24 performs position control, speed control, and current control of the slider 4. Specifically, the processor 38 generates a speed command based on the position command of the movement command and the deviation of the current position detected by the sensor 29. Furthermore, it generates a current command based on the deviation of the speed command and the current speed detected by the sensor 29. Additionally, it generates a voltage command based on the deviation of the current command and the current current detected by the current sensor 42. The drive circuit 22, based on the voltage command generated by the processor 38, converts DC power into AC power through switching elements and supplies the AC power to the stator 20. The magnetic pole position of the slider 4 detected by the sensor 29 is used to determine the phase of the three-phase AC power supplied to the stator 20.

[0051] (Position detection device)

[0052] Figure 7 This is a block diagram showing the position detection device 51. Figure 7 As shown, the position detection device 51 includes an AB scale 32a mounted on the slider 4, a sensor 29 mounted on the disassembly / assembly module 7, an A / D conversion circuit 52, a position counting circuit 53, a parameter detection unit 54, a calibration unit 55, and an interpolation processing unit 56. The A / D conversion circuit 52 and the position counting circuit 53 are mounted on the sensor substrate 30 of the disassembly / assembly module 7 (see reference). Figure 3 ), constituting the interface circuit 41 of the module controller 24 of the disassembly and assembly module 7 (refer to Figure 6 The parameter detection unit 54, calibration unit 55, and interpolation processing unit 56 are connected to the processor 38 of the module controller 24 of the disassembly and assembly module 7 (see reference). Figure 6 It is achieved by executing the program stored in the ROM of memory 39.

[0053] Sensor 29 generates two sinusoidal A-phase and B-phase signals with phase offsets according to the movement of slider 4. A / D conversion circuit 52 converts the sinusoidal A-phase and B-phase signals into digital values. S / H61 is a sample-and-hold circuit, and A / D62 is an analog-to-digital converter.

[0054] Position counting circuit 53 shapes the two sinusoidal A-phase and B-phase signals output from sensor 29 into rectangular waves to determine the movement direction of slider 4 and increment or decrement the count value. Waveform shaping circuit 63 shapes the sinusoidal A-phase and B-phase signals into rectangular waves. Pulse counter 64 determines the movement direction of slider 4 based on the rectangular waves with a 90-degree phase difference output from waveform shaping circuit 63 and increments or decrements the count value.

[0055] The magnetic pole pitch of the AB scale 32a has a manufacturing limit. To measure intervals smaller than the magnetic pole pitch of the AB scale 32a, interpolation processing is required to obtain the A-phase and B-phase signals from the digital conversion of the signal output from sensor 29. It is desirable that the A-phase and B-phase signals be ideally offset cosine and sinine waves with a 90-degree phase shift, respectively. Figure 8 As shown in (a), the Lissajous figure obtained from the A-phase and B-phase signals is a circle centered at the origin. However, in reality, the amplitudes of the A-phase and B-phase signals are not ideal, as shown in equations (1) and (2) below. Figure 8 As shown in (b), the Lissajous figure obtained from the A-phase signal and the B-phase signal is an ellipse.

[0056] X=K A cosθ …(1)

[0057] Y=K B sinθ …(2)

[0058] Here, K A K B The amplitudes of phase A and phase B signals are given.

[0059] The interpolation processing unit 56 obtains the interpolation signal θ according to the following formula (3). Therefore, if the Lissajous figure deviates from the ideal circle, the interpolation signal θ will produce an error.

[0060] θ=tan -1 (K A sinθ / K B cosθ) …(3)

[0061] Parameter detection unit 54 detects the parameters used to... Figure 8 The Lissajous figure shown in (b) is adjusted to Figure 8 The parameters of the ideal Lissajous figure are shown in (a). Specifically, the A-phase signal and B-phase signal shown in equations (1) and (2) above are output from the sensor 29 at each slider 4. If these A-phase signal and B-phase signal are digitally converted and input to the parameter detection unit 54, the parameter detection unit 54 calculates the amplitude K of the A-phase signal and B-phase signal. A K BFind the amplitude ratio (gain) K as a parameter. A / K B The slider's identification ID and gain are stored in the RAM of memory 39.

[0062] The correction unit 55 multiplies the gain of each slider 4 with the B-phase signal of equation (2) based on the identification ID and gain of the slider 4, as shown in equations (4) and (5), to obtain correction signals X´ and Y´ with equal amplitude. If the B-phase signal is corrected for each slider 4 as above, an ideal Lissajous figure is obtained.

[0063] X´=K A cosθ …(4)

[0064] Y´=(K A / K B )･K B sinθ=K A sinθ …(5)

[0065] The interpolation processing unit 56 performs interpolation processing using correction signals X´ and Y´, and calculates the interpolation signal θ´, which is the position within 1 period of a sine wave, as shown in equation (6).

