JP2001157312A - Carrier car driven by linear motor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a carrier car driven by a linear motor which can change a track of the car without installing an apparatus for switching over a track of the car on the running path side of the car. SOLUTION: In a carrier car 1, a loading space 3 is retained by a pair of front and rear bogie trucks 2 wherein right and left travel wheels are installed, and the respective bogie trucks 2 are linked with the loading space 3 via rotating joints 5. Guide wheels 4a are installed on both sides of the bogie trucks 2, and can roll along guide trenches 7 constituting a running path 6. Primary side movable segments 8, 9 of a linear motor are installed on the lower surface of each of the bogie trucks 2, symmetrically to the right and left. A linear induction motor is used as the linear motor. In the movable segments 8, 9, the winding directions of coils wound around comb-teeth type cores are set so as to give thrust in the direction rectangular to the axle of the bogie truck 2 to the primary side movable segments 8, 9. Both of the segments 8, 9 are formed in the same configurations and arranged in such a manner that the centers are positioned on the vertical planes containing the axles.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a linear motor driven carrier equipped with a primary side of a linear motor as a drive source.

[0002]

2. Description of the Related Art Conventionally, in order to achieve unmanned and efficient operation of transporting articles, a transport vehicle is moved along a predetermined traveling route (for example, a traveling rail), and the articles are transported by the transport vehicle. Transport systems have been proposed.
As an example of this type of transport system, there is a guide rail type transport system that steers a transport vehicle while bringing a steering section of the transport vehicle into contact with a guide rail provided on a floor surface. Further, a device using a linear motor as a driving source of a carrier has been proposed and implemented.

On the other hand, in recent years, when an automatic transport system is employed, not only the transport vehicle travels only on a predetermined straight travel route or a round travel route, but also the route is switched (branch / merge) to perform a travel route pattern. Has been diversified. Conventionally, as a method of causing a transport vehicle driven by a linear motor as a drive source to enter another branched traveling route, as shown in FIG. 19A, a method of providing a turntable 53 at a branch portion 52 of a traveling route 51 (for example, ,
Japanese Patent Application Laid-Open No. 58-75457), a method of providing a traverser 54 as shown in FIG.
As shown in (a) and (b), there is a method of providing a variable guide 55 (for example, JP-A-58-112456). The variable guide 55 is driven by a driving device (not shown) as shown in FIG.
20 (a) and a branch guide position shown in FIG. 20 (b).

In Japanese Patent Application Laid-Open No. Hei 7-231842, as shown in FIG. 21, a plurality of wheels 56 rotatably mounted on a carrier and a guide track 57 provided at the center of the traveling path 51 are sandwiched. There has been proposed a switching device 60 that switches the course of a transport vehicle 59 having guide wheels 58. The transport vehicle 59 includes a reaction plate (not shown), and linearly-moving linear motors 61 arranged at predetermined intervals on the traveling route 51.
And move by the thrust based on the magnetic flux of the branch linear motor 62. The switching device 60 includes a linear linear motor 61 and a branch linear motor 62 provided alternately in the branch section 52. When the transport vehicle 59 passes through the branch portion 52 and advances to the branch side, when the linear linear motor 61 and the branch linear motor 62 in the branch portion 52 are simultaneously excited, the transport vehicle 59 advances to the branch side. I do. When only the linear motor 61 in the branch portion 52 is excited, the transport vehicle 59 moves straight.

[0005]

In each of the above-mentioned conventional devices, a driving device or linear motors 61 and 62 for switching the course are provided on the traveling route side. Therefore, when changing the course layout, it is necessary to change the position of the route switching device, which requires a large amount of work. When the turntable 53 or the traverser 54 is used, it is necessary to drive the turntable 53 or the traverser 54 to a predetermined position while the carrier is stopped at a position corresponding to the turntable 53 or the traverser 54. Takes a long time to pass through the branching section 52. As a result, there is a problem that the congestion of the transport vehicle at the branching portion easily occurs, and the transport capacity of the transport system is reduced. Further, a control device for obtaining information on the position of the carrier with respect to the branching section and controlling the respective route switching devices is required, and the control required for changing the route is complicated. There is also a problem.

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and an object of the present invention is to change the route of a carrier without providing a device for switching the route of the carrier on the traveling route side of the carrier. It is an object of the present invention to provide a linear motor-driven conveyance vehicle that can perform such operations.

