Linear conveyor system, control method for a linear conveyor system, control program for a linear conveyor system and recording medium
Patent Information
- Authority / Receiving Office
- DE · DE
- Patent Type
- Patents
- Current Assignee / Owner
- YAMAHA MOTOR CO LTD
- Filing Date
- 2019-04-23
- Publication Date
- 2026-07-23
AI Technical Summary
Existing linear conveyor systems face issues with transfer processes between fixed and movable linear modules due to discontinuity of coordinate axes, leading to failed position control.
A control method and system that judges the continuity of coordinate axes before transfer operations, using speed control when axes are discontinuous and position control when continuous, with feedback controls based on position and speed profiles to ensure precise movement.
Prevents transfer failures by ensuring continuous coordinate axes are maintained, allowing reliable and precise movement between fixed and movable linear modules.
Smart Images
Figure 00000000_0000_ABST
Abstract
Description
[TECHNICAL FIELD]
[0001] This invention relates to a linear conveying system with a mechanism for driving a slide by means of linear modules. [BACKGROUND]
[0002] Patent literature 1 discloses a linear drive conveyor system in which a plurality of tracks for driving a moving body in a predetermined drive direction are arranged in parallel. This system is provided with a connecting track for transferring the moving body between the plurality of tracks. This connecting track can receive the moving body from one track and simultaneously face that track, or perform the reverse operation. [LIST OF ATTACKS][PATENT LITERATURE]
[0003] [PTL 1] US2016 / 0159585A1 [BRIEF OVERVIEW][TECHNICAL PROBLEM]
[0004] As described above, the system described in patent literature 1 uses a movable linear module to transfer a slider (moving body) between a plurality of parallel fixed linear modules (tracks). In such a system, the following problem arose in some cases when performing a transfer operation of moving the slider between the fixed linear module and the movable linear module.
[0005] This means that the slide's transfer process can be controlled by a position control system for the slide driven by the fixed linear modules and the movable linear module. Such position control is implemented based on coordinate axes defined for the respective fixed and movable linear modules. However, there have been cases where position control based on these coordinate axes is not possible, and the slide's transfer process cannot occur, because the coordinate axes defined for the respective linear modules with respect to the transfer process are not continuous.
[0006] This invention was developed with regard to the above-mentioned problem and its objective is to provide a technique which is able to prevent the occurrence of a situation in which a transfer process of moving a slider between a fixed linear module and a movable linear module cannot take place due to the discontinuity of coordinate axes defined for the respective fixed linear module and movable linear module. [SOLUTION TO THE PROBLEM]
[0007] A linear conveying system according to the invention comprises: a slide which is driven in a first direction; a plurality of fixed linear modules which are arranged in a second direction which intersects the first direction; a movable linear module which moves between a plurality of facing areas which are arranged in the second direction and simultaneously face the plurality of fixed linear modules from the first direction, wherein the movable linear module drives the slide in the first direction; a slide transfer mechanism which conveys the movable linear module between the plurality of facing areas; and a controller which has a coordinate axis which represents positions in the first direction by coordinate values, wherein the coordinate value changes according to a change in position in the first direction.for each of the plurality of fixed linear modules and the movable linear module, and performs position control based on the coordinate axes for the slide driven by the fixed linear module and the movable linear module, wherein: the slide can be operatively connected to and detached from one end of each of the fixed linear modules and the movable linear module in the first direction, and the fixed linear modules and the movable linear module drive the operatively connected slide in the first direction, a transfer operation of the movement of the slide takes place between the fixed linear module and the movable linear module, and the controller controls a drive of the slide during the transfer operation by means of a velocity control instead of by position control, in order to control a velocity of the slide based on a velocity command value,If, prior to the transfer process, as a result of performing an assessment process of evaluating whether one coordinate axis, where one coordinate axis is the coordinate axis of the fixed linear module, and another coordinate axis, where the other coordinate axis is the coordinate axis of the movable linear module, are continuous in the first direction or not, it is judged that one coordinate axis and the other coordinate axis are not continuous.
[0008] A control method according to the invention for a linear conveying system is a control method for a linear conveying system with a slide which is to be driven in a first direction, a plurality of fixed linear modules which are arranged in a second direction which intersects the first direction, a movable linear module which moves between a plurality of facing areas which are arranged in the second direction and simultaneously face the plurality of fixed linear modules from the first direction, wherein the movable linear module drives the slide in the first direction, and a slide transfer mechanism which conveys the movable linear module between the plurality of facing areas, wherein the control method comprises: defining a coordinate axis for each of the plurality of fixed linear modules and the movable linear module,wherein the coordinate axis represents positions in the first direction by coordinate values, the coordinate value changing according to a change in position in the first direction; performing an evaluation process of assessing whether one coordinate axis, wherein one coordinate axis is the coordinate axis of the fixed linear module, and another coordinate axis, wherein the other coordinate axis is the coordinate axis of the movable linear module, are continuous in the first direction or not; and performing a transition operation of moving the slider between the fixed linear module and the movable linear module by means of a velocity controller to control a velocity of the slider based on a velocity command value, if, as a result of the evaluation process, it is assessed that one coordinate axis and the other coordinate axis are not continuous.
[0009] A control program according to the invention is a control program for a linear conveying system comprising a slide which is to be driven in a first direction, a plurality of fixed linear modules which are arranged in a second direction which intersects the first direction, a movable linear module which moves between a plurality of facing areas which are arranged in the second direction and simultaneously face the plurality of fixed linear modules from the first direction, wherein the movable linear module drives the slide in the first direction, and a slide transfer mechanism which conveys the movable linear module between the plurality of facing areas, wherein the control program instructs a computer to define a coordinate axis for each of the plurality of fixed linear modules and the movable linear module.wherein the coordinate axis represents positions in the first direction by coordinate values, the coordinate value changing according to a change in position in the first direction; to perform an evaluation process of assessing whether one coordinate axis, wherein one coordinate axis is the coordinate axis of the fixed linear module, and another coordinate axis, wherein the other coordinate axis is the coordinate axis of the movable linear module, are continuous or not in the first direction; and to perform a transition operation of moving the slider between the fixed linear module and the movable linear module by means of a velocity control to control a velocity of the slider based on a velocity command value if, as a result of the evaluation process, it is assessed that one coordinate axis and the other coordinate axis are not continuous.
