Conveying control device, conveying control method, and storage medium

Abstract

To provide a conveying control device, etc. capable of effectively utilizing different drive units existing in conveying-possible areas between different conveying paths.SOLUTION: A conveying control device 6, in a conveying device which includes a first conveying path and a second conveying path along which a movable member 2 conveying a conveyed object can move, includes a first drive unit 61 for driving the movable member 2 on the first conveying path along the first conveying path, a second drive unit 62 for driving the movable member 2 on the second conveying path along the second conveying path, and a composite drive control unit 63 that drives the movable member 2 by combining the first driving force from the first drive unit 61 and the second driving force from the second drive unit 62 in a conveying-possible area 5 where the first and second conveying paths are adjacent and the movable member 2 can convey from at least the first conveying path to the second conveying path.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 further detailed studies 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 can effectively utilize different drive units that exist in a transfer area between different transport paths. [Means for solving the problem]

[0006] In order to solve the above problems, a conveying control device according to one embodiment of the present disclosure includes a first drive unit that drives a movable element on a first conveying path along which a movable element that conveys a conveyed object can move, along the first conveying path; a second drive unit that drives a movable element on a second conveying path along which the movable element can move, and a composite drive control unit that drives the movable element by combining a first drive force from the first drive unit and a second drive force from the second drive unit in a transfer area where the first conveying path and the second conveying path are close to each other and the movable element can transfer at least from the first conveying path to the second conveying path.

[0007] According to this aspect, in a transferable area where the first conveying path and the second conveying path are close to each other, the first driving force from the first driving unit and the second driving force from the second driving unit can be combined to effectively drive the movable element.

[0008] Another aspect of the present disclosure is a conveyance control method, which includes: driving, by a first drive unit, a mover on a first conveyance path along which a mover for conveying an object can move, the mover on the first conveyance path along which the mover can move, by a second drive unit, the mover on a second conveyance path along which the mover can move, and driving the mover by combining a first drive force from the first drive unit and a second drive force from the second drive unit in a transfer area where the first and second conveyance paths are close to each other and where the mover can transfer at least from the first conveyance path to the second conveyance path.

[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: driving, by a first drive unit, a mover on a first transport path along which a mover that transports an object can move, the first mover, by the first drive unit, along the first transport path; driving, by a second drive unit, a mover on a second transport path along which the mover can move, the second mover, along the second transport path; and driving the mover by combining a first drive force from the first drive unit and a second drive force from the second drive unit in a transfer area where the first transport path and the second transport path are close to each other and where the mover can transfer at least from the first transport path to the second transport path.

[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, different drive units present in transferable areas between different transport paths can be effectively utilized. [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] This diagram shows a schematic example of a composite drive control unit driving the movable element by combining a first driving force from the first driving unit and a second driving force from the second driving unit when the movable element transfers from the first conveying path to the second conveying path in the transferable area. [Figure 5] 10 illustrates an example of instantaneous fluctuations that occur in the total driving force when there is a difference in timing between the abrupt changes in the first driving force and the second driving force. [Figure 6] 10 illustrates an example of instantaneous fluctuations that occur in the total driving force when there is a difference in timing between the abrupt changes in the first driving force and the second driving force. [Figure 7] This diagram shows an example in which, when a movable element that does not transfer from the first conveying path to the second conveying path passes through a transferable area, the composite drive control unit applies a second driving force from the second driving unit to the movable element in addition to a first driving force from the first driving unit. 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 the second drive unit. After transferring to the second transport path 4 in this way, the mover 2 moves 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 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 travels straight without changing its direction of movement and passes through the transferable area 5 (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 a transfer control device 6 according to this embodiment for driving the mover 2 in the transfer area 5. The transfer control device 6 includes a first drive unit 61, a second drive unit 62, a composite 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 composite drive control unit 63 drives the mover 2 by combining a first driving force from the first driving unit 61 and a second driving force from the second driving unit 62 in a transferable area 5 where the first transport path 3 and the second transport path 4 are close to each other and where the mover 2 can transfer at least from the first transport path 3 to the second transport path 4. Specific driving examples will be described later, but the composite drive control unit 63 effectively drives the mover 2 in a manner that cannot be achieved by a single linear motor by using in combination or effectively utilizing the first linear motor (first driving force) and the second linear motor (second driving force) that are available in the transferable area 5.

[0041] 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.

[0042] 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.

[0043] The first positioning unit 32 measures the 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."

[0044] The second positioning unit 42 measures the position of the mover 2 on the second transport path 4 as a displacement from a second origin O2 on the circular second track. In the example of FIG. 3, the displacement or distance in the counterclockwise direction based on the second origin O2 becomes 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 zero, but is preferably non-zero, as described below. In this case, the second positioning value of the mover 2 on the second origin O2 is non-zero "O2," 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 position measurement value is reset from the maximum value "m2" to a non-zero "O2".