[0007]

According to the first aspect of the present invention, there is provided a linear motor driven transfer vehicle having a primary mover of a linear motor mounted as a drive source. At least two pairs of running wheels supported so as to be pivotable about a vertical axis are provided, and at least two independent drive control can be performed on a transport vehicle having at least one running wheel behind the running wheel. The linear motor is disposed parallel to the left and right such that the direction of the thrust is in the direction orthogonal to the axle when the axles of the pair of left and right running wheels are arranged at positions orthogonal to the front-rear direction of the vehicle body. Control means to control the thrust of the linear motors independently of each other and to change the traveling direction of the carrier by giving a difference between the thrusts of the left and right linear motors

According to a second aspect of the present invention, there is provided a linear motor-driven carrier equipped with a primary mover of a linear motor as a drive source, the traveling vehicle being supported to be able to turn around a vertical axis with respect to a vehicle body. A transport vehicle having at least one pair of left and right wheels and at least one traveling wheel behind the traveling wheel has a thrust direction at a position where the axles of the pair of left and right traveling wheels are orthogonal to the front-rear direction of the vehicle body. In the disposed state, a propulsion linear motor that is in a direction perpendicular to the axle and a yaw force applying linear motor in which the direction of thrust is substantially perpendicular to the direction of thrust of the linear motor for propulsion are provided. The propulsion linear motor and the yaw force applying linear motor can be independently controlled, and the yaw force applying linear motor is driven to change the traveling direction of the carrier. Equipped with a control means that.

According to a third aspect of the present invention, in the first or second aspect of the present invention, the linear motor is connected to the vehicle body so as to be relatively rotatable, supports the vehicle body, and has a pair of running wheels. The bogie is equipped with a bogie.

According to a fourth aspect of the present invention, in the third aspect of the invention, the vehicle body is supported by two front and rear bogies, and each bogie has a plurality of linear motors.

According to a fifth aspect of the present invention, in the second aspect of the present invention, the vehicle body is connected to the vehicle body so as to be rotatable relative to the vehicle body and supports the vehicle body, and includes a pair of running wheels. The bogies are supported by two front and rear bogies, each of which is equipped with the linear motor for propulsion and the linear motor for imparting yaw force. The linear motor for imparting yaw force provided on the front bogie is the bogie. The yaw force applying linear motor mounted on the bogie on the rear side is disposed on the front side with respect to the center of rotation of the bogie and is disposed on the rear side with respect to the center of rotation of the bogie.

According to a sixth aspect of the present invention, in any one of the first to fifth aspects of the present invention, a linear induction motor is used as the linear motor. In the invention described in claim 7, in the invention described in any one of claims 1 to 6, the carrier travels along a guide provided along a predetermined route.

According to an eighth aspect of the present invention, in the first aspect of the present invention, the control means controls the plurality of linear motors via one inverter.

Therefore, according to the first aspect of the present invention, the linear motor-driven carrier has a configuration in which the axles of the pair of left and right running wheels are arranged at positions orthogonal to the front-rear direction of the vehicle body.
When the control means controls the thrusts of at least two linear motors to have the same value, the vehicle body goes straight.
Also, two linear motors arranged in parallel on the left and right
When controlled to have a difference in the thrust, a force that turns the vehicle body toward the linear motor with a small thrust acts, and the traveling wheels supported to be able to turn around the vertical axis with respect to the vehicle body are steered, The traveling direction of the vehicle body can be changed.

According to the second aspect of the present invention, in the linear motor driven transport vehicle, only the propulsion linear motor is driven in a state where the axles of the pair of left and right running wheels are arranged at positions orthogonal to the longitudinal direction of the vehicle body. Then, the car body goes straight. Further, when the propulsion linear motor and the yaw force imparting linear motor are simultaneously driven, a force for turning the vehicle body acts, and the traveling wheels supported to be rotatable around the vertical axis with respect to the vehicle body are steered. The traveling direction of the vehicle body can be changed.

According to the third aspect of the present invention, in the first or second aspect of the present invention, the running wheels are turned with respect to the vehicle body integrally with the bogie, so that each running wheel is independently provided. Steering of the traveling wheels is more easily performed as compared to a configuration in which the vehicle is rotatably supported by the vehicle body.

According to a fourth aspect of the present invention, in the third aspect of the present invention, the vehicle body is supported by two front and rear bogies, and each bogie has a plurality of linear motors. Therefore, the course is smoothly changed even when the vehicle body is long.

