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DE-112022007134-B4 - Funding system

DE112022007134B4DE 112022007134 B4DE112022007134 B4DE 112022007134B4DE-112022007134-B4

Abstract

Support system (1; 2), comprising: a plurality of conveying path units (11) forming a conveying path (10) along which a conveying body (16) moves, wherein the conveying path units (11) are each connected to a common direct current line (15), wherein each conveying path unit (11) of the plurality of conveying path units (11) comprises a drive unit (20) which is to be supplied with power from the DC line (15) in order to generate a driving force for moving the conveying body (16), and wherein of one or two or more conveying path units (11), to which no conveying body (16) is moved, at least one conveying path unit (11) of the plurality of conveying path units (11) performs a regeneration power supply for supplying regeneration power generated in the plurality of conveying path units (11) to the drive unit (20).

Inventors

  • Tatsuya Kawase

Assignees

  • MITSUBISHI ELECTRIC CORPORATION

Dates

Publication Date
20260513
Application Date
20220818

Claims (18)

  1. Conveyor system (1; 2), comprising: a plurality of conveying path units (11) forming a conveying path (10) along which a conveying body (16) moves, wherein the conveying path units (11) are each connected to a common DC line (15), in which each conveying path unit (11) of the plurality of conveying path units (11) comprises a drive unit (20) which is supplied with power from the DC line (15) in order to generate a driving force for moving the conveying body (16), and in which at least one conveying path unit (11) of one or two or more conveying path units (11), to which no conveying body (16) is moved, performs a regeneration power supply for supplying regeneration power generated in the plurality of conveying path units (11) to the drive unit (20).
  2. Funding system (1; 2) according to Claim 1 , wherein the conveying path units (11) each comprise a line voltage sensing unit (33) for sensing a line voltage (Vpn) which is a voltage of the DC line (15), and wherein of one or two or more conveying path units (11) to which the conveying body (16) is not moved, at least one conveying path unit (11) of the plurality of conveying path units (11) performs a regeneration power supply when the line voltage (Vpn) becomes greater than or equal to a preset first voltage threshold (Von).
  3. Funding system (1; 2) according to Claim 2 , wherein the feed path units (11) performing the regeneration power supply stop the regeneration power supply when the line voltage (Vpn) becomes less than or equal to a second voltage threshold (Voff) which is less than the first voltage threshold (Von).
  4. Funding system (1; 2) according to Claim 3 , wherein the first voltage threshold (Voff) and/or the second voltage threshold (Voff) is individually set for each of a plurality of conveying path units (11).
  5. Funding system (1; 2) according to one of the Claims 1 until 4 , wherein when the conveying body (16) is moved towards the conveying path unit (11) which performs the regeneration power supply, the conveying path unit (11) stops the execution of the regeneration power supply.
  6. Funding system (1; 2) according to one of the Claims 1 until 5 , wherein the conveying path unit (11) stops the execution of the regeneration power supply when the power supplied to the drive unit (20) of the conveying path unit (11) performing the regeneration power supply exceeds a preset power threshold.
  7. Funding system (1; 2) according to Claim 6 , wherein the performance threshold is individually set for each of a plurality of conveying path units (11).
  8. Funding system (1; 2) according to one of the Claims 1 until 7 , wherein the conveying path (10) is provided with a sensor unit (25) for detecting a position of the conveying body (16), and wherein of the plurality of conveying path units (11) a conveying path unit (11) which is detected by a result of the detection by the sensor unit (25) as a conveying path unit (11) to which the conveying body (16) is not moved, performs the regeneration power supply.
  9. Funding system (2) according to one of the Claims 1 until 7 , comprising: a controller (12) for controlling each of the plurality of conveying path units (11), wherein the controller (12) determines the conveying path unit (11) for performing the regeneration power supply based on position information specifying a position of the conveying body (16) on the conveying path (10).
  10. Funding system (2) according to Claim 9 , wherein the plurality of conveying path units (11) comprises a first conveying path unit (11A; 11C; 11D) and a second conveying path unit (11B; 11E; 11H), wherein the first conveying path unit (11A; 11C; 11D) is the conveying path unit (11) on which the conveying body (16) is located, wherein the second conveying path unit (11B; 11E; 11H) is one or two or more of the conveying path units (11) arranged in the conveying path (10) adjacent to the first conveying path unit (11A; 11C; 11D), and wherein the controller (12) excludes the first conveying path unit (11A; 11C; 11D) and the second conveying path unit (11B; 11E; 11H) from the conveying path units (11) for performing the regeneration power supply.
