KR-20260064723-A - Return system

KR20260064723AKR 20260064723 AKR20260064723 AKR 20260064723AKR-20260064723-A

Abstract

A conveying system comprises a actuator, a plurality of stators, a plurality of driving devices (D9~D11) for driving the stators, and an upper controller (40) for controlling the driving devices. The driving devices are daisy-chained so that the internal circuit of the driving device is parallelly connected from a converter (C23) to a main circuit power line (EP3) that transmits power from a main circuit power source used to drive the stators, and are also daisy-chained from the upper controller to a control detection signal line (L2) that transmits signals between the upper controller and the driving device. The upper controller supplies power from the main circuit power source to the driving device by controlling the converter, and identifies a connected driving device that is connected to the converter by receiving a power voltage value detected by the driving device from the driving device, and detects the connection configuration of the connected driving device by identifying the connection order of the connected driving device by transmitting and receiving signals between the connected driving device and the driving device.

Inventors

스즈키 야스히로

Assignees

미쓰비시덴키 가부시키가이샤

Dates

Publication Date: 20260507
Application Date: 20240624

Claims (10)

At least one operator and, A plurality of stators positioned along the path where the above-mentioned actuator moves, and A plurality of driving devices for driving the above stator, and A higher-level controller for controlling the above-mentioned driving device is provided, The above driving device is, The driving device is daisy-chained so that the internal circuit of the driving device is connected in parallel from the converter under management to the main circuit power line that transmits power from the main circuit power, which is the power source used to drive the stator, and is also daisy-chained from the upper controller to the signal line that transmits a signal between the upper controller and the driving device. The above-mentioned upper controller is, A conveying system characterized by controlling the converter to supply power from the main circuit power source to the driving device, receiving a power voltage value detected by the driving device connected to the converter to identify the connected driving device connected to the converter, and transmitting and receiving the signal between the connected driving device and the connected driving device to identify the connection order of the connected driving device and detect the connection configuration of the connected driving device.
In claim 1, The above-mentioned upper controller is, A conveying system characterized by designating one of the above-mentioned connection driving devices as a designated driving device, transmitting a power supply signal which is a signal for supplying power to the designated driving device as a signal, receiving a current value from a connection driving device that detected a current among the above-mentioned connection driving devices, and determining the connection order of the above-mentioned connection driving devices based on the connection driving device that transmitted the current value.
In claim 2, The above-mentioned upper controller is, A conveying system characterized by repeating the following processes until all connected driving devices are designated: a process of additionally designating an undesignated connected driving device among the connected driving devices as the designated driving device; a process of transmitting the power input signal as the signal to the designated driving device; and a process of receiving the current value from the connected driving device that detected the current among the connected driving devices; and determining the connection order of the connected driving devices based on the connected driving devices that have transmitted the current value.
In claim 2 or claim 3, The above driving device is, A regenerative resistor connected to the main circuit power line above, and A regenerative switch circuit, which is a switch circuit for driving the load of the above-mentioned regenerative resistor, and It has a control unit that controls the above-mentioned regenerative switch circuit, The above control unit is, A transport system characterized by turning on the regenerative switch circuit upon receiving the above power input signal.
In any one of claims 1 to 4, A conveying system characterized in that the upper controller performs a process of detecting the connection configuration of the connection driving device for a plurality of the converters in sequence for each converter.
In claim 1, The above-mentioned upper controller is, Among the above connection driving devices, one connection driving device is designated as a designated driving device, and a first signal is transmitted to the designated driving device as the signal. The above-mentioned designated driving device is, When the first signal is received, a second signal indicating that the first signal has been received is transmitted to the upper controller, and if there is a first upper-side driving device connected to the upper controller side rather than the magnetic device, the first signal is transmitted to the first upper-side driving device. When the first upper-side driving device receives the first signal, it transmits the second signal to the upper-side controller, and The above-mentioned upper controller is, A conveying system characterized by specifying the connection order of the connection driving device based on the second signal above.
In claim 6, The above-mentioned first upper-side driving device is, When the first signal is received, if there is a second upper-side driving device connected to the upper-side controller side rather than the magnetic device, the first signal is transmitted to the second upper-side driving device. When the second upper-side driving device receives the first signal, it transmits the second signal to the upper-side controller, and The above-mentioned upper controller is, A conveying system characterized by specifying the connection order of the connection driving device based on the second signal above.
In claim 6 or claim 7, The above-mentioned upper controller is, A conveying system characterized by repeating the process of additionally designating a connection driving device among the connection driving devices that does not transmit the second signal as the designated driving device, and the process of transmitting the first signal as the signal to the designated driving device until the second signal is received from all the driving devices, and determining the connection order of the connection driving devices based on the second signal.
In any one of claims 1 to 8, A conveying system characterized by the above-mentioned upper controller simultaneously transmitting a command to output different voltages to a first converter and a second converter among the converters, receiving different power supply voltage values from the first converter and the second converter, and identifying a connected driving device connected to the first converter and a connected driving device connected to the second converter based on the received power supply voltage values.
In any one of claims 1 to 9, The above converter outputs load information indicating its own load during the operation of the above driving device to the above upper controller, and A data acquisition unit that acquires connection information indicating the connection sequence of the above-mentioned connection driving device, driving pattern information which is information on the driving pattern when the driving device is operated in the connection state indicated by the above-mentioned connection information, and the above-mentioned load information corresponding to the driving pattern information as learning data, A model generation unit that generates a learning completion model for inferring the connection status of the driving device that reduces the number of converters using the training data acquired by the data acquisition unit, and An inference unit that infers connection information indicating the connection status of the driving device that reduces the number of converters from the driving pattern information and the load information corresponding to the driving pattern information, using the above-mentioned completed learning model. A return system characterized by further comprising