[0010] A recording medium according to the invention records the above-mentioned linear conveyor system control program in a computer-readable format.
[0011] In the invention as described (linear conveyor system, linear conveyor system control method, linear conveyor system control program, and recording medium), the transfer process of moving the slide between the fixed linear module and the movable linear module takes place. At this point, an evaluation process is performed to determine whether one coordinate axis, which is the coordinate axis of the fixed linear module, and the other coordinate axis, which is the coordinate axis of the movable linear module, are continuous or not. If, during the evaluation process prior to the transfer process, it is determined that one coordinate axis and the other coordinate axis are not continuous, the transfer process is carried out, while the speed control (not the position control) is executed to control the speed of the slide based on the speed command value.Thus, it is possible to prevent a situation in which the transfer process of moving the slider between the fixed linear module and the movable linear module cannot take place due to the discontinuity of the coordinate axes defined for the respective fixed linear module and movable linear module.
[0012] Specifically, the linear conveyor system can be configured so that the controller drives the slide via feedback control based on a deviation between a position command value, which is generated based on a position profile representing a change in the slide's position over time, and a position detection value indicating the detected position of the slide, during position control; and the slide is driven via feedback control based on a deviation between a velocity command value, which is generated based on a velocity profile representing a change in the slide's velocity over time, and a velocity detection value indicating the detected velocity of the slide, during velocity control.In this way, the position control and speed control of the slide can be precisely executed using the position profile and the speed profile.
[0013] The linear conveyor system can be configured such that, during the transfer process of moving the slide from a starting position to a target position, the controller uses position control to move the slide from a stop position, where the slide stops when the speed control is complete, to the target position when the speed control is complete. With this configuration, any stationary deviation (i.e., the difference between the stop position and the target position) that remains after the speed control is complete can be resolved by the position control, and the slide can be reliably moved to the target position.
[0014] The linear conveyor system can be configured such that the controller controls the slide drive during the transfer process via position control if, prior to the transfer process, the evaluation process determines that one coordinate axis and the other coordinate axis are continuous. In such a configuration, the slide transfer is controlled via position control if the evaluation process determines that the coordinate axes are continuous, and the slide transfer is controlled via velocity control if the evaluation process determines that the coordinate axes are discontinuous.Thus, it is possible to prevent the occurrence of the situation in which the transfer process of moving the slider between the fixed linear module and the movable linear module cannot take place due to the discontinuity of the coordinate axes defined for the respective fixed linear module and movable linear module.
[0015] The linear conveyor system can be configured so that the controller defines the coordinate axes in such a way that the coordinate values represented by the respective coordinate axes of the multitude of fixed linear modules and the movable linear module do not intersect. With such a configuration, control of the slide can be precisely executed based on the non-intersecting coordinate axes—in other words, the coordinate axes that uniquely represent the positions in the first direction.
[0016] The linear conveyor system can be configured such that the coordinate axis represents the positions in the first direction by coordinate values that change linearly with a predetermined gradient according to the change in position in the first direction. Furthermore, the linear conveyor system can be configured so that the controller determines whether one coordinate axis and the other are continuous if the gradient between the coordinate value at one end of one coordinate axis on the side of the other coordinate axis and the coordinate value at the other end of the first coordinate axis differs from the predetermined gradient. In this way, the continuity of the coordinate axes can be easily assessed. [BENEFICIAL EFFECTS OF THE INVENTION]
[0017] According to the invention, it is possible to prevent the occurrence of a situation in which the transfer process of moving the slider between the fixed linear module and the movable linear module cannot take place due to the discontinuity of the coordinate axes defined for the respective fixed linear module and movable linear module. List of characters Fig. Figure 1 is a perspective view illustrating an example of a linear module provided in a linear conveying system according to the invention. Fig. Figure 2 is a perspective view to illustrate the linear module from Fig. 1, where the interior of the linear module is partially exposed. Fig. Figure 3 is a diagram illustrating a schematic representation of an example of the linear conveying system according to the invention. Fig. Figure 4 is a block diagram illustrating an example of an electrical design of the linear conveyor system. Fig. 3. Fig. 5 is a flowchart illustrating an example of a drive control system for the transfer process, which is described in Fig. The linear conveyor system shown in section 3 is used. Fig. Figure 6 is a diagram schematically representing an example of an initial determination, which is defined by the in Fig. The drive control shown in section 5 is carried out. Fig. Figure 7 is a diagram schematically representing an example of an initial determination, which is defined by the in Fig. The drive control shown in section 5 is carried out. Fig. Figure 8 is a diagram schematically representing an example of the transfer process, which is described in Fig. The drive control shown in section 5 takes place. Fig. Figure 9 is a graphic schematically illustrating examples of position and velocity profiles used in drive control. Fig. 5 can be used. [DESCRIPTION OF EXECUTION FORMS]
[0018] Fig. Figure 1 is a perspective view illustrating an example of a linear module provided in a linear conveying system according to the invention, and Fig. Figure 2 is a perspective view to illustrate the linear module from Fig. 1, where the interior of the linear module is partially exposed. In the Fig. 1 and Fig. Figure 2 shows orthogonal XYZ coordinate axes, each with an X-direction parallel to a horizontal direction, a Y-direction parallel to the horizontal direction and orthogonal to the X-direction, and a Z-direction parallel to a vertical direction. Furthermore, a sloping right top surface is shown along the X-direction. Fig. 1 and Fig. 2 marked as XI side and a slanted left underside along the X direction in the Fig. 1 and Fig. 2 is designated as the X2 side. Analogous designations are also used in the following drawings where applicable. This linear module has a basic design analogous to, for example, a module of a linear conveying device described in WO2018 / 055709A1. The entire linear conveying system is described after the linear module itself.
[0019] A linear module M extending in the X direction, base elements 3 which support the linear module M from below, and a slider operatively connected to the linear module M 4 are in the Fig. 1 and Fig. Figure 2 shows the linear module M being mounted at the upper ends of three base elements 3, which are arranged at equal intervals in the X-direction, and drives the slide. 4 by a magnetic force in the X-direction. In this example, the linear module M consists of two module units 20 arranged end-to-end in the X-direction. However, the number of module units 20 that form the linear module M is not limited to two and can be one, three, or more.