  11. Funding system (2) according to Claim 10 , wherein the number of second conveying path units (11B; 11E; 11H) arranged in a first direction (A) along the conveying path (10) next to the first conveying path unit (11A; 11C; 11D), and/or the number of second conveying path units (11B; 11E; 11H) arranged in a second direction (B) opposite to the first direction along the conveying path (10) next to the first conveying path unit (11A; 11C; 11D), is calculated on the basis of a velocity of the conveying body (16) on the conveying path (10).
  12. Funding system (2) according to Claim 9 , wherein the plurality of conveying path units (11) comprises a first conveying path unit (11A; 11C; 11D) and a second conveying path unit (11B; 11E; 11H), wherein the first conveying path unit (11A; 11C; 11D) is the conveying path unit (11) on which the conveying body (16) is located, wherein the second conveying path unit (11B; 11E; 11H) is one or two or more of the conveying path units (11) arranged in the conveying path (10) in a direction of movement of the conveying body (16) adjacent to the first conveying path unit (11A; 11C; 11D), and wherein the controller (12) controls the first conveying path unit (11A; 11C; 11D) and the second conveying path unit (11B; 11E; 11H) from the conveying path units (11) to perform the excludes regeneration power input.
  13. Funding system (2) according to one of the Claims 10 until 12 , wherein the number of second conveying path units (11B; 11E; 11H) is calculated based on a velocity of the conveyed body (16) on the conveying path (10).
  14. Funding system (2) according to one of the Claims 9 until 13 , wherein the conveying path units (11) each comprise a temperature sensor (34), and wherein the controller (12) determines the conveying path units (11) to perform the regeneration power input based on a result of the temperature detection by the temperature sensor (34) of each of the plurality of conveying path units (11).
  15. Funding system (1; 2) according to one of the Claims 1 until 14 , wherein the conveying path units (11) each comprise an inverter circuit (21) to supply power to the drive unit (20) in which power conversion is carried out by switching, and wherein the inverter circuit (21) operates at a switching frequency which is lower than a switching frequency which is set when the drive force acts on the conveying body (16) during the regeneration power supply.
  16. Funding system (2) according to one of the Claims 1 until 15 , wherein the conveying body (16) comprises a plurality of conveying bodies (16A; 16B; 16C), and wherein the conveying system (2) comprises: a learning device (51), comprising: a data reference unit (61) for obtaining training data, which includes operational information and a position command, wherein the operational The information consists of a temporal sequence of the movement of each of the conveying bodies (16A; 16B; 16C) along the conveying path (10), wherein the position command specifies a position to which the conveying body is moved for each of a plurality of the conveying bodies (16A; 16B; 16C), and a model generation unit (62) for generating a trained model based on the training data, wherein the trained model is to be used to infer the position command from the operational information.
  17. Funding system (2) according to one of the Claims 1 until 15 , wherein the conveying body (16) comprises a plurality of conveying bodies (16A; 16B; 16C), and wherein the conveying system (2) comprises: a controller (12) for controlling each of the plurality of conveying path units (11), wherein the controller (12) comprises a position command generation unit (53) for generating a position command which specifies for each of the plurality of conveying bodies (16A; 16B; 16C) a position to which the conveying body is moved, wherein the position command generation unit (53) comprises: a data reference unit (55) for obtaining operational information which is information specifying a temporal sequence of the movement of each of the conveying bodies (16A; 16B; 16C) on the conveying path (10); and an inference unit (66) for inferring a position command by inputting the operating information into a trained model for inferring the position command from the operating information, wherein the position command specifies for each of a plurality of the conveying bodies (16A; 16B; 16C) a position to which the conveying body is moved.
  18. Funding system (1; 2) according to one of the Claims 1 until 17 , comprising: the one or the plurality of conveying bodies (16; 16A; 16B; 16C), wherein the drive unit comprises a coil (20) to which power is supplied from the DC line (15) in order to generate an electromagnetic force which is the driving force, and wherein the conveying body (16; 16A; 16B; 16C) is provided with a permanent magnet (40; 41).

