Conveying control device, conveying control method, and storage medium

Abstract

To provide a conveying control device, etc. that enables smooth conveyance even when there is a discrepancy in the positioning data of a movable member between different conveying paths.SOLUTION: In a conveying device, a conveying control device 6 includes a first conveying path 3 and a second conveying path 4 where a movable member 2 conveying a conveyed object can move. When the movable member 2 conveys from the first conveying path 3 to the second conveying path 4 within a conveying-possible area 5 where the first conveying path 3 and second conveying path 4 are adjacent, the displacement of the movable member 2 within the conveying-possible area 5, measured by at least one of a first positioning unit 32 belonging to the first conveying path 3 and a second positioning unit 42 belonging to the second conveying path 4, is made to match a target displacement within the conveying-possible area 5, in which a conveying drive control unit 63 drives the movable member 2 within the conveying-possible area 5 by at least one of a first drive unit 61 belonging to the first conveying path 3 and a second drive unit 62 belonging to the second conveying path 4.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present disclosure relates to a transport control device and the like. [Background technology]

[0002] Patent Document 1 discloses that when a mover transfers between different transport systems, position coordinates are converted between the transport systems. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-126011 Summary of the Invention [Problem to be solved by the invention]

[0004] The present inventors have conducted a more detailed study on the case where a mover is transferred between different transport paths that are close to each other.

[0005] The present disclosure has been made in consideration of these circumstances, and aims to provide a transport control device and the like that enables smooth transfer even when there is a discrepancy in the positioning data of the mover between different transport paths. [Means for solving the problem]

[0006] In order to solve the above problem, a conveying control device according to one embodiment of the present disclosure is a conveying device having a first conveying path and a second conveying path along which a movable element that conveys a conveyed object can move, and includes: a first positioning unit that measures the position of the movable element on the first conveying path; a first drive unit that drives the movable element along the first conveying path so that the position of the movable element on the first conveying path measured by the first positioning unit coincides with a target position on the first conveying path; and a transfer drive control unit that, when the movable element transfers from the first conveying path to the second conveying path in a transferable area where the first conveying path and the second conveying path are close to each other, drives the movable element within the transferable area using the first drive unit so that the displacement of the movable element within the transferable area measured by the first positioning unit coincides with a target displacement within the transferable area.

[0007] According to this aspect, in a transfer area where the first transport path and the second transport path are close to each other, drive control can be performed based on the displacement (or movement distance) of the mover within the transfer area, instead of drive control based on the absolute position of the mover measured directly by the first positioning unit. Even if there is a discrepancy in the absolute position data of the mover measured by the first positioning unit, there is no discrepancy as long as it is in the form of relative displacement data within the transfer area, so the mover can smoothly transfer from the first transport path to the second transport path in the transfer area.

[0008] Another aspect of the present disclosure is a conveyance control method, in a conveyance device including a first conveyance path and a second conveyance path along which a mover for conveying an object can move, the method comprising: measuring a position of the mover on the first conveyance path by a first positioning unit; driving the mover along the first conveyance path by a first driving unit so that the position of the mover on the first conveyance path measured by the first positioning unit coincides with a target position on the first conveyance path; and, when the mover transfers from the first conveyance path to the second conveyance path in a transferable area where the first and second conveyance paths are close to each other, driving the mover within the transferable area by the first driving unit so that the displacement of the mover within the transferable area measured by the first positioning unit coincides with a target displacement within the transferable area.

[0009] Yet another aspect of the present disclosure is a storage medium storing a transport control program that causes at least one processor to execute the following steps in a transport device including a first transport path and a second transport path along which a mover that transports an object can move: measuring a position of the mover on the first transport path by a first positioning unit; driving the mover along the first transport path by a first driving unit so that the position of the mover on the first transport path measured by the first positioning unit coincides with a target position on the first transport path; and, when the mover transfers from the first transport path to the second transport path in a transfer area where the first and second transport paths are close to each other, driving the mover within the transfer area by the first driving unit so that the displacement of the mover within the transfer area measured by the first positioning unit coincides with a target displacement within the transfer area.

[0010] Any combination of the above components, or any conversion of these expressions into methods, devices, systems, recording media, computer programs, etc., are also encompassed within the present disclosure. [Effects of the Invention]

[0011] According to the present disclosure, it is possible to provide a transport control device and the like that enables smooth transfer even when there is a discrepancy in the positioning data of the mover between different transport paths. [Brief explanation of the drawings]

[0012] [Figure 1] 1 is a perspective view schematically illustrating the overall configuration of a linear transport system. [Figure 2] 1 shows a schematic configuration of a transport control device. [Figure 3] The present invention illustrates a first coordinate system that can be arbitrarily set on the first transport path for positioning of the mover by the first positioning unit, and a second coordinate system that can be arbitrarily set on the second transport path for positioning of the mover by the second positioning unit. [Figure 4] 10 illustrates an example of the transition of various position data in a transfer area. [Figure 5] This diagram shows a schematic example of how, when the movable element moves within the transfer area and transfers from the first conveying path to the second conveying path, the transfer drive control unit drives the movable element by combining a first driving force from the first driving unit and a second driving force from the second driving unit. [Figure 6] 10A and 10B are schematic diagrams illustrating the transition of the speed of a mover when the mover transfers from the first transport path to the second transport path while moving within a transferable area. [Figure 7] 10A and 10B schematically show a first transferable area where the mover can transfer from the first transport path to the second transport path, and a second transferable area where the mover can transfer from the second transport path to the first transport path. DETAILED DESCRIPTION OF THE INVENTION

[0013] Hereinafter, embodiments for carrying out the present disclosure (hereinafter also referred to as embodiments) will be described in detail with reference to the drawings. In the description and / or drawings, identical or equivalent components, members, processes, etc. are designated by the same reference numerals, and redundant description will be omitted. The scale and shape of each part shown in the drawings are set for convenience to simplify the description and should not be construed as limiting unless otherwise specified. The embodiments are merely examples and do not limit the scope of the present disclosure in any way. Not all features and combinations thereof presented in the embodiments are necessarily essential to the present disclosure. For convenience, the embodiments are presented by breaking them down into components for each function and / or functional group that realize them. However, one component in an embodiment may actually be realized by a combination of multiple separate components, or multiple components in an embodiment may actually be realized by a single integrated component. Furthermore, although multiple embodiments and variants may be disclosed in parallel, any components of each embodiment and / or each variant may be combined in any manner as long as they do not interfere with each other's functions.