[0045] As in the example of FIG. 3, when the length of the first track of the first transport path 3 as the main transport path is different from the length of the second track of the second transport path 4 as the sub-transport path (typically, the first track is longer than the second track), it is preferable to set different reference positioning values ​​for the first origin O1 and the second origin O2. For example, as described above, the reference positioning value for the first origin O1 is zero, and the reference positioning value for the second origin O2 is non-zero. Here, the difference between the reference positioning values ​​of the first origin O1 and the second origin O2 (hereinafter also referred to as origin offset; in the example of FIG. 3, the non-zero reference positioning value "O2" at the second origin O2) is set so that the first positioning value measured by the first positioning unit 32 and the second positioning value measured by the second positioning unit 42 match in the transfer area 5 where the first transport path 3 and the second transport path 4 overlap.

[0046] When the origin offset is set appropriately in this manner, the first positioning unit 32 and the second positioning unit 42 output substantially the same positioning value for the mover 2 located in the transfer area 5. For example, for the mover 2 located at one end 51 of the transfer area 5, the first positioning value "a1" by the first positioning unit 32 and the second positioning value "a2" by the second positioning unit 42 match. Similarly, for the mover 2 located at the other end 52 of the transfer area 5, the first positioning value "b1" by the first positioning unit 32 and the second positioning value "b2" by the second positioning unit 42 match. In this manner, when the reference positioning values ​​at the first origin O1 on the first track of the first conveying path 3 and the second origin O2 on the second track of the second conveying path 4 are set appropriately, the positioning values ​​measured by the first positioning unit 32 and the second positioning unit 42 in the transfer area 5 match, and therefore, a positioning unit suited to the driving mode of the mover 2 may be appropriately selected and used.

[0047] For example, for a mover 2 that simply passes through the transfer area 5 along the first transport path 3, it is preferable to consistently use the first positioning unit 32 that belongs to the first transport path 3. Similarly, for a mover 2 that simply passes through the transfer area 5 along the second transport path 4, it is preferable to consistently use the second positioning unit 42 that belongs to the second transport path 4.

[0048] Furthermore, for a movable element 2 that changes conveying paths in the transferable area 5, for example, a movable element 2 that changes from the first conveying path 3 to the second conveying path 4 while moving from one end 51 of the transferable area 5 to the other end 52, the first positioning unit 32 belonging to the first conveying path 3, which is the source of the transfer, is used at least immediately after entering the transferable area 5 from the one end 51, and the second positioning unit 42 belonging to the second conveying path 4, which is the destination of the transfer, is used at least immediately before leaving the transferable area 5 from the other end 52.

[0049] In this case, switching from the first positioning unit 32 to the second positioning unit 42 is performed while the mover 2 is moving through the transfer area 5 from one end 51 to the other end 52. Here, if the first positioning unit 32 and the second positioning unit 42 can output the same positioning value by adjusting the origin as described above, it is sufficient to simply switch from the first positioning unit 32 to the second positioning unit 42, and no special additional processing is required.

[0050] On the other hand, if the positioning values ​​measured by the first positioning unit 32 and the second positioning unit 42 in the transfer area 5 do not match, for example, if there is a gap G (which may be constant or may vary across the transfer area 5) between the first positioning value measured by the first positioning unit 32 and the second positioning value measured by the second positioning unit 42, an instantaneous change equivalent to the gap G occurs in the positioning value of the mover 2 when switching from the first positioning unit 32 to the second positioning unit 42. This gap G is essentially the same as the origin offset described above, and is caused by a mismatch between the first coordinate system on the first conveying path 3 at the transfer source and the second coordinate system on the second conveying path 4 at the transfer destination (or a state in which the origin offset is not properly adjusted). Therefore, the target position command unit 64 described below, when switching from the first positioning unit 32 to the second positioning unit 42, converts the target position of the movable element 2 from the first coordinate system of the first conveying path 3, which is the transfer origin, to the second coordinate system of the second conveying path 4, which is the transfer destination, thereby offsetting the sudden change equivalent to the gap G that occurs in the positioning value of the movable element 2.

[0051] The target position command unit 64 commands a target position of the mover 2. When the origin adjustment described above has been performed, there is no mismatch between the first coordinate system on the first transport path 3 and the second coordinate system on the second transport path 4, so the target position command unit 64 can output a target position command in a common scale or coordinate system regardless of whether the target position of the mover 2 is on the first transport path 3 or the second transport path 4.