Description

Area The present disclosure relates to a conveying system that transports an object. background A conveyor system that transports a workpiece is used in a production line where factory automation has been implemented, such as a production line for assembling commercial products or a production line for packaging food products. In recent years, many conveyor systems have been used in which a conveyor path for transporting workpieces is divided into multiple zones, and a carrier on which a workpiece is placed is moved by a control device located in each zone. Such a conveyor system is known for its excellent production efficiency. Some conveyor systems use a linear motor, which includes a carrier containing a magnet and a conveyor path with multiple coils. Some systems using the linear motor control the current flowing through each coil using an inverter circuit, such as a full-bridge or half-bridge inverter circuit. In such a system, it is important to appropriately manage the regenerative power generated in the coils when the carrier decelerates, either as consumption or recovery. The JP 2019 - 170 153 A discloses a conveying system comprising a carrier with a magnetic element and a conveying path with a plurality of magnetic coil arrangements, and recovering the regeneration energy in an energy storage arrangement provided at one or a plurality of points in the conveying path. The DE 11 2022 005 158 T5 discloses a conveying system in which regeneration power generated during a delay is used to accelerate a conveying body. The US 2015 / 0 239 015 A1 reveals a conveying system in which conveying bodies are delayed for easier loading. The US 9 783 370 B2 It reveals a conveying system in which conveying bodies are operated based on their weight. The US 9 050 896 B2 reveals an electromagnetic drive system for a rail vehicle. The US 9 812 939 B2 reveals a conveying system with an improved drive of a conveying body during the transition between conveying path units. Overview of the invention Problem to be solved by the invention According to the JP 2019 - 170 153 A According to the disclosed technique, it is necessary to install the energy storage arrangement at each point in the conveying path where the carrier is decelerated. In a case where the point at which the carrier is decelerated is not defined, the energy storage arrangement must be installed at all points where the carrier can be decelerated. The more energy storage arrangements that need to be installed, the larger the conveying system and the higher its production costs. Accordingly, according to the conventional technique, JP 2019 - 170 153 A One problem is that it is difficult to process the regeneration performance in a suitable way. The present disclosure was made with regard to the above and one of its objectives is to obtain a support system capable of processing the regeneration performance in a suitable manner. Means to solve the problem To solve the problem described above and achieve the objective, a conveying system according to the present disclosure comprises a plurality of conveying path units forming a conveying path along which a conveyed body moves, the conveying path units each being connected to a common DC line. Each conveying path unit of the plurality of conveying path units includes a drive unit that is supplied with power from the DC line to generate a driving force for moving the conveyed body. Of one, two, or more conveying path units to which no conveyed body is moving, at least one conveying path unit performs a regeneration power supply to supply regeneration power generated in the plurality of conveying path units. Effects of the invention The conveying pathway unit according to the present disclosure achieves an effect such that that suitable processing of the regeneration performance is possible. Brief description of the drawings 1 is a diagram showing an exemplary configuration of a conveying system according to a first embodiment.2 is a diagram showing an exemplary configuration of a conveying path unit included in the conveying system according to the first embodiment.3 is a diagram to illustrate a regeneration control system that is implemented by the conveying system according to the first embodiment.4 is a diagram to illustrate the operation of each conveying path unit included in the conveying system according to the first embodiment.5 is a diagram showing an exemplary embodiment of a conveying system according to a second embodiment.6 is a diagram to illustrate the operation of each conveying path unit included in the conveying system according to the second embodiment.7 is a diagram showing an exemplary configuration of the conveyor path unit according to a modification of the second embodiment.8 is a diagram showing an exemplary configuration of a control system included in the conveying system according to a third embodiment.9 is a diagram showing an exemplary configuration of a learning device included in t