[0014] FIG. 1 is a perspective view schematically illustrating the overall configuration of a linear conveyance system 1, which is one embodiment of a conveyance device according to the present disclosure. The linear conveyance system 1 includes a first conveyance path 3 and a second conveyance path 4 as multiple conveyance paths along which a mover 2 for conveying an object to be conveyed (not shown) can move. In the example of FIG. 1, the first conveyance path 3 and the second conveyance path 4 each have a circular first track and a circular second track. However, the shapes of the first track and the second track are arbitrary and are not limited to a circular shape. For example, at least one of the first track and the second track may be a non-circular (i.e., not connected) straight or curved line segment.

[0015] The functions of the first conveying path 3 and the second conveying path 4 are optional, but for example, the first conveying path 3 may function as the main conveying path and be responsible for the main part of the conveying work such as loading and unloading the objects to be conveyed by the movable elements 2, and the second conveying path 4 may function as a sub-conveying path and be responsible for the evacuation of defective objects to be conveyed and movable elements 2, and for the evacuation of excess movable elements 2 that may interfere with the conveying work on the first conveying path 3 as the main conveying path.

[0016] The lengths of the circular or non-circular first track of the first conveying path 3 and the circular or non-circular second track of the second conveying path 4 are also arbitrary, but as shown in Figure 1, it is expected that the length of the first track of the first conveying path 3 as the main conveying path will be longer than the length of the second track of the second conveying path 4 as the sub-conveying path.

[0017] As described above, the first transport path 3 and the second transport path 4 may differ from each other in terms of their functions, shapes, lengths, etc., but they share the basic function of driving the mover 2 along the first and second tracks, respectively. For this reason, the following will describe the first transport path 3 in detail, and redundant descriptions of the second transport path 4 will be omitted.

[0018] The first transport path 3 constitutes a linear motor as a stator for the mover 2 that is movable along the first annular track. This linear motor may be a moving coil type (i.e., a type in which an electromagnet or coil is provided on the mover 2, and a permanent magnet is provided on the first transport path 3 as a stator), but is preferably a moving magnet type (i.e., a type in which a permanent magnet is provided on the mover 2, and an electromagnet or coil is provided on the first transport path 3 as a stator).

[0019] In such a moving magnet type linear motor, an electromagnet or coil provided on the first conveying path 3 and a permanent magnet provided on the mover 2 face each other, and the magnetic interaction between them drives the mover 2 along the first orbit of the first conveying path 3.

[0020] The first transport path 3 has, for example, a first rail surface 31 (or a second rail surface 41 in the case of the second transport path 4) whose normal direction is the horizontal direction. The first rail surface 31 extends in a strip-like shape along the direction in which the first track is formed. When a circular first track is formed as in the example of FIG. 1, the first rail surface 31 has an endless strip shape with both virtual ends connected. A first drive unit (not shown) equipped with an electromagnet (a second drive unit in the case of the second transport path 4) is embedded or arranged continuously or periodically along the first track on the first rail surface 31. The electromagnet in the first drive unit generates a magnetic field that exerts a propulsive force or thrust on the permanent magnet of the mover 2 (and / or the electromagnet itself in the first drive unit) along the first track. Specifically, when a drive current such as a three-phase AC current is applied to the multiple electromagnets in the first drive unit, a moving magnetic field is generated that linearly drives the mover 2 equipped with the permanent magnet in a tangential direction along the first track.

[0021] The number, size, arrangement, and other configurations of the electromagnets provided in the first drive unit (first rail surface 31) and the second drive unit (second rail surface 41) may be the same or different. When the first drive unit and the second drive unit are configured with electromagnets of the same configuration, the mover 2 can be driven in the same manner across the first transport path 3 and the second transport path 4. When the first drive unit and the second drive unit are configured with electromagnets of different configurations, the mover 2 can be driven in an appropriate manner that suits the purpose and function of each of the first transport path 3 and the second transport path 4.

[0022] In the first conveying path 3, the first positioning unit 32 (second positioning unit 42 in the case of the second conveying path 4) is provided on the upper or lower surface perpendicular to the first rail surface 31, and magnetic sensors (not shown) that can measure the position of the mover 2 on the first conveying path 3 through measurements of a magnetic scale (not shown) that serves as a measurement object or positioning scale attached to the mover 2 are embedded continuously or periodically. A magnetic sensor that measures a magnetic scale formed by a striped magnetic pattern or magnetic graduations with a fixed pitch generally has multiple magnetic detection heads.

[0023] By shifting the spacing between multiple magnetic detection heads with respect to the pitch or period of the magnetic pattern of the magnetic scale, the magnetic sensor can measure the position or displacement of the magnetic scale (i.e., the position or displacement of the mover 2) with high precision. In a typical magnetic sensor equipped with two magnetic detection heads, for example, the spacing between the two magnetic detection heads is shifted by 1 / 4 pitch with respect to the magnetic pattern of the magnetic scale (they are out of phase by 90 degrees). As described above, by differentiating the position of the mover 2 measured by the positioning unit 32 with respect to time, the speed of the mover 2 can be detected, and by differentiating this speed with respect to time, the acceleration of the mover 2 can be detected. Note that, inversely to the above configuration, a magnetic sensor serving as the first positioning unit 32 may be provided on the mover 2, and a magnetic scale serving as the positioning scale may be provided on the first transport path 3.

[0024] The first positioning unit 32 and the positioning scale as its measurement target are not limited to magnetic types, but may be optical or other types. In the optical type, an optical scale (positioning scale) formed by a striped pattern or scale with a constant pitch is attached to the mover 2 (or the first transport path 3), and an optical sensor (first positioning unit 32) that can optically read the striped pattern of the optical scale is provided on the first transport path 3 (or the mover 2).

[0025] In the magnetic and optical types, the first positioning unit 32 measures the measurement target (magnetic scale or optical scale) without contact, which reduces the risk of failure of the first positioning unit 32 when, for example, an object being transported by the mover 2 scatters and enters the positioning location (for example, the upper surface of the first transport path 3 where the first positioning unit 32 is provided). However, in the optical type, if the optical sensor or optical scale of the first positioning unit 32 is covered by the object being transported, such as liquid or powder, that enters the positioning location, the positioning accuracy deteriorates. Therefore, if the magnetism of the object being transported can be ignored, the magnetic type is preferred because it does not deteriorate the positioning accuracy even if the object enters the positioning location.

