PROBLEM TO BE SOLVED: To provide a conveyance device that can attain both of a high-speed property and high accuracy.SOLUTION: A first position detector 104 is configured to generate a first position detection value Xindicative of a current position of a traveling truck on the basis of rotation of a travelling motor 100 or wheel, and a second position detector 106 is configured to generate a second position detection value Xindicative of the current position of the traveling truck on the basis of an optical measurement. A position corrector 110 is configured to generate a position correction value Xcorresponding to a difference δX between the first position detection value Xand second position detection value X. A controller 130 is configured to allow (i) a first mode controlling the travelling motor 100 so that a position deviation dX serving as a difference between the first position detection value Xand a position command value Rgets close to zero, and (ii) a second mode correcting the position deviation dX using the position correction value X, and controlling the travelling motor 100 so that a post-corrected position deviation dX gets close to the zero to be changed over.SELECTED DRAWING: Figure 2
【課題】高速性と高精度を両立可能な搬送装置を提供する。【解決手段】第1位置検出器104は、走行モータ100または車輪の回転にもとづき、走行台車の現在の位置を示す第1位置検出値XFB1を生成する。第2位置検出器106は、光学的測定にもとづき、走行台車の現在の位置を示す第2位置検出値XFB2を生成する。位置補正器110は、第1位置検出値XFB1と第2位置検出値XFB2の差分δXに応じた位置補正値XCORRを生成する。コントローラ130は、(i)第1位置検出値XFB1と位置指令値XREFの差分である位置偏差dXがゼロに近づくように走行モータ100を制御する第1モードと、(ii)位置偏差dXを位置補正値XCORRを用いて補正し、補正後の位置偏差dXがゼロに近づくように走行モータ100を制御する第2モードと、が切りかえ可能である。【選択図】図2
CONVEYANCE DEVICE
搬送装置
2016-11-04
Patent
Elektronische Ressource
Japanisch
IPC: | G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen / B65G TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS , Transport- oder Lagervorrichtungen, z.B. Förderer zum Laden oder Abladen / B66F HOISTING, LIFTING, HAULING, OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |
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