[0066] θ´=tan -1 (Y´ / X´)=tan -1 (K A sinθ / K A cosθ) …(6)

[0067] The processor 38 of the module controller 24 sums the interpolation signal θ´ with the position data output from the position counting circuit 53. This allows the calculation of the position of the slider 4 from the sensor 29. Furthermore, the absolute positions of each sensor 29 from the mechanical origin are pre-stored in the memory 39. The processor 38 sums the positions of the slider 4 from the sensor 29 with the absolute positions of the sensor 29. This allows the calculation of the absolute position of the slider 4. The absolute position of the slider 4 (current position) is used as a feedback signal.

[0068] In addition, in the above embodiments, gain is used as a parameter to adjust the Lissajous figure, but the bias value and phase difference α can also be used as parameters. This is because, as shown in the following equations (7) and (8), not only the amplitudes of the A-phase signal and the B-phase signal, but also the bias value and α are not ideal.

[0069] X=K A cosθ+O A …(7)

[0070] Y=K B cos(θ+α)+OB …(8)

[0071] Here, K A K B The amplitudes of phase A and phase B signals, and O A O B α represents the bias values ​​(DC components) of phase A and phase B signals, and α represents the phase difference (α = 90 degrees under ideal conditions).

[0072] There are no particular limitations on how the gain, bias, and phase difference α are determined. For example, the gain and bias can be determined based on the values ​​when phase A and phase B signals cross zero, and the phase difference α can be determined based on the phase difference when X=Y.

[0073] Figure 9 This indicates the transfer of sliding member 4 from belt conveyor 6 (other conveying devices) to disassembly / assembly module 7. Position detection device 51 is installed in disassembly / assembly module 7. Module controller 24 of disassembly / assembly module 7 sends the identification ID and parameters of sliding member 4 to module controller 24 of linear module 3 (other modules). Module controller 24 of linear module 3 stores the identification ID and parameters of sliding member 4 in RAM of memory 39, and calculates the absolute position of sliding member 4 by correcting the A-phase and B-phase signals for each sliding member 4 based on the identification ID and parameters of sliding member 4.

[0074] Additionally, the module controller 24 of the disassembly / reassembly module 7 can also send the increment / decrease value from the reference parameter as a parameter to the module controller 24 of the linear module 3 (other modules). For example, if the module controller 24 of the disassembly / reassembly module 7 detects a gain of 1.2, it can also send the increment / decrease value of 0.2 from the reference gain of 1.0 to the module controller 24 of the linear module 3 (other modules).

[0075] In addition, the module controller 24 of the disassembly and assembly module 7 can also send the identification ID of the slider 4 and the correction value associated with the correction unit 55 (for example, the correction value obtained by tabulating the difference between the correction signals X' and Y' and the signals X and Y before correction) to the module controller 24 of the linear module 3 (other modules), and can also send the identification ID, parameters and correction value associated with the correction unit 55 of the slider 4 to the module controller 24 of the linear module 3 (other modules).

[0076] The parameter detection performed by the position detection device 51 occurs when the device moves the object from the belt conveyor 6 to the assembly / disassembly module 7. Figure 10The switching from open-loop control to servo control occurs before the disassembly / reassembly module 7, as shown. The belt conveyor 6 is controlled by the centralized controller 8 to push the slider 4 into the disassembly / reassembly module 7. If the belt conveyor 6 pushes the slider 4 into the disassembly / reassembly module 7, the module controller 24 of the disassembly / reassembly module 7 performs DC excitation (open-loop control) on the stator 20 until the slider 4 is brought to the predetermined position in the disassembly / reassembly module 7. During the open-loop control of the module controller 24, the parameters detected by the position detection device 51 are performed. Once the slider 4 is brought to the predetermined position in the disassembly / reassembly module 7, the module controller 24 switches from open-loop control to servo control, using the corrected interpolation signal θ´ to perform servo control on the slider 4.

[0077] (Location detection method)

[0078] Figure 11 A flowchart illustrating the position detection method of this embodiment. For example... Figure 11 As shown, the sensor 29 of the disassembly module 7 detects the identification ID of the slider 4 and the AB scale 32a (S1).

[0079] The module controller 24 of the disassembly and assembly module 7 calculates parameters for each slider 4. These parameters are used to adjust the Lissajous figure, which is obtained based on the A-phase signal and the B-phase signal obtained by digitally converting the signal output by the sensor 29 (S2).

[0080] The module controller 24 of the disassembly and assembly module 7 corrects the A-phase signal and B-phase signal for each slider 4 based on the identification ID and parameters of the slider 4, calculates the interpolation signal θ´, and calculates the absolute position of the slider 4 (S3).