[0020] The module unit 20 has a base plate 21 extending in the X-direction. The base plate 21 is a flat plate with a rectangular shape in a top view from the Z-direction. Two guide rails 22, which are parallel to the X-direction, are arranged on the upper surface of the base plate 21 and simultaneously spaced apart in the Y-direction. Furthermore, a plurality of linear motor stators 23, which are arranged in a row in the X-direction at a predetermined spacing P23, and a plurality of magnetic sensors 24, which are arranged in a row in the X-direction at a predetermined spacing P24, are mounted on the upper surface of the base plate 21. The spacing P24 of the magnetic sensors 24 is greater than the spacing P23 of the linear motor stators 23.In the Y direction, the plurality of linear motor stators 23 are arranged between the two guide rails 22 and the plurality of magnetic sensors 24 are arranged between the linear motor stators 23 and a guide rail 22.
[0021] The linear motor stator 23 is an electromagnet comprising a coil and a core inserted into the coil. On the other hand, the slider 4 The slide is equipped with a motion device comprising a permanent magnet and a return mechanism for holding the permanent magnet. The linear motor stators 23 drive the slide. 4 by applying a magnetic thrust force to the sliding mechanism 4 by generating a magnetic flux corresponding to an applied current in the X-direction. Furthermore, a magnetic scale indicating positions in the X-direction is attached to the slider. 4 mounted and the magnetic sensor 24 detects the position of the slider 4in the X direction by reading the magnetic scale. The slider 4 is controlled by feedback of the current applied to the linear motor stators 23 based on the position of the slide detected by the magnetic sensors 24. 4 as described below, driven in the X direction.
[0022] Furthermore, the module unit 20 has a cover element 25 with a rectangular shape in a top view, which covers the guide rails 22, linear motor stators 23, and magnetic sensors 24 from above. The cover element 25 has a support leg 251, which projects downwards in the Y-direction at its center, and the support leg 251 is mounted on the upper surface of the base plate 21. Gaps are formed between the cover element 25 and the base plate 21 at both ends in the Y-direction, and both end parts of the slide 4, which are inserted through these gaps between the cover element 25 and the base plate 21, are each in operative connection with the two guide rails 22.
[0023] The linear module M comprises a plurality of (two) module units 20, which are arranged in the X direction. Such a linear module M has a rectangular shape in a top view. The module unit 20 on the X1 side of the linear module M is positioned between the base element 3 at the XI end and a middle base element 3 of the three base elements 3, and the module unit 20 on the X2 side is positioned between the base element 3 at the X2 end and the middle base element 3 of the three base elements 3.
[0024] The slider 4The linear module M can be brought into operative contact with the guide rails 22 of the linear module M by approaching one end of the linear module M towards a central side of the linear module M in the X-direction. The slider thus in operative contact with the guide rails 22 4 It is driven in the X-direction by the linear module M. Furthermore, the slider can 4 by exiting outwards from one end of the linear module M in the X-direction, separating from the guide rails 22 of the linear module M.
[0025] Fig. Figure 3 is a diagram schematically illustrating an example of the linear conveying system according to the invention. The linear conveying system 1 It has five linear modules M. It should be noted that for the five linear modules M in Fig. 3 different reference symbols M1 , M2 , M3 , M4 and M5 are given.
[0026] The linear modules M2 , M3 and M4 are fixed linear modules which are attached to an installation surface of the linear conveyor system 1 are attached, and the linear modules M1 , M5 These are movable linear modules that can be moved in the Y-direction relative to the mounting surface. The fixed linear modules... M2 , M3 and M4 and the movable linear modules M1 , M5 They have different lengths in the X direction, but the same width in the Y direction. However, with the exception of the lengths in the X direction, these exhibit the characteristics shown in the Fig. 1 and Fig. 2 common basic design shown.
[0027] The three fixed linear modules M2 , M3 and M4 They are arranged parallel to the X-direction and simultaneously spaced apart in the Y-direction. The fixed linear modules M2 , M3 and M4Linear modules arranged parallel to the X-direction in this way have the same length in the X-direction. On the other hand, the movable linear modules... M1 , M5 in the X-direction the same length, which is shorter than the fixed linear modules M2 , M3 and M4 is. A dimensional ratio of the movable linear modules M1 , M5 and the fixed linear modules M2 , M3 and M4 However, this is not limited to this example.
[0028] Such a linear conveyor system 1 It features two actuators 5a, 5b, which control the movable linear modules M1 , M5 to drive in the Y direction. Actuator 5a is located on the X2 sides of the fixed linear modules. M2 , M3 and M4 The actuator 5b is arranged parallel to the Y direction in the X direction. It is located on the X1 sides of the fixed linear modules. M2 , M3 and M4The two actuators 5a and 5b are arranged parallel to the Y direction in the X direction. In this way, they are positioned to actuate three fixed linear modules. M2 , M3 and M4 to surround in a sandwich-like manner in the X direction.
[0029] The actuator 5a, for example, is a single-axis robot, featuring a ball screw parallel to the Y-direction, and the movable linear module M1 is attached to a nut on the ball screw of actuator 5a. This actuator 5a drives the movable linear module. M1 along a movable region Ra in the Y-direction. Here, the movable region Ra is a region that extends in the Y-direction and has an adjacent region. Fa2 , which is located at one end on the X2 side of the fixed linear module M2 facing the X2 side in the X direction, an area facing that side Fa3 , which is located at one end on the X2 side of the fixed linear module M3 facing the X2 side in the X direction, and an area facing it Fa4 , which is located at one end on the X2 side of the fixed linear module M4 facing the X2 side in the X direction. The facing area Fa2 is equivalent to a range of presence (including a tolerance of the movable linear modulus) M1 ) of the movable linear module M1 , which is in the X-direction in a row with the fixed linear module M2 is arranged, the facing area Fa3 is equivalent to a range of presence (including the tolerance of the movable linear module) M1 ) of the movable linear module M1 , which is in the X-direction in a row with the fixed linear module M3 is arranged, and the facing area Fa4 is equivalent to a range of presence (including the tolerance of the movable linear module) M1 ) of the movable linear module M1 , which is in the X-direction in a row with the fixed linear module M4 is arranged.