[0026] The mover 2 has a plate-like body with one surface facing the first rail surface 31 when on the first transport path 3, and the other surface facing the second rail surface 41 when on the second transport path 4. As will be described later, when the mover 2 is in the transfer area 5 where the first transport path 3 and the second transport path 4 are close to each other or substantially overlap, one surface of the plate-like body of the mover 2 faces the first rail surface 31, and the other surface faces the second rail surface 41.

[0027] One surface of the plate-shaped body of the mover 2 is provided with one or more permanent magnets (not shown) that face a plurality of electromagnets embedded in the first rail surface 31 along the first track when the mover 2 is on the first transport path 3. The other surface of the plate-shaped body of the mover 2 is provided with one or more permanent magnets (not shown) that face a plurality of electromagnets embedded in the second rail surface 41 along the second track when the mover 2 is on the second transport path 4. The number, size, arrangement, and other configurations of the permanent magnets provided on each surface of the plate-shaped body of the mover 2 may be the same or different. When both surfaces of the plate-shaped body of the mover 2 are formed with permanent magnets of the same configuration, the mover 2 can be driven in the same manner across the first transport path 3 and the second transport path 4. When each surface of the plate-shaped body of the mover 2 is formed with permanent magnets of different configurations, the mover 2 can be driven in an appropriate manner suited to the purpose and function of each of the first transport path 3 and the second transport path 4.

[0028] Although detailed illustration is omitted, the above-mentioned positioning scale (not shown) is provided on the upper or lower part of the mover 2 as a positioned part facing the first positioning part 32 (second positioning part 42 in the case of the second conveying path 4) on the first conveying path 3. As shown in the example of Figure 1, when the first positioning part 32 and the second positioning part 42 are provided on the upper surfaces of the first conveying path 3 and the second conveying path 4, respectively, the positioned part such as a magnetic scale is attached to the lower surface of the upper part of the mover 2 so as to face the first positioning part 32 and the second positioning part 42. If the first positioning unit 32 / second positioning unit 42 and the unit to be positioned are magnetic, it is preferable to arrange the first rail surface 31 / second rail surface 41 and the first positioning unit 32 / second positioning unit 42 on different surfaces or at separate locations on the first conveying path 3 / second conveying path 4, and to arrange the permanent magnet and the unit to be positioned on different surfaces or at separate locations on the mover 2, so that the magnetic field between the electromagnet on the first rail surface 31 / second rail surface 41 and the permanent magnet on the mover 2 does not affect the magnetic positioning of the first positioning unit 32 / second positioning unit 42 and the unit to be positioned.

[0029] Although not shown in detail, the mover 2 is provided with a conveying unit such as a table or holder on which an object to be conveyed (not shown) is placed or fixed. As described above, when the first conveying path 3 serves as the main conveying path and performs conveying operations such as carrying in and out of the object by the mover 2, the mover 2 receives the object at an arbitrary position on the first conveying path 3 by the conveying unit (i.e., carrying in), is driven to a desired position on the first conveying path 3 by the first driving unit provided along the first rail surface 31, and delivers the object from the conveying unit (i.e., carrying out). Between carrying in and out, the object being conveyed by the conveying unit may be subjected to processing or other treatment, or the mover 2 may temporarily retreat together with the object to the second conveying path 4, which serves as a sub-conveying path. While FIG. 1 illustrates a small number of movers 2, it is expected that a linear conveying system 1 that conveys a large number of objects may require more than 1,000 movers 2.

[0030] The transferable area 5, where the first transport path 3 and the second transport path 4 are adjacent to or substantially overlap each other, is an area where the mover 2 can transfer at least from the first transport path 3 to the second transport path 4. In this embodiment, the transferable area 5 allows the mover 2 to transfer between the first transport path 3 and the second transport path 4. That is, in the transferable area 5, the mover 2 can transfer from the first transport path 3 to the second transport path 4, and can also transfer from the second transport path 4 to the first transport path 3.

[0031] However, in order to prevent the transfer control from becoming complicated, it is preferable to limit the number of transfers to a maximum of one while the mover 2 passes through the transfer area 5 once. Specifically, while passing through the transfer area 5 once, the mover 2 may transfer from the first transport path 3 to the second transport path 4 only once, or from the second transport path 4 to the first transport path 3 only once, or may remain on the first transport path 3 or the second transport path 4 (i.e., the number of transfers is zero).

[0032] Furthermore, in order to prevent the transfer control from becoming complicated, it is preferable to restrict the reversal or change of the moving direction within the transfer area 5 for the mover 2 that actually transfers between conveyance paths in the transfer area 5. In this case, the mover 2 that actually transfers between conveyance paths in the transfer area 5 passes through in a fixed direction between both ends of the transfer area 5. Note that the reversal or change of the moving direction within the transfer area 5 may be permitted for the mover 2 that does not transfer between conveyance paths in the transfer area 5.

[0033] Consider an example in which, under the above-mentioned restrictions, the mover 2 is transferred from the first transport path 3 to the second transport path 4, and then transferred again from the second transport path 4 to the first transport path 3. For example, the mover 2 is driven clockwise on the first transport path 3 by the first drive unit and enters one end 51 of the transferable area 5. Then, as will be described later, the mover 2 transfers from the first transport path 3 to the second transport path 4 while being driven in a fixed direction from one end 51 to the other end 52 of the transferable area 5 by the first drive unit and / or the second drive unit. After transferring to the second transport path 4 in this way, the mover 2 travels straight without changing its direction of movement and passes through the transferable area 5 (leaving the transferable area 5 from the other end 52).

[0034] Thereafter, when returning the mover 2 from the second transport path 4 to the first transport path 3, for example, the mover 2 is driven by the second drive unit in a clockwise direction on the second transport path 4 and enters the other end 52 of the transferable area 5. Then, as will be described later, the mover 2 transfers from the second transport path 4 to the first transport path 3 while being driven by the second drive unit and / or the first drive unit in a fixed direction from the other end 52 of the transferable area 5 toward one end 51. Having transferred to the first transport path 3 in this way, the mover 2 passes through the transferable area 5 by moving straight without changing the direction of movement (leaving the transferable area 5 from one end 51).