[0052] 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 transfer, for example, to move through the transfer area 5 from one end 51 to the other end 52, and 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 a target position within the transfer area 5 to the mover 2 that the transfer command unit 65 commands to transfer in the transfer area 5. For example, the target position command unit 64 commands the mover 2 that the transfer command unit 65 commands to transfer from the first conveying path 3 to the second conveying path 4 after passing through the transfer area 5 (for example, beyond the other end 52). For the mover 2 that does not transfer between transport paths in the transfer area 5, the target position in the transfer area 5 may be instructed by the target position instructing unit 64.

[0053] The composite drive control unit 63 drives the movable element 2 using the first drive unit 61 (first linear motor) and / or the second drive unit 62 (second linear motor) so as to align the position of the movable element 2 measured by the first positioning unit 32 and / or the second positioning unit 42 with the target position commanded by the target position command unit 64.

[0054] For example, for the mover 2 that moves only on the first transport path 3, the composite drive control unit 63 drives the mover 2 by the first drive unit 61 in principle so that the position of the mover 2 measured by the first positioning unit 32 coincides with the target position commanded by the target position command unit 64 (however, as will be described later, the second drive unit 62 may also be used in combination in the transfer area 5). Similarly, for the mover 2 that moves only on the second transport path 4, the composite drive control unit 63 drives the mover 2 by the second drive unit 62 in principle so that the position of the mover 2 measured by the second positioning unit 42 coincides with the target position commanded by the target position command unit 64 (however, as will be described later, the first drive unit 61 may also be used in combination in the transfer area 5).

[0055] Furthermore, for a movable element 2 that changes conveying paths in the transferable area 5 under the command of the transfer command unit 65, for example, a movable element 2 that changes from the first conveying path 3 to the second conveying path 4 while moving from one end 51 of the transferable area 5 toward the other end 52, the composite drive control unit 63 drives the first drive unit 61 and the second drive unit 62 in combination in the transferable area 5 so that the position of the movable element 2 measured initially by the first positioning unit 32 and finally by the second positioning unit 42 coincides with the target position (the position on the second conveying path 4 beyond the other end 52) commanded by the target position command unit 64.

[0056] Figure 4 shows a schematic example in which the composite drive control unit 63 drives the movable element 2 by combining a first driving force from the first driving unit 61 and a second driving force from the second driving unit 62 when the movable element 2 moves along the first conveying path 3 and the second conveying path 4 from one end 51 to the other end 52 of the transferable area 5 and transfers from the first conveying path 3 to the second conveying path 4.

[0057] 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.

[0058] 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."

[0059] 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 composite drive control unit 63 gradually reduces the first driving force by the first drive unit 61 from "A" to "0," and gradually increases the second driving 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 driving force may be "A" and the second driving 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 driving force may be "0" and the second driving force may be "A."

[0060] The manner in which the first driving force decreases from "A" to "0" in the transferable region 5 and the manner in which the second driving force increases from "0" to "A" in the transferable 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 composite 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 at the bottom. As a result, the total driving force received by the mover 2 in the transferable 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 transferable region 5.

[0061] 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 4, but may be any position after the one end 51 (to the right in Figure 4) 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 4, but may be any position before the other end 52 within the transferable area 5 (to the left in Figure 4).

[0062] 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 transfer region 5 may be sudden or instantaneous, but are preferably gradual or gradual, as shown in Figure 4. As shown schematically in Figures 5 and 6, if the first driving force and the second driving force are changed suddenly, any discrepancy in the timing will result in an instantaneous fluctuation in the total driving force.

[0063] In the example of Fig. 5, the timing at which the second driving force increases is later than the timing at which the first driving force decreases, causing the total driving force to suddenly decrease to "0." In the example of Fig. 6, the timing at which the second driving force increases is earlier than the timing at which the first driving force decreases, causing the total driving force to suddenly increase to "2A." As illustrated in Fig. 4, by gradually changing the first driving force and the second driving force across the transfer region 5, even if there is a slight difference in the timing of the changes between the two, a sudden change in the total driving force as illustrated in Figs. 5 and 6 does not occur.

[0064] 4, when the mover 2 is only on the second transport path 4, which is 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.

[0065] 7 shows a schematic example in which, when a mover 2 that does not transfer from the first transport path 3 to the second transport path 4 passes through the transfer area 5, the composite drive control unit 63 applies a second drive force from the second drive unit 62 to the mover 2 in addition to the first drive force from the first drive unit 61. The vertical and horizontal axes of each graph shown in this figure are the same as those in FIGS.

[0066] On the left side of each graph, when the movable element 2 is only on the first transport path 3, the movable element 2 is driven only by the first driving force from the first driving unit 61. The magnitude of the subsequent first driving force is arbitrary, but in the example of this figure, it is assumed to be approximately constant at the upper limit "A".