[0030] The actuator 5b, for example, is a single-axis robot, featuring a ball screw parallel to the Y-direction, and the movable linear module M5 is attached to a nut on the ball screw of actuator 5b. This actuator 5b drives the movable linear module. M5 along a movable region Rb in the Y-direction. Here, the movable region Rb is a region that extends in the Y-direction and has an adjacent region. Fb2 , which is located at one end on the X2 side of the fixed linear module M2 facing the X1 side in the X direction, an area facing that side Fb3 , which is located at one end on the X1 side of the fixed linear module M3 facing the X1 side in the X direction, and an area facing it Fb4 , which is located at one end on the X1 side of the fixed linear module M4 facing the X1 side in the X direction. The facing area Fb2 is equivalent to a range of presence (including a tolerance of the movable linear modulus) M5 ) of the movable linear module M5 , which is in the X-direction in a row with the fixed linear module M2 is arranged, the facing area Fb3 is equivalent to a range of presence (including the tolerance of the movable linear module) M5 ) of the movable linear module M5 , which is in the X-direction in a row with the fixed linear module M3 is arranged, and the facing area Fb4 is equivalent to a range of presence (including the tolerance of the movable linear module) M5 ) of the movable linear module M5 , which is in the X-direction in a row with the fixed linear module M4 is arranged.
[0031] In such a linear conveyor system 1 can the slider 4 They are driven in a circular motion. For example, the fixed linear module drives M2 the valve connected to it 4 in the direction of the X1 side in the X direction, whereby the movable linear module M5 in the adjacent area Fb2 is located, which causes the slider to 4 from the fixed linear module M2 to the movable linear module M5 can be moved. Then the movable linear module drives it. M5 , which is located in the facing area Fb4 is located, the valve that is in operative connection with it 4towards the X2 side in the X direction, after the actuator 5b moves the movable linear module M5 from the facing area Fb2 to the facing area Fb4 moved, causing the slider to... 4 from the movable linear module M5 to the fixed linear module M4 can be moved.
[0032] Furthermore, the fixed linear module drives M4 the valve connected to it 4 in the direction of the X2 side in the X direction, whereby the movable linear module M1 in the adjacent area Fa4 is located, which causes the slider to 4 from the fixed linear module M4 to the movable linear module M1 can be moved. Then the movable linear module drives it. M1 , which is located in the facing area Fa2 is located, the valve that is in operative connection with it 4towards the X1 side in the X direction, after the actuator 5a moves the movable linear module M1 from the facing area Fa4 to the facing area Fa2 moved, causing the slider to... 4 from the movable linear module M1 to the fixed linear module M2 can be moved.
[0033] In this way, the slider can 4 It can be driven in a clockwise circular motion. Furthermore, the slide can 4 by performing a process reversed to the one described above, a counterclockwise circular drive can be achieved. Such a circular drive is not possible on those between the fixed linear modules. M2 and M4 limited and can be used between the fixed linear modules M2 and M3 and between the fixed linear modules M3 and M4This can be done analogously. Furthermore, the circular drive is merely one example of a drive mode for the slide. 4 , which is driven by the linear conveyor system 1 is feasible, and the slide 4 can be powered in various other modes.
[0034] Fig. Figure 4 is a block diagram illustrating an example of an electrical design of the linear conveyor system. Fig. 3. The linear conveyor system 1 a control device 11 on, which determines the position of each slider 4 This control device controls and simultaneously monitors the entire system. 11 is a computer, such as a personal computer.
[0035] The control device 11It has a controller 12, a memory 13, and a display 14. The controller 12, for example, is a processor provided by a CPU (central processing unit) and performs a calculation in the control device. 11 Memory 13, for example, is equipped with an HDD (hard disk drive) and stores data and programs used in calculations within the control device 2. Specifically, memory 13 stores a program 18 to cause the controller 12 of the control device 11 , a drive control described below from Fig. 5 to execute this program 18 can be installed in memory 13 by means of a recording medium. 19 such as a USB (Universal Serial Bus) storage device in a control unit 11The data is provided in a readable state, or it can be installed in memory 13 by being downloaded from an internet server. Display 14, for example, is a touch panel display and functions as a UI (user interface) not only for displaying information to a user, but also for receiving input from the user.
[0036] The controller 12 of such a control device 11 caused by feedback control of the linear motor stators 23 based on the position of the slide detected by the magnetic sensors 24 4 each of the linear modules M1 until M5 , the slider 4to drive. Furthermore, each of the actuators 5a, 5b points to a servo motor 51, which rotates the ball screw, and to an encoder 52, which detects the rotational position of the servo motor 51. The controller 12, by means of feedback control of the servo motors 51 based on the rotational positions detected by the encoders 52, causes the respective actuators 5a, 5b, the movable linear modules, to move. M1 , M5 to drive.
[0037] Such a controller 12 controls the drive of the slide. 4 by selectively executing position control and speed control for each slider 4 Specifically, controller 12 controls the position of the slider. 4 (Position control) by performing a feedback control of the control of one of the linear motor stators 23 of the movable linear modules M1 until M5Current to be supplied based on a deviation between a position detection value Dp , which is measured by the magnetic sensors 24 of the linear modules M1 until M5 detected position of the slider 4 specifies, and a position command value Ip ( Fig. 9). Furthermore, the controller 12 controls the speed of the slider. 4 (Speed control) by performing a feedback control of the control of the linear motor stators 23 of the movable linear modules M1 until M5 current to be supplied based on a deviation between a velocity detection value Dv , which is measured by the magnetic sensors 24 of the linear modules M1 until M5 detected speed of the slider 4 specifies, and a speed command value Iv ( Fig. 9).
[0038] In particular, in this embodiment a transfer process of moving the slider can be carried out. 4 between a fixed linear module and the movable linear module M1 , M5 and simultaneously the positioning of the movable linear module M1 , M5 in the facing area, which is the one fixed linear module from the multitude of parallel arranged fixed linear modules M2 , M3 and M4 is facing the direction of the transfer. Such a transfer process is controlled as follows.
[0039] Fig. 5 is a flowchart illustrating an example of a drive control system for the transfer process, which is described in Fig. The linear conveyor system shown in 3 takes place Fig. 6 and Fig. 7 are diagrams schematically representing an example of an initial determination, which is determined by the in Fig. The drive control shown in section 5 is carried out. Fig. Figure 8 is a diagram schematically representing an example of the transfer process, which is described in Fig. The drive control shown in section 5 takes place, and Fig. Figure 9 is a graphic schematically illustrating examples of position and velocity profiles used in drive control. Fig. 5 can be used. The flowchart from Fig. 5 is carried out according to the program 18 through the controller 12.