Description

Return system The present disclosure relates to a conveying system equipped with a linear motor. In production lines for assembling factory-automated industrial products, production lines for packaging food, etc., a conveying system is used to convey work objects (works, etc.) loaded on a moving trolley within the production line or between multiple stations between production lines. Recently, as a conveying system, a conveying system in which the conveying line is divided into multiple control zones, a control device is placed in each zone, and an actuator is driven between the control zones is widely used. One form of this conveying system is the moving magnet type linear motor. Moving magnet type linear motors are suitable for long-stroke conveying compared to moving coil type linear motors, in which a magnet is placed in the actuator and a coil is placed in the stator, with wires connected to the bogie. In such moving magnet type linear motors, when a driving stroke long relative to the size of the actuator is required, multiple coils corresponding to the stroke length are necessary. One of the technologies to which this moving magnet type linear motor is applied is a technology that continuously arranges multiple linear track modules, each equipped with a stator having coils and a drive device, to transport multiple bogies on the same track with a long stroke. In conveying systems utilizing this technology, converters are connected to the motor drive power supply, and while there are many usage scenarios where as many drive devices as possible are connected to a single converter, user usage is not unique; therefore, product specifications are set based on the worst-case scenario. In other words, the product specifications limit the number of drive devices allowed to be connected to a single converter. Consequently, the product specifications become over-specced for many users, leading to an unnecessarily large number of converters; thus, it is desirable to reduce the number of converters by connecting drive devices appropriately. The peripheral device of the programmable controller of Patent Document 1 displays the connection configuration of a network communication path as image shape information, and when an image name is selected by a user from the image shape information, the programmable controller corresponding to the selected image name is set as the connection point of the peripheral device. FIG. 1 is a diagram showing the schematic configuration of a conveying system according to Embodiment 1. FIG. 2 is a drawing showing an example of the configuration of a return system according to Embodiment 1. FIG. 3 is a flowchart showing the processing procedure of a process performed by a return system according to Embodiment 1. FIG. 4 is a drawing showing an example of the configuration of a driving device equipped in a conveying system according to Embodiment 1. FIG. 5 is a flowchart showing the processing procedure of a higher-level controller according to Embodiment 1 specifying the connection order of a driving device. FIG. 6 is a diagram illustrating the correspondence between a regenerative circuit operated by an upper controller according to Embodiment 1 and a current detection circuit that detects a current value. FIG. 7 is a drawing showing another configuration example of a driving device equipped in a conveying system according to Embodiment 1. FIG. 8 is a drawing showing an example of the configuration of a driving device equipped in a conveying system according to embodiment 2. FIG. 9 is a flowchart showing the processing procedure of a higher-level controller according to embodiment 2 specifying the connection order of a driving device. FIG. 10 is a drawing for explaining the wiring state before the conveying system according to embodiment 3 detects the wiring state. FIG. 11 is a drawing for explaining the wiring state after the wiring state has been changed for a conveying system according to Embodiment 3. FIG. 12 is a drawing showing an example of the configuration of a learning device equipped with a return system according to embodiment 4. FIG. 13 is a flowchart showing the processing procedure of a learning process executed by a learning device according to embodiment 4. FIG. 14 is a drawing showing an example of the configuration of an inference device equipped in a return system according to embodiment 4. FIG. 15 is a flowchart showing the processing procedure of the inference processing performed by the inference device according to Embodiment 4. FIG. 16 is a diagram showing an example of the configuration of a processing circuit when the processing circuit provided by the upper controller according to embodiments 1 to 4 is realized as a processor and memory. FIG. 17 is a diagram showing an example of a processing circuit when the processing circuit provided by the upper controller according to embodiments 1 to 4 is configured as dedicated hardware. Hereinafter, a conveying system