[0035] In order to transfer from the first transport path 3 to the second transport path 4, the mover 2 may be driven counterclockwise on the first transport path 3 by the first drive unit and enter the transfer area 5 from the other end 52. Similarly, in order to transfer from the second transport path 4 to the first transport path 3, the mover 2 may be driven counterclockwise on the second transport path 4 by the second drive unit and enter the transfer area 5 from one end 51.

[0036] 2 schematically shows the configuration of the transport control device 6 according to this embodiment for driving the mover 2 in the transfer area 5. The transport control device 6 includes the first positioning unit 32, the second positioning unit 42, a first driving unit 61, a second driving unit 62, a transfer drive control unit 63, a target position command unit 64, and a transfer command unit 65.

[0037] The mover 2 in this figure is shown as seen from above in Fig. 1. As described above, one surface (the bottom surface in Fig. 2) of the mover 2 is provided with one or more first permanent magnets 21 that face the multiple first coils 61C (or electromagnets) embedded in the first rail surface 31 of the first transport path 3. Similarly, the other surface (the top surface in Fig. 2) of the mover 2 is provided with one or more second permanent magnets 22 that face the multiple second coils 62C (or electromagnets) embedded in the second rail surface 41 of the second transport path 4.

[0038] The first permanent magnet 21 and the first coil 61C functioning as an electromagnet constitute a first linear motor. A first driver 61 that drives this first linear motor linearly drives the mover 2 by passing a drive current such as three-phase AC through the first coil 61C. Similarly, the second permanent magnet 22 and the second coil 62C functioning as an electromagnet constitute a second linear motor. A second driver 62 that drives this second linear motor linearly drives the mover 2 by passing a drive current such as three-phase AC through the second coil 62C.

[0039] As described above, the movable element 2 located in the transferable area 5, which is the overlapping area of ​​the first conveying path 3 and the second conveying path 4, can obtain a first driving force or a first thrust from the first linear motor formed between the first permanent magnet 21 and the first coil 61C on one side (the lower side in Figure 2), and can obtain a second driving force or a second thrust from the second linear motor formed between the second permanent magnet 22 and the second coil 62C on the other side (the upper side in Figure 2).

[0040] The first driving unit 61 drives the mover 2 along the first conveying path 3 so that the position of the mover 2 on the first conveying path 3 measured by the first positioning unit 32 coincides with a target position on the first conveying path 3 (commanded by a target position command unit 64 described later). Note that in the example of FIG. 2, the first driving unit 61 is illustrated as driving the first coil 61C via a transfer drive control unit 63 described later, but when driving the mover 2 located outside the transferable area 5 (not shown) along the first conveying path 3, the target position on the first conveying path 3 commanded by a target position command unit 64 described later and the position of the mover 2 on the first conveying path 3 measured by the first positioning unit 32 are provided to the first driving unit 61 directly (i.e., without via the transfer drive control unit 63).

[0041] The second drive unit 62 drives the mover 2 along the second conveying path 4 so that the position of the mover 2 on the second conveying path 4 measured by the second positioning unit 42 coincides with a target position on the second conveying path 4 (commanded by a target position command unit 64 described later). Note that in the example of FIG. 2, the second drive unit 62 is illustrated as driving the second coil 62C via a transfer drive control unit 63 described later, but when driving the mover 2 located outside the transferable area 5 (not shown) along the second conveying path 4, the target position on the second conveying path 4 commanded by a target position command unit 64 described later and the position of the mover 2 on the second conveying path 4 measured by the second positioning unit 42 are provided to the second drive unit 62 directly (i.e., without via the transfer drive control unit 63).

[0042] When the movable element 2 transfers between the first conveying path 3 and the second conveying path 4 in a transferable area 5 where the first conveying path 3 and the second conveying path 4 are close to each other, the transfer drive control unit 63 drives the movable element 2 within the transferable area 5 by at least one of the first drive unit 61 and the second drive unit 62 so that the displacement of the movable element 2 within the transferable area 5 measured by at least one of the first positioning unit 32 and the second positioning unit 42 matches the target displacement within the transferable area 5. Specific driving examples will be described later, but the transfer driving control unit 63 performs driving control for the movable element 2 that actually transfers conveying paths in the transferable area 5 based on the displacement (or movement distance) of the movable element 2 within the transferable area 5, instead of driving control based on the absolute position of the movable element 2 measured directly by the first positioning unit 32 and the second positioning unit 42 (which is performed by the first driving unit 61 and the second driving unit 62 at least outside the transferable area 5).

[0043] 2, the first conveying path 3 is provided with a plurality of first positioning units 32 (e.g., magnetic sensors) that can measure the position of the mover 2 through measurement of a positioning scale (not shown), such as a magnetic scale, attached to the mover 2. Similarly, the second conveying path 4 is provided with a plurality of second positioning units 42 (e.g., magnetic sensors) that can measure the position of the mover 2 through measurement of a positioning scale (not shown), such as a magnetic scale, attached to the mover 2. In the transfer area 5 where the first conveying path 3 and the second conveying path 4 overlap, both the first positioning units 32 and the second positioning units 42 can be used to measure the position of the mover 2.

[0044] 3 illustrates a first coordinate system that can be arbitrarily set on the first transport path 3 for the first positioning unit 32 to measure the position of the mover 2, and a second coordinate system that can be arbitrarily set on the second transport path 4 for the second positioning unit 42 to measure the position of the mover 2. The first coordinate system has a first origin O1 that is set at an arbitrary position on the first annular orbit of the first transport path 3, and the second coordinate system has a second origin O2 that is set at an arbitrary position on the second annular orbit of the second transport path 4.

[0045] The first positioning unit 32 measures the absolute position of the mover 2 on the first conveying path 3 as a displacement from a first origin O1 on the first circular orbit. In the example of FIG. 3, the clockwise displacement or distance from the first origin O1 is the positioning value (first positioning value) of the mover 2 measured by the first positioning unit 32. The reference positioning value measured by the first positioning unit 32 for the first origin O1 of the first conveying path 3 serving as the main conveying path may be non-zero but is preferably zero. In this case, the first positioning value of the mover 2 on the first origin O1 is "0," and the first positioning value increases as the mover 2 moves clockwise (conversely, as the mover 2 moves counterclockwise, the first positioning value decreases except when the mover 2 crosses the first origin O1). When the mover 2 continues moving clockwise and reaches the first origin O1 again, the first positioning value is reset from the maximum value "m1" to "0."