[0040] In step S101, coordinate axes are defined. A1 until A5 for the respective linear modules M1 until M5 defined (initial definition of coordinate axes). The coordinate axes A1 until A5 indicate position coordinate values P which, according to position changes from the X1 side towards the X2 side, are linear in the X direction (i.e. with a certain gradient). SL ) increase and for the linear modules M1until M5 are individually determined. Specifically, as in Fig. Figure 6 shows the movable linear modules. M1 until M5 in this sequence, wires W are connected in series, and a coordinate setting command is issued by the control device. 11 to the linear module M1 on the most upstream side of a signal path from these linear modules M1 until M5 transferred. The linear module M1 The system that received the coordinate setting command defines its own coordinate axis. A1 with position coordinate values P fixed from "0 to 20", which corresponds to the gradient SL Increase linearly in the X-direction from one end on the X1 side towards one end on the X2 side. When defining the coordinate axis A1 Once completed, the linear module transfers M1the coordinate setting command together with a maximum value (= 20) of the position coordinate values P to the linear module M2 The linear module M2 The system that received the coordinate setting command defines its own coordinate axis. A2 with position coordinate values P fixed from "21 to 120", which correspond to the gradient SL from an end on the X1 side towards an end on the X2 side, the linear value increases in the X direction. It should be noted that a minimum value (i.e., the first value) is determined by the linear modulus. M2 fixed position coordinate values P a value which is consecutive to the value of the linear module M1 Maximum value of the position coordinate values received on an upstream side P This follows. When defining the coordinate axis A2 Once completed, the linear module transfers M2the coordinate setting command together with a maximum value (= 120) of the position coordinate values P to the linear module M3 .
[0041] By repeating this Will the coordinate axis A1 with the position coordinate values P from "0 to 20" for the linear module M1 determined, Will the coordinate axis A2 with the position coordinate values P from "21 to 120" for the linear module M2 determined, Will the coordinate axis A3 with the position coordinate values P from "121 to 220" for the linear module M3 determined, • Will the coordinate axis A4 with the position coordinate values P from "221 to 320" for the linear module M4 determined, and • Will the coordinate axis A5 with the position coordinate values Pfrom "321 to 340" for the linear module M5 determined.
[0042] It should be noted that a rate of change of the changing position coordinate value P with respect to a change in position in the X-direction, i.e., the gradient under the coordinate axes A1 until A5 the same.
[0043] In this way, the drive control of the slide can be adjusted. 4 The process is carried out in a state Si defined at the beginning, in which the coordinate axes A1 until A5 are defined such that the position coordinate values P , which are defined by the respective coordinate axes A1 until A5 The multiple linear modules M represented do not intersect each other. Once the initial definition of the coordinate axes is completed in this way, it is confirmed whether the slider 4Whether or not the slide should be driven for the transfer process (step S102). If it is assessed in step S102 whether the slide should be driven 4 To drive (YES), the linear module M is determined with the coordinate axis A, to which a movement starting position is assigned. Ls (i.e., current position) of the slide 4 belongs (in other words, the linear module M, which is connected to the slider) 4 is in active connection, which is at the starting position of the movement Ls (is stopped) (step S103). Furthermore, the linear module M is determined with the coordinate axis A, to which a target position of movement is assigned. Ld the slider 4 belongs (in other words, the linear module M, which is connected to the slider) 4 is in a functional relationship which determines the target position of the movement Ld has reached) (Step S104).
[0044] Then the continuity of the coordinate axis A of the linear module M determined in step S103, to which the initial movement position is assigned, is determined. Ls belongs, and the coordinate axis A of the linear module M determined in step S104, to which the target position of the movement belongs Ld heard, assessed (step S105). Specifically, when a gradient SLb a straight line which represents the position coordinate value P one end of the coordinate axis A of the linear module M, to which the starting position of the movement corresponds Ls belongs, on the side of the movement target position Ld and the position coordinate value P one end of the coordinate axis A of the linear module M, to which the target position of the movement is assigned Ld belongs, on the side of the starting position of the movement Ls connects, with the gradient SL agrees with the rate of change of the position coordinate values PIf the coordinate axes A (A1 to A5) are specified, continuity is assessed. Otherwise, discontinuity is assessed.
[0045] For example, in the case of moving the slider 4 from the fixed linear module M4 to the movable linear module M5 , which corresponds to the fixed linear module M4 is directed towards (i.e. the movable linear module) M5 , which is located in the facing area Fb4 (located), the coordinate axis A4 of the fixed linear module M4 and the coordinate axis A5 of the movable linear module M5 continuous. Thus, in step S105, the continuity (YES) of the coordinate axes is confirmed. A4 , A5 assessed and the position control of the slide 4 is executed in step S106.
[0046] In step S106, the coordinate axes are used as a basis. A4 , A5with the successive position coordinate values P from "220 to 340" a position profile Fp out of Fig. 9 generated. In the graphic from Fig. 9 represents a horizontal axis of time and a left vertical axis represents the position of the slider. 4 represented on the coordinate axis. As in Fig. Figure 9 shows the position profile. Fp a change in position (in other words, the position command value) Ip ) of the slide 4 , which moves from the starting position of the movement Ls to the movement target position Ld moved, over time. The position of the slider. 4 is based on a deviation (= Ip-Dp) between the position command value Ip to each through this position profile Fp the displayed time t and the position detection value Dp the magnetic sensors 24 for detecting the position of the slider 4Feedback-controlled. In this way, a servo control is implemented to maintain the position of the slider. 4 to cause the position command value Ip to follow. If the slider 4 the movement target position Ld Once this threshold is reached, it is assessed whether or not to terminate the drive control (step S110).