According to a fifth aspect of the present invention, in the second aspect of the present invention, the vehicle body is supported by two front and rear bogies, and is provided by a yaw force applying linear motor mounted on each bogie. The steering of the traveling wheels is performed smoothly, and the course is smoothly changed even when the vehicle body is long.
In addition, the traveling wheels travel along guides provided on a grating that forms a floor surface, and the traveling route includes a branch portion. Further, when the transport vehicle reciprocates along the traveling route, the yaw force is applied. Even if an induction motor is used as the linear motor for driving, it is possible to avoid that the yaw force applying linear motor faces the joint of the secondary conductor provided on the grating when the running wheel faces the branch portion. Therefore, it is possible to prevent the yaw force applying linear motor from temporarily lowering during steering for turning the traveling wheel to the branch side at the branch portion, thereby preventing a mistake in course change.

In the invention according to claim 6, in the invention according to any one of claims 1 to 5, a linear induction motor is used as the linear motor. The configuration is simplified.

According to a seventh aspect of the present invention, in the first aspect of the present invention, the carrier travels along a guide provided along a predetermined route. For example, a guide wheel that can be engaged with the guide is provided on the carrier, and the carrier is prevented from deviating from a predetermined route. Further, when each linear motor is controlled by the control means so as to exert a force for turning to the branch road side at the branch portion, the guide wheels are engaged with the guide, and the path of the linear motor driven transport vehicle is smoothly moved to the branch road side. Is changed to

According to the invention described in claim 8, in the invention described in any one of claims 1 to 7, the control means controls a plurality of linear motors via one inverter. The number of inverters required for control is reduced, and the cost is reduced.

[0022]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS (First Embodiment) A first embodiment of the present invention will be described below with reference to FIGS. 1A is a schematic side view of a linear motor driven transport vehicle (hereinafter, simply referred to as a transport vehicle) 1, FIG. 1B is a schematic plan view, and FIG. 1C is a schematic diagram showing an arrangement of a linear motor. It is. The carrier 1 has a pair of front and rear bogies 2 supporting a carrier 3 as a vehicle body, and each bogie 2 is provided with a pair of running wheels 4 on the left and right sides. Each bogie 2
Is provided at the upper center thereof, and is rotatably connected to the carrier 3 via a rotary joint 5 whose rotation axis extends in the vertical direction. That is, the pair of left and right running wheels 4 are supported on the carrier 3 so as to be able to turn around the vertical axis. Running wheel 4
Is a pair of guide grooves 7 as guides constituting the traveling route 6
Is formed to have a width smaller than the width of the guide groove 7, and can freely roll in the guide groove 7. Each bogie 2 has a pair of guide wheels 4a on both left and right sides thereof rotatably supported by support shafts 2a extending in a vertical direction. Guide wheel 4a
Is formed to have a diameter smaller than the width of the guide groove 7, and is arranged to be rollable along one wall surface of the guide groove 7. 1 (c), 2 and 4, the support shaft 2a and the guide wheel 4a
Are not shown.

On the lower surface of each bogie 2, primary movers 8 and 9 of a linear motor are installed symmetrically. A linear induction motor is used as the linear motor. The winding direction of the coils wound around the comb-shaped cores of the primary movers 8 and 9 is such that the primary movers 8 and 9 apply thrust to the primary movers 8 and 9 in a direction perpendicular to the axle of the bogie 2. The two primary movers 8, 9 are formed in the same size, and are arranged such that the center is located on a vertical plane including the axle.

As shown in FIG. 3, a secondary stator 10 of a linear motor is provided between the guide grooves 7 on the traveling route 6. The secondary side stator 10 is a single conductor such as aluminum or copper which is a non-magnetic conductor, or a ferromagnetic material (eg, iron)
And a non-magnetic conductor in a plate shape.

As shown in FIG. 1B and FIG. 5, a detected part 12 is provided at a predetermined position on the downstream side of the branch part 11 of the traveling route 6. The carrier 1 is provided with a sensor 13 for detecting the detected part 12. The radius of the traveling wheel 4 is set such that the distance between the primary movable elements 8 and 9 and the secondary stator 10 is within a predetermined range when the transport vehicle 1 travels along the guide groove 7. ing.