[0046] The second positioning unit 42 measures the absolute position of the mover 2 on the second transport path 4 as a displacement from a second origin O2 on the circular second orbit. In the example of FIG. 3, the displacement or distance in the counterclockwise direction based on the second origin O2 is the positioning value (second positioning value) of the mover 2 measured by the second positioning unit 42. The reference positioning value measured by the second positioning unit 42 for the second origin O2 of the second transport path 4 serving as a sub-transport path may be non-zero but is preferably zero. In this case, the second positioning value of the mover 2 on the second origin O2 is "0," and the second positioning value increases as the mover 2 moves counterclockwise (conversely, as the mover 2 moves clockwise, the second positioning value decreases except when the mover 2 crosses the second origin O2). When the mover 2 further moves counterclockwise and reaches the second origin O2 again, the second positioning value is reset from the maximum value "m2" to "0."

[0047] As in the example of Figure 3, when the length of the first track of the first conveying path 3 as the main conveying path is different from the length of the second track of the second conveying path 4 as the sub-conveying path (typically, the first track is longer than the second track), for the mover 2 in the transfer area 5, the first positioning value a by the first positioning unit 32 (absolute position data of the mover 2 (displacement data from the first origin O1)) and the second positioning value b by the second positioning unit 42 (absolute position data of the mover 2 (displacement data from the second origin O2)) may be different from each other.

[0048] For example, for a mover 2 located on one end 51 of the transfer area 5, the first positioning value "a1" obtained by the first positioning unit 32 and the second positioning value "b1" obtained by the second positioning unit 42 may be different from each other. Similarly, for a mover 2 located on the other end 52 of the transfer area 5, the first positioning value "a2" obtained by the first positioning unit 32 and the second positioning value "b2" obtained by the second positioning unit 42 may be different from each other. In this way, different positioning units 32, 42 belonging to different transport paths 3, 4 may output different positioning values ​​a, b even when measuring the position of the same mover 2 located in the transfer area 5.

[0049] This is illustrated diagrammatically in a graph in Figure 4. The vertical axis represents the position data of the mover 2, including the first position measurement value a obtained by the first position measurement unit 32 and the second position measurement value b obtained by the second position measurement unit 42, and the horizontal axis represents the position within the transfer area 5. In the example of this figure, the left end of the horizontal axis corresponds to one end 51 of the transfer area 5, and the right end of the horizontal axis corresponds to the other end 52 of the transfer area 5.

[0050] As described above, the first positioning value a obtained by the first positioning unit 32 and the second positioning value b obtained by the second positioning unit 42 are assumed to be different from each other. In the simple example shown in this figure, a certain gap G exists between the first positioning value a and the second positioning value b (i.e., at all positions within the transfer area 5, for example, a b = G). For example, at one end 51 of the transfer area 5, a gap G exists between the first positioning value "a1" obtained by the first positioning unit 32 and the second positioning value "b1" obtained by the second positioning unit 42 (a1 - b1 = G), and at the other end 52 of the transfer area 5, a gap G exists between the first positioning value "a2" obtained by the first positioning unit 32 and the second positioning value "b2" obtained by the second positioning unit 42 (a2 - b2 = G).

[0051] As described above, if the first positioning value a and the second positioning value b, which have the gap G, are used as they are for driving control of the mover 2 within the transfer area 5, just as they are outside the transfer area 5, there is a risk that the smooth movement of the mover 2 will be momentarily and significantly disrupted due to the gap G between the positioning data a and b when the positioning units 32 and 42 are switched (schematically indicated by the downward arrow in FIG. 4) in connection with the transfer between the conveying paths 3 and 4. As will be described later, the transfer drive control unit 63 is intended to solve this problem.

[0052] Furthermore, for a movable element 2 that simply passes through the transfer area 5 along the first conveying path 3 or the second conveying path 4, the first positioning unit 32 or the second positioning unit 42 belonging to each conveying path 3, 4 can be used consistently, so there is no problem of a gap G in the positioning data a, b that occurs when switching between the positioning units 32, 42.

[0053] 2, the target position command unit 64 commands a target position of the mover 2. As will be described later, for the mover 2 that actually transfers between the transport paths 3 and 4 in the transfer area 5, the target displacement ("Td" shown in FIG. 4) set by the transfer drive control unit 63 is used for drive control, and therefore the target position command unit 64 mainly commands a target position outside the transfer area 5. However, for the mover 2 that does not transfer between the transport paths 3 and 4 in the transfer area 5, the target position command unit 64 can command a target position within the transfer area 5 as the target value of the positioning value of the positioning units 32 and 42 that belong to the relevant transport paths 3 and 4.

[0054] The transfer command unit 65 commands the mover 2 to transfer in the transfer area 5. The transfer command unit 65 commands the mover 2 to move in the transfer area 5 from one end 51 to the other end 52, for example, and also commands the mover 2 to transfer from the first conveying path 3 to the second conveying path 4 during the movement. As described above, it is preferable to restrict the mover 2 that actually transfers between conveying paths in the transfer area 5 from reversing the direction of movement or stopping within the transfer area 5. For this reason, the target position command unit 64 is restricted from commanding the mover 2 for which the transfer command unit 65 commands the transfer in the transfer area 5 to the target position on the first conveying path 3 or the second conveying path 4 on the one end 51 side where the mover 2 entered. More specifically, the target position command unit 64 can only command the target position on the second conveying path 4, which is the transfer destination to which the mover 2 will transfer after it exits the other end 52 of the transfer area 5. As described above, for the mover 2 for which the transfer command unit 65 does not command a transfer in the transferable region 5, the target position in the transferable region 5 may be commanded by the target position command unit 64.

[0055] When the movable element 2 transfers between the first conveying path 3 and the second conveying path 4 in the transferable area 5, the transfer drive control unit 63 drives the movable element 2 within the transferable area 5 using the first drive unit 61 and / or the second drive unit 62 so that the displacement d of the movable element 2 within the transferable area 5 measured by the first positioning unit 32 and / or the second positioning unit 42 matches the target displacement Td within the transferable area 5.

[0056] 4, an example will be described in which the mover 2 transfers from the first transport path 3 to the second transport path 4. In the transferable area 5, the first position measurement value a by the first position measurement unit 32 and the second position measurement value b by the second position measurement unit 42, which indicate the absolute position of the mover 2, are not used as they are for driving control of the mover 2. Instead, the transfer drive control unit 63 uses the displacement d of the mover 2 within the transferable area 5 for driving control of the mover 2.