[0047] On the other hand, in one field, "Transfer process C" is selected. Fig. 8 shown drive mode of the slide 4 from the starting position of the movement Ls , which correspond to the coordinate axis A2 of the fixed linear module M2 belongs to the movement target position Ld driven, which relates to the coordinate axis A5 of the movable linear module M5 belongs to the fixed linear module M2 is directed towards (i.e. the movable linear module) M5 , which is located in the facing area Fb2 (is located). In this case, as in a field "coordinate axes", they are made up of Fig. Figure 8 shows the coordinate axis A2 of the fixed linear module M2 and the coordinate axis A5 of the movable linear module M5 discontinuous and a gap G is between the position coordinate value P one end E2 the coordinate axis A2 on the side of the coordinate axis A5 and the position coordinate value P one end E5 the coordinate axis A5 on the side of the coordinate axis A2 present. Thus, in step S105, it is assessed whether the coordinate axes are present. A2 , A5 are not continuous (NO) and there is a transition to step S107.
[0048] Specifically, the example of the transfer process C a gradient SLb (= (y5-y2) / (x5-x2)) between the coordinate value P2 (x2, y2) of the endE2 the coordinate axis A2 (a coordinate axis) on the side of the coordinate axis A5 (other coordinate axis) and the coordinate value P5 (x5, y5) of the end E5 the coordinate axis A5 (other coordinate axis) on the side of the coordinate axis A2 (a coordinate axis) is calculated. Then it is assessed whether the gradient SLb equal to or different from the gradient mentioned above SL each coordinate axis A2 , A5 is. Since the gradient SLb and the gradient SL In this example, it is judged that the coordinate axes differ. A2 , A5 are not continuous.
[0049] In step S107, a speed profile is created. Fv out of Fig. 9 generated. In the graphic from Fig. 9 represents the horizontal axis of time, and a right vertical axis represents the speed of the slider. 4 represented on the coordinate axis. As in Fig. Figure 9 shows the speed profile. Fv a change in speed (in other words, the speed command value) Iv ) of the slide 4 , which moves from the starting position of the movement Ls to the movement target position Ld moved, over time. However, this speed control includes a stationary deviation and the slider. 4 stops at a stop position La near the target position Ld , when the speed control is complete. The speed of the slider 4 is based on a deviation (= Iv-Dv) between the speed command value Iv to each through this speed profile Fv displayed time t and the velocity detection value Dv the magnetic sensors 24 for detecting the speed of the slider 4 Feedback-controlled. In this way, a servo control is implemented to adjust the speed of the slider. 4 to cause the speed command value Iv to follow.
[0050] In step S108, it is assessed whether the speed control of the slider is working correctly. 4 was completed or not, in other words, whether the slide 4 has stopped. If it is judged that the slider 4 stopped and the speed control of the slider 4 Once completed (“YES” in step S108), the position control for this slider will be activated. 4 executed (step S109). That is, as described above, the stationary deviation between the stop position remains. La of the slider moved by the speed control4 and the target position Ld Accordingly, controller 12 moves the slider. 4 through position control from the stop position La , where the slider 4 stops when the speed control is activated during the transfer process C is completed, to the target position of movement Ld It should be noted that the position of the slider 4 through the speed control associated with the transfer process from the fixed linear module M2 to the movable linear module M5 is moved. That is, the position control of the slider. 4 is achieved through the movable linear module M5 as the movement target of the slider 4 through the transfer process from the fixed linear module M2 and the movable linear module M5The operations used for the transfer process are performed individually. Thus, the discontinuity of the coordinate axes is... A2 , A5 This position control is not problematic. Once the position control is complete and the slider is... 4 the movement target position Ld Once this threshold is reached, it is assessed whether or not to terminate the drive control (step S110).
[0051] The process returns to step S102 unless the drive control is terminated ("NO" in step S110), whereas the flowchart from Fig. 5 is completed when the drive control is terminated (“YES” in step S110).
[0052] As described above, the controller 12 selectively uses position control and speed control according to the continuity of the coordinate axes. Specifically, the controller 12 drives the slider. 4through feedback control based on the deviation between the position command value Ip , which is based on the position profile Fp is generated, which changes the position of the slider. 4 over time, and the position detection value Dp , which determines the detected position of the slider 4 as indicated in the position control (step S106). On the other hand, controller 12 drives the slider. 4 through feedback control based on the deviation between the speed command value Iv , which is based on the speed profile Fv is generated, which changes the speed of the slider. 4 over time, and the velocity detection value Dv , which determines the detected speed of the slider 4 indicates during speed control (step S107).
[0053] In the example described above, the transfer process takes place. C of moving the slider between a fixed linear module M2 and the movable linear module M5 and simultaneously the positioning of the movable linear module M5 in the adjacent area Fb2 , which corresponds to a single fixed linear module M2 from the multitude of parallel linear modules M1 until M5 is facing. At this point, an assessment process (step S105) takes place to evaluate whether the coordinate axis A2 (one coordinate axis) of the one fixed linear module M2 and the coordinate axis A5 (other coordinate axis) of the movable linear module M5 are continuous or not (step S105). If the assessment process prior to the transfer process C It is assessed that the coordinate axes A2 , A5Since they are not continuous, the transfer process takes place C (Step S107), while the speed control (not the position control) for the slider 4 is executed. This makes it possible to prevent a situation from arising in which the transfer process is interrupted. C of moving the slider 4 between the movable linear module M1 and the movable linear module M5 due to the discontinuity of the respective movable linear module M1 and the movable linear module M5 defined coordinate axes A2 , A5 cannot be done.
[0054] Furthermore, the control device moves 11 during the transfer process of moving the slide 4 from the starting position of the movement Ls in the direction of the target position Ld the slider 4 through position control from the stop position La , where the slider 4 stops when the speed control is complete, moving to the target position Ld (Step S109) when the speed control (steps S107, S108) is complete. With such a configuration, the steady-state deviation (i.e., the difference between the stop position) La and the target position Ld ), which remains when the speed control is complete, is resolved by the position control and the slider 4 can reliably reach the target movement position Ld to be moved.
[0055] Furthermore, if, as a result of carrying out the assessment process (step S105) before the transfer process C It is assessed that the coordinate axis A4 (a coordinate axis) and the coordinate axis A5 (other coordinate axis) are continuous (“YES” in step S105), the control device 11the transfer process C through and simultaneously controls the drive of the slide 4 during the transfer process C through the position control (step S106). That is, the transfer process of the slide. 4 This is achieved through position control when, during the assessment process (step S105), it is determined that the coordinate axes to which the movement starting position is aligned are not correct. Ls and the movement target position Ld belong, are continuous, and the transfer process of the slide 4 This occurs through speed control if, during the assessment process (step S105), it is determined that these coordinate axes are not continuous. Thus, it is possible to prevent a situation in which the transfer process of moving the slide bar is interrupted. 4 between the fixed linear module and the movable linear module due to the discontinuity of the coordinate axesA2 , A3 , A4 and the coordinate axes A1 , A5 , which each apply to the fixed linear module M2 , M3 , M4 and the movable linear module M1 , M5 which are fixed, cannot be done.