[0081] The module controller 24 of the disassembly / assembly module 7 sends the identification ID and parameters of the slider 4 to the module controller 24 of the linear module 3 (S4). The module controller 24 of the linear module 3, like the module controller 24 of the disassembly / assembly module 7, corrects the A-phase signal and B-phase signal for each slider 4 based on the identification ID and parameters of the slider 4, calculates the interpolation signal θ´, and calculates the absolute position of the slider 4.

[0082] (Effect)

[0083] The effects of the position detection device and method of this embodiment will be explained below.

[0084] The parameters used to adjust the Lissajous figure are detected for each slider 4. The Lissajous figure is obtained based on the A-phase signal and the B-phase signal obtained by digitally converting the signal output by the sensor 29. Based on the parameters, at least one of the A-phase signal or the B-phase signal is corrected for each slider 4. Therefore, even if the signal detected by the sensor 29 deviates for each slider 4, the position of the slider 4 can be detected stably.

[0085] The module controller 24 of the disassembly and assembly module 7 sends (1) the identification ID of the slider 4 and (2) the parameters or / and the correction value associated with the correction unit 55 to the module controller 24 of the linear module 3. Therefore, even if the module controller 24 of the linear module 3 does not detect the parameters, it can correct the A-phase signal and the B-phase signal with appropriate parameters, or / and correct the position of the slider 4.

[0086] The parameter detection performed by the position detection device 51 is carried out before the switch from open-loop control to servo control when the slider 4 is moved from the belt conveyor 6 to the disassembly module 7. Therefore, servo control of the slider 4 can be performed based on the corrected A-phase signal and B-phase signal. In addition, the computational load of the processor 38 when calculating parameters can be reduced.

[0087] The parameters include the amplitude ratio (gain) of the A-phase signal and the B-phase signal, thus enabling effective correction of the A-phase signal and the B-phase signal.

[0088] Furthermore, the present invention is not limited to the embodiments described above, and can be embodied in other ways without changing the spirit of the present invention.

[0089] For example, in the above embodiment, a closed conveyor path is formed by a belt conveyor, a disassembly / assembly module, and multiple linear modules. However, a closed conveyor path can also be formed by multiple linear modules alone, or it can form a branching or merging conveyor path. In this case, a position detection device is installed on the linear module, and the position detection device detects the parameters used to adjust the Lissajous figure during the movement of the linear module by the slider.

[0090] In the above embodiments, the module controller that detects the parameters sends the parameters and the slider's identification ID to other module controllers, but it may also not send the parameters, and other module controllers will detect the parameters.

[0091] In the above embodiments, the AB scale is a magnetic scale, but the AB scale can also be an optical encoder.

[0092] This specification is based on Japanese Patent Application No. 2024-027469, filed on February 27, 2024. All of its contents are included herein.

[0093] -Explanation of the reference numerals in the attached diagram-

[0094] 1…Conveying device

[0095] 2…Conveying path

[0096] 3… Linear Modules (Modules)

[0097] 4… Slider

[0098] 6… Belt conveyors (other conveying devices)

[0099] 7… Disassembly and assembly module (module with position detection device)

[0100] 24…Module Controller

[0101] 29…sensors

[0102] 32a…AB scale (position scale)

[0103] 51… Position Detection Device

[0104] 54…Parameter Detection Department

[0105] 55...Correction Department.

Claims

1. A position detection device for use in a conveying device in which multiple sliding members move along a conveying path having at least one module, the position detection device comprising: Position scale, located on the slider; A sensor is installed in the module and detects the position scale; The parameter detection unit detects the parameters used to adjust the Lissajous figure for each slider. The Lissajous figure is obtained based on the A-phase signal and the B-phase signal obtained by digitally converting the signal output by the sensor. and The calibration unit calibrates at least one of the A-phase signal or the B-phase signal based on the parameters for each slider.

2. The position detection device according to claim 1, characterized in that, Each of the multiple modules has its own module controller. The module controller of the module equipped with the position detection device sends (1) the identification ID of the slider and (2) the parameter or / and the correction value associated with the correction unit to the module controller of other modules.

3. The position detection device according to claim 1 or 2, characterized in that, When the slider is transferred from other conveying devices to the module equipped with the position detection device, the parameters performed by the position detection device are detected before switching from open-loop control to servo control.

4. The position detection device according to claim 1 or 2, characterized in that, The parameters include the amplitude ratio of the A-phase signal and the B-phase signal.

5. A position detection method for a conveying device in which multiple sliding members move along a conveying path having at least one module, the position detection method comprising the following steps: The sensor on the module detects the position scale of the slider; For each slider, parameters used to adjust the Lissajous figure are detected; the Lissajous figure is obtained based on the A-phase and B-phase signals obtained by digitally converting the signals output by the sensors; and Based on the parameters, at least one of the A-phase signal or the B-phase signal is corrected for each slider.

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