[0057] Here, the displacement d of the mover 2 is, for example, the displacement or distance from one end 51 where the mover 2 enters the transfer area 5. The target displacement Td in this case is, for example, the displacement or distance from one end 51 as the starting point of the displacement d to the other end 52 as the end point or target point.

[0058] Such a displacement d of the mover 2 within the transferable area 5 can be easily obtained from the first positioning unit 32 and / or the second positioning unit 42. For example, by subtracting the first positioning value a1 at one end 51, which is the starting point of the displacement d, from the first positioning value a obtained by the first positioning unit 32, the displacement d having the one end 51 as its zero point can be obtained. Similarly, by subtracting the second positioning value b1 at one end 51, which is the starting point of the displacement d, from the second positioning value b obtained by the second positioning unit 42, the displacement d having the one end 51 as its zero point can be obtained.

[0059] In this way, the first positioning unit 32 and the second positioning unit 42 provide the same displacement d at all positions within the transfer area 5. For this reason, only one of the first positioning unit 32 and the second positioning unit 42 may be used consistently throughout the transfer area 5. However, in order to achieve a smooth transfer from the first conveying path 3 to the second conveying path 4 while passing through the transfer area 5, it is preferable that the transfer drive control unit 63 switches the positioning entity of the mover 2 (i.e., the entity that provides the displacement d) from the first positioning unit 32 at the transfer origin to the second positioning unit 42 at the transfer destination within the transfer area 5. In this case, the positioning entity of the mover 2 switched by the transfer drive control unit 63 is the first positioning unit 32 at one end 51 and the second positioning unit 42 at the other end 52. As mentioned above, since the first positioning unit 32 and the second positioning unit 42 provide the same displacement d, the switching position can be any within the transfer area 5 and does not necessarily have to coincide with the switching position from the first drive unit 61 to the second drive unit 62 described below.

[0060] 4, for a mover 2 that transfers from the first transport path 3 to the second transport path 4 in the transferable area 5, the transfer drive control unit 63 drives the mover 2 by the first drive unit 61 and / or the second drive unit 62 so that the displacement d within the transferable area 5 matches the target displacement Td. In this way, the displacement d used to control the drive of the mover 2 within the transferable area 5 does not involve a gap G like the measured position values ​​a and b, even if the positioning units 32 and 42 are switched midway, so that the mover 2 can be driven smoothly or continuously. The mover 2 is driven stably from one end 51 to the other end 52 so that the displacement d from the one end 51 matches the target displacement Td at the other end 52.

[0061] The transfer drive control unit 63 may drive the mover 2 by consistently using only either the first drive unit 61 or the second drive unit 62 throughout the transferable area 5. However, in order to achieve a smooth transfer from the first conveying path 3 to the second conveying path 4 while passing through the transferable area 5, it is preferable that the transfer drive control unit 63 switches the main drive entity of the mover 2 from the first drive unit 61 at the transfer origin to the second drive unit 62 at the transfer destination within the transferable area 5. In this case, the main drive entity of the mover 2 switched by the transfer drive control unit 63 is the first drive unit 61 at one end 51 and the second drive unit 62 at the other end 52.

[0062] Figure 5 shows a schematic example in which the transfer drive control unit 63 drives the movable element 2 by combining a first drive force from the first drive unit 61 and a second drive force from the second drive unit 62 when the movable element 2 moves from one end 51 of the transferable area 5 to the other end 52 along the first conveying path 3 and the second conveying path 4 and transfers from the first conveying path 3 to the second conveying path 4.

[0063] The vertical axis of each graph shown in this figure represents the driving force or thrust applied to the mover 2, and the horizontal axis represents the position of the mover 2 over time. The top graph shows the change over time in the first driving force by the first driving unit 61, the middle graph shows the change over time in the second driving force by the second driving unit 62, and the bottom graph shows the change over time in the total driving force, which is the sum of the first driving force and the second driving force.

[0064] On the left side of each graph, when the mover 2 is only on the first transport path 3, which is the transfer source, the mover 2 is driven only by the first driving force from the first drive unit 61. The magnitude of the first driving force here may vary, but for stable transfer, it is preferable to keep it constant as in the example shown. Hereinafter, the constant magnitude of this driving force will be represented as "A."

[0065] Subsequently, when the mover 2 enters the transferable area 5, which is the overlapping section of the first transport path 3 and the second transport path 4, the transfer drive control unit 63 gradually reduces the first drive force by the first drive unit 61 from "A" to "0", and gradually increases the second drive force by the second drive unit 62 from "0" to "A". For example, as shown in the figure, when the mover 2 is at one end 51, which is the "entrance" of the transferable area 5, the first drive force may be "A" and the second drive force may be "0", and when the mover 2 is at the other end 52, which is the "exit" of the transferable area 5, the first drive force may be "0" and the second drive force may be "A".

[0066] The manner in which the first driving force decreases from "A" to "0" in the transfer region 5 and the manner in which the second driving force increases from "0" to "A" in the transfer region 5 may be linear (or straight-line) as in the illustrated example, or non-linear (or curved), or may be stepwise. However, regardless of the manner in which the first driving force decreases and the manner in which the second driving force increases, it is preferable that the transfer drive control unit 63 maintains the sum of the first driving force by the first driving unit 61 and the second driving force by the second driving unit 62 at a substantially constant "A," as shown in the graph below. As a result, the total driving force received by the mover 2 in the transfer region 5 is substantially constant at "A," allowing the mover 2 to stably transfer from the first transport path 3 to the second transport path 4 in the transfer region 5.

[0067] Here, the substantially constant total driving force "A" in the transfer area 5 is actually calculated by the transfer drive control unit 63 based on the difference or deviation between the displacement d in the transfer area 5 and the target displacement Td described with reference to Fig. 4. As described above, the relative displacement d limited to the transfer area 5 is different from the positioning values ​​a and b that represent the absolute positions of the mover 2 on each of the transport paths 3 and 4, and does not involve the gap G caused by switching between the positioning units 32 and 42, and therefore enables the calculation of a stable total driving force "A".