[0056] Furthermore, the control device 11 the position coordinate values P so fixed that the position coordinate values P , which are defined by the respective coordinate axes A2 , A3 , A4 , A1 and A5 the multitude of fixed linear modules M2 , M3 , M4 and the movable linear modules M1 , M5 The lines shown do not intersect. With such a design, a control for the slide valve is possible. 4 based on the non-intersecting coordinate axes A2 , A3 , A4 , A1 and A5, in other words, the coordinate axes A2 , A3 , A4 , A1 and A5 , which clearly represent the positions in the X direction, are carried out precisely.
[0057] Furthermore, the coordinate axes represent A1 until A5 the positions in the X direction by the position coordinate values P This represents parameters that change linearly with the predetermined gradient according to changes in position in the X-direction. In the example above, the control device assesses... 11 , that the coordinate axes A2 and A5 are not continuous if the gradient between the position coordinate value P of the end E2 the coordinate axis A2 on the side of the coordinate axis A5 and the position coordinate value P of the end E5 the coordinate axis A5 on the side of the coordinate axis A2from the gradient of the position coordinate values P on each coordinate axis A1 until A5 This distinguishes it. In this way, the continuity of the coordinate axes can be maintained. A2 , A5 They can be easily assessed.
[0058] As described above, in this embodiment the linear conveyor system corresponds to 1 an example of a “linear conveyor system” of the invention, the control device 11 corresponds to an example of a "controller" of the invention, the program 18 corresponds to an example of a “linear conveyor system control program” of the invention, the recording medium 19 corresponds to an example of a “recording medium” of the invention, the slider 4 corresponds to an example of a "slider" of the invention, the coordinate axes A1 until A5 correspond to an example of the "coordinate axes" of the invention, the coordinate axis A2corresponds to an example of "a coordinate axis" of the invention, the coordinate axis A5 This corresponds to examples of an “other coordinate axis” of the invention, the position coordinate value P corresponds to an example of a "coordinate value" of the invention, the transfer process C corresponds to an example of a “transmission process” of the invention, the facing areas Fa2 until Fa4 , Fb2 until Fb4 correspond to examples of an “approaching area” of the invention, which are fixed linear modules M2 , M3 and M4 correspond to an example of “fixed linear modules” of the invention, the fixed linear module M2 corresponds to an example of a “fixed linear module” of the invention, the movable linear modules M1 , M5 correspond to examples of a “movable linear module” of the invention, each of which is defined by the movable linear module M1and the slide transfer mechanism formed by actuator 5a Ta and one through the movable linear module M5 and the slide transfer mechanism formed by actuator 5b Tb corresponds to an example of a “slider transfer mechanism” of the invention, which determines the initial movement position Ls corresponds to an example of a "starting position of movement" of the invention, the target position of movement Ld corresponds to an example of a “movement target position” of the invention, the X-direction corresponds to an example of a “first direction” of the invention, the Y-direction corresponds to an example of a “second direction” of the invention, the position profile Fp corresponds to an example of a "position profile" of the invention, the position command value Ip corresponds to an example of a "position command value" of the invention, the position detection value Dp corresponds to an example of a “position detection value” of the invention, the speed profile Fv corresponds to an example of a “speed profile” of the invention, the speed command value Iv corresponds to an example of a "speed command value" of the invention and the speed detection value Dv This corresponds to an example of a “speed detection value” of the invention.
[0059] It should be noted that the invention is not limited to the embodiment mentioned above and various modifications beyond those mentioned above can be made without departing from the core content of the invention. For example, a combination of the movable linear module and the fixed linear module, to which the speed control is applied during the transfer process, is not limited to the example mentioned above. The speed control can be applied during the transfer process in a combination of the movable linear module M1 and the fixed linear module M3 , a combination of the movable linear module M1 and the fixed linear module M4 , a combination of the movable linear module M5 and the fixed linear module M2 and a combination of the movable linear module M5 and the fixed linear module M3can be executed. Furthermore, a direction of movement of the slider can be specified. 4 during the transfer process from the movable linear module M1 to the fixed linear module M3 The same applies to the other combinations.
[0060] Furthermore, the defined mode of the coordinate axes A1 until A5 The initially defined state Si is not limited to the example mentioned above. For example, the position coordinate values can be P to be determined in order to be arranged in a sequence along the coordinate axes A5 , A4 , A3 , A2 and A1 to increase.
[0061] Furthermore, one direction of arranging the fixed linear modules is M2 , M3 and M4It is not limited to the Y-direction (horizontal direction) and can also be the Z-direction (vertical direction). In this case, actuators 5a and 5b raise and lower the movable linear modules. M1 , M5 in the Z-direction.
[0062] Furthermore, the number and arrangement of the fixed or movable linear modules can be modified as needed. Accordingly, the fixed linear module can be... M3 can be dispensed with. Furthermore, the linear conveyor system can be used. 1 be set up to operate the slider 4 to move along an L-shaped path, which consists of a fixed linear module M2 and an actuator 5a for driving the movable linear module M1 exists. Alternatively, the fixed linear module can be used. M4 starting from the current state Fig. 3 are moved parallel to the X-direction and onto one of the fixed linear modules M2 , M3be arranged on the opposite side in relation to actuator 5b.