[0067] Next, 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 composite drive control unit 63 adds a second drive force by the second drive unit 62 while maintaining the first drive force by the first drive unit 61 at the upper limit "A." The magnitude and application period of the second drive force additionally applied in the transferable area 5 are arbitrary, but in the illustrated example, a second drive force of magnitude "B" (for example, the upper limit of the second drive force, which may be equal to the upper limit "A" of the first drive force) is applied in the majority of the area or period of the transferable area 5.

[0068] In this way, when the mover 2 that does not transfer from the first transport path 3 to the second transport path 4 passes through the transfer area 5, the sum of the first driving force and the second driving force applied to the mover 2 by the composite drive control unit 63 ("A+B" in the illustrated example) is greater than the upper limit of the first driving force ("A" in the illustrated example). This mover 2 essentially stays on the first transport path 3 while moving, but in the transfer area 5, the second driving force by the second drive unit 62 is also utilized to achieve a large driving force ("A+B" in the illustrated example) or thrust that the first drive unit 61 cannot achieve alone. According to this embodiment, the mover 2 passing through the transfer area 5 can be effectively accelerated. This is particularly effective when the total weight of the mover 2 including the transported load is large or when the speed deviation of the mover 2 from the target speed is large.

[0069] On the right side of each graph in FIG. 7, when the mover 2 is again only on the first transport path 3, the mover 2 is driven only by the first driving force from the first driving unit 61.

[0070] 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.

[0071] 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).

[0072] 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]

[0073] 1 Linear conveying system, 2 Movable element, 3 First conveying path, 4 Second conveying path, 5 Transferable area, 6 Conveying control device, 32 First positioning unit, 42 Second positioning unit, 61 First driving unit, 62 Second driving unit, 63 Combined drive control unit, 64 Target position command unit, 65 Transfer command unit, O1 First origin, O2 Second origin.

Claims

1. a first drive unit that drives a movable element that transports an object along a first transport path along which the movable element is movable; a second drive unit configured to drive the movable element along a second transport path along which the movable element is movable; a composite drive control unit that drives the mover by combining a first driving force by the first drive unit and a second driving force by the second drive unit in a transfer area where the first transport path and the second transport path are close to each other and the mover can transfer from the first transport path to the second transport path; A transport control device comprising:

2. 2. The transport control device according to claim 1, wherein when the movable element moves from one end of the transferable area along the first transport path and the second transport path to transfer from the first transport path to the second transport path, the composite drive control unit gradually reduces the first driving force by the first drive unit and gradually increases the second driving force by the second drive unit.

3. 3. The transport control device according to claim 2, wherein when the movable element moves from the first transport path to the second transport path while moving along the first transport path and the second transport path from one end of the transferable area toward the other end, the composite drive control unit maintains the sum of the first driving force by the first drive unit and the second driving force by the second drive unit substantially constant.

4. 2. The transport control device according to claim 1, wherein when the movable element that does not transfer from the first transport path to the second transport path passes through the transferable area, the composite drive control unit applies the second driving force from the second driving unit to the movable element in addition to the first driving force from the first driving unit.

5. 5. The transport control device according to claim 4, wherein when the movable element that does not transfer from the first transport path to the second transport path passes through the transfer area, the sum of the first driving force and the second driving force applied to the movable element by the composite drive control unit is greater than an upper limit of the first driving force.

6. a first positioning unit that measures the position of the mover on the first transport path having a circular first track as a displacement from a predetermined first origin on the first track; a second positioning unit that measures the position of the movable element on the second transport path, which has a circular second track that is different in length from the first track, as a displacement from a predetermined second origin on the second track; Equipped with different reference positioning values ​​are set for the first origin and the second origin so that the positioning values ​​of the mover measured by the first positioning unit and the second positioning unit in the transfer area coincide with each other. The transport control device according to any one of claims 1 to 5.

7. a reference position measurement value for one of the first origin and the second origin is zero; the reference position measurement value for the other of the first origin and the second origin is non-zero; The transport control device according to claim 6.

8. driving, by a first driving unit, a movable element that transports the transported object along a first transport path on which the movable element is movable; driving the movable element on a second transport path along which the movable element is movable, by a second drive unit; the first transport path and the second transport path are close to each other, and in a transferable region where the movable element can transfer at least from the first transport path to the second transport path, the movable element is driven by a combination of a first driving force by the first driving unit and a second driving force by the second driving unit; A transport control method for performing the above.

9. driving, by a first driving unit, a movable element that transports the transported object along a first transport path on which the movable element is movable; driving the movable element on a second transport path along which the movable element is movable, by a second drive unit; the first transport path and the second transport path are close to each other, and in a transferable region where the movable element can transfer at least from the first transport path to the second transport path, the movable element is driven by a combination of a first driving force by the first driving unit and a second driving force by the second driving unit; A storage medium storing a transport control program that causes at least one processor to execute the above.

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