[0068] The position in the transferable area 5 where the decrease in the first driving force and the increase in the second driving force start does not have to coincide with one end 51 as illustrated in Figure 5, but may be any position after the one end 51 (to the right in Figure 5) within the transferable area 5. Similarly, the position in the transferable area 5 where the decrease in the first driving force and the increase in the second driving force end does not have to coincide with the other end 52 as illustrated in Figure 5, but may be any position before the other end 52 within the transferable area 5 (to the left in Figure 5).

[0069] Furthermore, the decrease in the first driving force from "A" to "0" and the increase in the second driving force from "0" to "A" in the transferable region 5 may be sudden or instantaneous, but is preferably gradual or gradual, as shown in Figure 5.

[0070] 5, when the mover 2 is only on the second transport path 4 at the transfer destination, the mover 2 is driven only by the second driving force of magnitude "A" by the second driving unit 62. As described above, the total driving force applied to the mover 2 is kept at a substantially constant magnitude "A" throughout the entire period before and after the mover 2 transfers from the first transport path 3 to the second transport path 4 in the transferable area 5. According to this embodiment, the mover 2 can be stably transferred from the first transport path 3 to the second transport path 4.

[0071] The transport control device 6 according to this embodiment as described above switches the drive control method for the mover 2 that actually transfers transport paths in the transfer area 5 between inside and outside the transfer area 5. Specifically, inside the transfer area 5, the transfer drive control unit 63 drives the mover 2 by the first drive unit 61 and / or the second drive unit 62 using a relative displacement d (i.e., a displacement or distance with one end of the transfer area 5 as the origin and the other end as the end point or target point) that is locally defined in the transfer area 5 as a control amount.

[0072] Furthermore, when the mover 2 moves on the first conveying path 3 outside the transferable area 5, the first driving unit 61 uses the absolute position of the mover 2 on the first conveying path 3 measured by the first positioning unit 32 (i.e., the first measured position value a) as a control amount and drives the mover 2 so as to match the target position on the first conveying path 3 commanded by the target position command unit 64. Similarly, when the mover 2 moves on the second conveying path 4 outside the transferable area 5, the second driving unit 62 uses the absolute position of the mover 2 on the second conveying path 4 measured by the second positioning unit 42 (i.e., the second measured position value b) as a control amount and drives the mover 2 so as to match the target position on the second conveying path 4 commanded by the target position command unit 64.

[0073] In this way, inside the transfer area 5, the relative position of the mover 2 is controlled by the relative displacement d, and outside the transfer area 5, the absolute position of the mover 2 is controlled by the absolute positioning values ​​a and b. In order to stably switch the drive control method inside and outside the transfer area 5, the transport control device 6 or the transfer drive control unit 63 may decelerate or temporarily stop the mover 2, which actually transfers between the transport paths 3 and 4 in the transfer area 5, when it enters the transfer area 5 from one end and / or when it exits the transfer area 5 from the other end.

[0074] 6 shows a schematic diagram of the change in the speed of the mover 2 when the mover 2 transfers from the first transport path 3 to the second transport path 4 while moving from the other end 52 toward one end 51 of the transfer area 5. The vertical axis represents the speed or velocity of the mover 2 in the direction from the other end 52 toward the one end 51, and the horizontal axis represents time. This example shows the case in FIG. 3 where the mover 2 on the first transport path 3 enters the transfer area 5 from the other end 52 in a counterclockwise direction from the bottom right, transfers from the first transport path 3 to the second transport path 4 in the transfer area 5, exits from the one end 51 to the top left, and travels clockwise on the second transport path 4.

[0075] Before entering the transfer area 5 from the other end 52, the mover 2 is on the first transport path 3, and its absolute position is controlled by the first drive unit 61, for example, at a substantially constant speed, using the first positioning value a, which represents the absolute position on the first transport path 3, as a control amount. When the mover 2 approaches the other end 52 of the transfer area 5 to transfer, the transport control device 6 causes the first drive unit 61 to decelerate or temporarily stop the mover 2 (to substantially zero speed).

[0076] For example, the mover 2 is temporarily stopped at the other end 52 serving as the entrance to the transferable region 5. Subsequently, the transfer drive control unit 63 starts controlling the relative position of the mover 2 based on the relative displacement d within the transferable region 5. This causes the mover 2 to be quickly accelerated from the temporarily stopped state at the other end 52 to the target speed. As described above, both the first drive unit 61 and the second drive unit 62 are available in the transferable region 5, but the first drive unit 61, which is the transfer source, may be mainly used during this initial acceleration.

[0077] 6, the mover 2 transfers from the first transport path 3 to the second transport path 4 at an arbitrary position (for example, a midpoint) within the transferable area 5. Thereafter, when the mover 2 approaches one end 51, which is the end point of the transferable area 5, the transfer drive control unit 63 causes the first drive unit 61 and / or the second drive unit 62 to slow down or temporarily stop the mover 2 (to substantially zero speed).

[0078] For example, the mover 2 is temporarily stopped at one end 51 serving as the exit of the transfer area 5. Subsequently, the transport control device 6 starts absolute position control by the second drive unit 62, using the second positioning value b, which indicates the absolute position on the second transport path 4 at the transfer destination, as a control amount. As a result, the mover 2 is quickly accelerated from the temporary stop state at the one end 51 to the target speed on the second transport path 4.

[0079] As described above, the transfer drive control unit 63 according to this embodiment may decelerate or temporarily stop the mover 2 at least either before starting or after completing control based on the displacement d within the transfer area 5. Note that, if no particular problem occurs when switching between absolute position control outside the transfer area 5 and relative position control inside the transfer area 5, the mover 2 may be allowed to proceed as is without decelerating or temporarily stopping at the entrance and / or exit of the transfer area 5.

[0080] In the above example, the movable element 2 was able to transfer in both directions between the first conveying path 3 and the second conveying path 4 in essentially one transfer area 5, but as shown schematically in Figure 7, a first transfer area 5A in which the movable element 2 can transfer from the first conveying path 3 to the second conveying path 4 and a second transfer area 5B in which the movable element 2 can transfer from the second conveying path 4 to the first conveying path 3 may be provided separately so as not to overlap each other.