[0063] Furthermore, the drive directions of the slide must be 4 through the fixed linear modules Ma, 2b and drive directions of the slide 4 The actuators 5c and 5d do not necessarily run orthogonally and can run obliquely to each other. Reference symbol list 1 Linear conveyor system 11 Control device (controller) 18 Program (Control program for a linear conveyor system) 19 Recording medium 4 sliders A1 Coordinate axes A2 Coordinate axes (one coordinate axis) A3 Coordinate axes A4 Coordinate axes A5 coordinate axes (other coordinate axis) P Position coordinate value E2 End of the other coordinate axis P2 Coordinate value of the end of the other coordinate axis E5 End of one coordinate axis P5 Coordinate value of the end of one coordinate axis SL predetermined gradient SLb gradient between the coordinate value of the end of the other coordinate axis and the coordinate value of the end of one coordinate axis C Transfer process Fa2 - Fa4, Fb2 - Fb4 facing area M1 movable linear module M2 fixed linear module (a fixed linear module) M3 fixed linear module M4 fixed linear module M5 movable linear module Ta, Tb slide transfer mechanism La Stop position L's starting position of movement Ld movement target position X... X direction (first direction) Y...Y direction (second direction) FP position profile IP Position Command Value Dp position detection value Fv speed profile IV speed command value Dv speed detection value QUOTES INCLUDED IN THE DESCRIPTION
[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature
[0000] US 2016 / 0159585 A1
[0003] WO 2018 / 055709 A1
[0018]
Claims
[1] Linear conveyor system comprising: a slide which is to be driven in a first direction; a multitude of fixed linear modules arranged in a second direction that intersects the first direction; a movable linear module which moves between a plurality of facing areas which are arranged in the second direction and simultaneously face the plurality of fixed linear modules from the first direction, wherein the movable linear module drives the slider in the first direction; a sliding transfer mechanism which transports the movable linear module between the multitude of facing areas; and a controller which defines a coordinate axis, which represents positions in the first direction by coordinate values, wherein the coordinate value changes according to a change in position in the first direction, for each of the plurality of fixed linear modules and the movable linear module, and performs position control based on the coordinate axes for the slide driven by the fixed linear module and the movable linear module, wherein: the slider can be brought into operative connection with one end of each of the fixed linear modules and the movable linear module in the first direction and can be released from this connection, and the fixed linear modules and the movable linear module drive the operatively connected slider in the first direction, A transfer process of moving the slider between the fixed linear module and the movable linear module takes place, and The controller controls a drive of the slide during the transfer operation by means of a velocity control instead of by position control in order to control a velocity of the slide based on a velocity command value, if prior to the transfer operation, as a result of performing an evaluation process of assessing whether one coordinate axis, wherein one coordinate axis is the coordinate axis of the fixed linear module, and another coordinate axis, wherein the other coordinate axis is the coordinate axis of the movable linear module, are continuous in the first direction or not, it is assessed that one coordinate axis and the other coordinate axis are not continuous. [2] Linear conveying system according to claim 1, wherein the controller drives the slide by means of a feedback control based on a deviation between a position command value, which is generated on the basis of a position profile which represents a change in the position of the slide over time, and a position detection value which indicates the detected position of the slide, in position control and drives the slide by means of a feedback control based on a deviation between a velocity command value, which is generated on the basis of a velocity profile which represents a change in the velocity of the slide over time, and a velocity detection value which indicates the detected velocity of the slide, in velocity control. [3] Linear conveying system according to claim 2, wherein, during the transfer process of moving the slider from a movement starting position towards a movement target position, the controller moves the slider by means of position control from a stop position, at which the slider stops when the speed control is completed, to the movement target position when the speed control is completed. [4] Linear conveying system according to one of claims 1 to 3, wherein the controller controls the drive of the slide during the transfer process by means of position control if, prior to the transfer process, it is determined as a result of performing the assessment process that one coordinate axis and the other coordinate axis are continuous. [5] Linear conveying system according to one of claims 1 to 4, wherein the controller defines the coordinate axes such that the coordinate values represented by the respective coordinate axes of the plurality of fixed linear modules and the movable linear module do not intersect or overlap each other. [6] Linear conveying system according to any one of claims 1 to 5, wherein the coordinate axis represents the positions in the first direction by the coordinate values which change linearly with a predetermined gradient or inclination according to the change in position in the first direction. [7] Linear conveying system according to claim 6, wherein the controller assesses that one coordinate axis and the other coordinate axis are not continuous if a gradient or inclination between the coordinate value of one end of one coordinate axis on the side of the other coordinate axis and the coordinate value of one end of the other coordinate axis on the side of one coordinate axis differs from the predetermined gradient or inclination. [8] Control method for a linear conveying system comprising a slide which is to be driven in a first direction, a plurality of fixed linear modules which are arranged in a second direction which intersects the first direction, a movable linear module which moves between a plurality of facing areas which are arranged in the second direction and simultaneously face the plurality of fixed linear modules from the first direction, wherein the movable linear module drives the slide in the first direction, and a slide transfer mechanism which conveys the movable linear module between the plurality of facing areas, wherein the control method comprises: Defining a coordinate axis for each of the plurality of fixed linear modules and the movable linear module, wherein the coordinate axis represents positions in the first direction by coordinate values, the coordinate value changing according to a change in position in the first direction; Performing an evaluation process of assessing whether one coordinate axis, wherein one coordinate axis is the coordinate axis of the fixed linear module, and another coordinate axis, wherein the other coordinate axis is the coordinate axis of the movable linear module, are continuous in the first direction or not; and Performing a transfer operation of moving the slide between the fixed linear module and the movable linear module by means of a velocity control to control a velocity of the slide based on a velocity command value, when, as a result of the evaluation process, it is judged that one coordinate axis and the other coordinate axis are not continuous. [9] Control program for a linear conveying system comprising a slide which is to be driven in a first direction, a plurality of fixed linear modules which are arranged in a second direction which intersects the first direction, a movable linear module which moves between a plurality of facing areas which are arranged in the second direction and simultaneously face the plurality of fixed linear modules from the first direction, wherein the movable linear module drives the slide in the first direction, and a slide transfer mechanism which conveys the movable linear module between the plurality of facing areas, wherein the control program instructs a computer: to define a coordinate axis for each of the plurality of fixed linear modules and the movable linear module, wherein the coordinate axis represents positions in the first direction by coordinate values, the coordinate value changing according to a change in position in the first direction; to carry out an assessment process of evaluating whether one coordinate axis, wherein one coordinate axis is the coordinate axis of the fixed linear module, and another coordinate axis, wherein the other coordinate axis is the coordinate axis of the movable linear module, are continuous in the first direction or not; and to perform a transfer operation of moving the slider between the fixed linear module and the movable linear module by means of a velocity control to control a velocity of the slider based on a velocity command value, if, as a result of the evaluation process, it is judged that one coordinate axis and the other coordinate axis are not continuous. [10] Recording medium which records the linear conveyor system control program according to claim 9 in a computer-readable format.