[0081] In this way, since the transfer direction is only one direction in each of the transfer areas 5A and 5B, it is possible to avoid, for example, a collision between a mover 2 transferring from the first transport path 3 to the second transport path 4 and a mover 2 transferring from the second transport path 4 to the first transport path 3 in the same transfer area 5A or 5B. Furthermore, by providing individual transfer areas 5A and 5B for each transfer direction, it is possible to improve the efficiency of planning the transfer of a large number of movers 2 by the transfer command unit 65. Note that, although the transfer direction in each of the transfer areas 5A and 5B is only one direction (i.e., from bottom to top (5A) or from top to bottom (5B) in FIG. 7), the direction in which the mover 2 enters to transfer in each of the transfer areas 5A and 5B may be from the left side (one end 51 side) or the right side (the other end 52 side) in FIG. 7.

[0082] The present disclosure has been described above based on the embodiments. Various modifications are possible to the combinations of the components and processes in the exemplary embodiments, and it will be obvious to those skilled in the art that such modifications are included within the scope of the present disclosure.

[0083] In the above embodiments, a linear conveying system is exemplified in which the mover 2 is driven based on the magnetic force between a permanent magnet provided on the mover 2 and electromagnets provided on the first conveying path 3 and the second conveying path 4 as stators, but the present disclosure is applicable to any conveying device or driving device based on any principle other than magnetism (e.g., electricity or fluid).

[0084] The configuration, operation, and function of each device and method described in the embodiments can be realized by hardware resources, software resources, or a combination of hardware and software resources. Examples of hardware resources include processors, ROMs, RAMs, and various integrated circuits. Examples of software resources include operating systems, applications, and other programs. [Explanation of symbols]

[0085] 1 Linear conveying system, 2 Movable element, 3 First conveying path, 4 Second conveying path, 5 Transferable area, 5A First transferable area, 5B Second transferable area, 6 Conveying control device, 32 First positioning unit, 42 Second positioning unit, 61 First driving unit, 62 Second driving unit, 63 Transfer drive control unit, 64 Target position command unit, 65 Transfer command unit, O1 First origin, O2 Second origin.

Claims

1. A conveying device including a first conveying path and a second conveying path along which a movable element for conveying an object to be conveyed can move, a first positioning unit that measures the position of the mover on the first transport path; a first drive unit that drives the movable element along the first transport path so that the position of the movable element on the first transport path measured by the first positioning unit coincides with a target position on the first transport path; a transfer drive control unit that drives the mover within the transferable area by the first drive unit so that a displacement of the mover within the transferable area measured by the first positioning unit coincides with a target displacement within the transferable area when the mover transfers from the first transfer path to the second transfer path in a transferable area where the first transfer path and the second transfer path are close to each other; A transport control device comprising:

2. a second positioning unit that measures the position of the mover on the second transport path; a second drive unit that drives the movable element along the second transport path so that the position of the movable element on the second transport path measured by the second positioning unit coincides with a target position on the second transport path; Equipped with when the movable element transfers from the first transport path to the second transport path in the transferable area, the transfer drive control unit drives the movable element within the transferable area by the second drive unit so that a displacement of the movable element within the transferable area measured by the second positioning unit coincides with a target displacement within the transferable area. The transport control device according to claim 1 .

3. 3. The transport control device according to claim 2, wherein when the movable element moves from one end of the transferable area along the first transport path and the second transport path and transfers from the first transport path to the second transport path, the transfer drive control unit switches the driving entity of the movable element from the first drive unit to the second drive unit within the transferable area.

4. 4. The transport control device according to claim 3, wherein when the movable element moves from one end of the transferable area toward the other end along the first transport path and the second transport path and transfers from the first transport path to the second transport path, the driving element of the movable element switched by the transfer drive control unit is the first drive unit at the one end and the second drive unit at the other end.

5. The transport control device according to claim 3 , wherein the transfer drive control unit switches a position measurement subject of the mover from the first position measurement unit to the second position measurement unit within the transfer area.

6. The transport control device according to claim 5 , wherein the positioning entity of the mover switched by the transfer drive control unit is the first positioning unit at the one end and the second positioning unit at the other end.

7. A conveying control device as described in any one of claims 3 to 6, wherein the transfer drive control unit drives the movable element within the transferable area by at least one of the first drive unit and the second drive unit so that the displacement of the movable element from one end of the transferable area measured by at least one of the first positioning unit and the second positioning unit matches the target displacement, which is the displacement from the one end to the other end.

8. the transferable area includes a first transferable area in which the movable element can transfer from the first transport path to the second transport path, and a second transferable area in which the movable element can transfer from the second transport path to the first transport path, The first transfer area and the second transfer area do not overlap with each other. The transport control device according to any one of claims 1 to 6.

9. The transport control device according to claim 2 , wherein the first position measured by the first position measuring unit and the second position measured by the second position measuring unit are different for the mover in the transfer area.

10. the first conveying path has a circular first track, the second conveying path has a circular second track having a length different from that of the first track, the first positioning unit measures the position of the mover on the first transport path as a displacement from a predetermined first origin on the first track; the second positioning unit measures the position of the mover on the second transport path as a displacement from a predetermined second origin on the second track; The transport control device according to claim 9 .

11. The transport control device according to claim 1 , wherein the transfer drive control unit decelerates the mover at least either before starting or after completing control based on the displacement within the transferable region.

12. The transport control device according to claim 11 , wherein the transfer drive control unit temporarily stops the mover at least either before starting or after completing control based on the displacement within the transferable region.

13. A conveying device including a first conveying path and a second conveying path along which a movable element for conveying an object to be conveyed can move, measuring the position of the mover on the first transport path by a first positioning unit; driving the movable element along the first transport path by a first drive unit so that the position of the movable element on the first transport path measured by the first positioning unit coincides with a target position on the first transport path; When the movable element transfers from the first conveying path to the second conveying path in a transferable area where the first conveying path and the second conveying path are close to each other, driving the movable element within the transferable area by the first driving unit so that a displacement of the movable element within the transferable area measured by the first positioning unit coincides with a target displacement within the transferable area; A transport control method for performing the above.

14. A conveying device including a first conveying path and a second conveying path along which a movable element for conveying an object to be conveyed can move, measuring the position of the mover on the first transport path by a first positioning unit; driving the movable element along the first transport path by a first drive unit so that the position of the movable element on the first transport path measured by the first positioning unit coincides with a target position on the first transport path; When the movable element transfers from the first conveying path to the second conveying path in a transferable area where the first conveying path and the second conveying path are close to each other, driving the movable element within the transferable area by the first driving unit so that a displacement of the movable element within the transferable area measured by the first positioning unit coincides with a target displacement within the transferable area; A storage medium storing a transport control program that causes at least one processor to execute the above.

Images