As shown in FIG. 1C, each bogie 2
Are connected to inverters 14a to 14d, respectively, and are connected to inverters 14a to 14d.
The AC is supplied via the. The inverters 14a to 14d are controlled by one control device 15. The inverters 14 a to 14 d and the control device 15 constitute control means, and are provided below the carrier 3.

The control device 15 has a CPU and a memory (both not shown). The output signal of the sensor 13 that detects that the vehicle has approached the branching unit 11 is input to the control device 15, and the control device 15 transmits the signal to a higher-level control device (for example, a control device of a transport system equipped with the transport vehicle 1). Based on the command signal from the inverters 14a to 14
d, an acceleration / deceleration command and a stop command of the linear motor corresponding to the command are output.

When the control device 15 travels along the travel route 6 other than the branch portion 11, the control device 15 controls the current supplied to the primary movable elements 8, 9 to the inverter 1 so that the linear motors have the same thrust.
Control is performed via 4a to 14d. When the control device 15 receives the detection signal of the detected part 12 from the sensor 13, the branching part 11 determines whether or not to change the course to the branch side, and when the course is changed to the branch side, corresponds to the course change side. The inverters 14a to 14d are controlled such that the thrust on the side to be driven is reduced. Then, after passing through the branch portion 11, the inverters 14a to 14d are controlled again so that the respective linear motors have the same thrust.

The sensor 13, the inverters 14a-1
A battery (not shown) is mounted on the carrier 1 as a power supply for the 4d and the control device 15. Next, the operation of the carrier 1 configured as described above will be described. Primary mover 8,
When power is supplied to the secondary stator 9, an eddy current is generated at a location corresponding to the primary movers 8 and 9 of the secondary stator 10, and in a predetermined direction (in this embodiment, a direction orthogonal to the axle of the bogie 2). Thrust is generated. Then, the reaction force of the thrust becomes a thrust F for moving the primary movers 8 and 9, and the carrier 1 travels along the traveling route 6 by the thrust F.

As shown by a solid line in FIG. 4, when the thrust F acting on the primary movable element 8 on the left side in the traveling direction of the bogie 2 becomes smaller than the thrust F acting on the primary movable element 9 on the right side,
A counterclockwise rotational moment in FIG. 4 acts on the bogie 2, and the bogie 2 receives a thrust that curves to the left in the traveling direction. Further, as shown by a chain line in FIG. 4, the thrust F acting on the primary movable element 9 on the right side in the traveling direction of the bogie 2 is changed to the thrust F acting on the primary movable element 8 on the left side.
When it becomes smaller, the clockwise rotational moment of FIG. 4 acts on the bogie 2, and the bogie 2 receives a thrust that curves to the right in the traveling direction.

The control device 15 receives a command such as a transfer destination from an upper control device via a communication means (not shown), and controls the traveling of the transfer vehicle 1 to transfer a load between predetermined stations. When the transport vehicle 1 travels on the travel route 6 other than the branch portion 11, the inverters 14a to 14d are controlled so that the thrusts F acting on the primary movers 8, 9 are the same, and the transport vehicle 1 The vehicle travels along the traveling route 6 at a speed corresponding to the magnitude of the thrust F.

When the transport vehicle 1 approaches the branching section 11, the sensor 1
When the detection signal of the detected part 12 is output from 3, the control device 15 determines whether to go straight through the branching part 11 or change the course. If it is determined by the control device 15 that the vehicle is going straight ahead, the inverter 14 is controlled so that the thrust F acting on each of the primary movers 8 and 9 becomes the same as before.
a to 14d are controlled. When the bogie 2 travels straight through the branch 11, the thrust of the linear motor on the side opposite to the branch 11 is slightly reduced while the bogie 2 passes through the branch 11, so that the bogie 2 moves in the opposite direction to the branch path 11 a. The rotational moment may be gradually applied.

On the other hand, when the controller 15 determines that the course is to be changed, the inverters 14a to 14d are controlled so that the thrust of the branch-side linear motor is reduced. FIG.
As shown in the figure, when the branch road 11a is provided so as to curve to the left, the thrust F of the left primary side mover 8 is controlled to be smaller than the thrust F of the right side primary mover 9. You. Further, in order to make the speed of the transport vehicle 1 lower than the traveling speed before reaching the branching section 11, the inverters 14a to 14a to 14c reduce the thrust of each linear motor as a whole.
d is controlled.

As a result, each bogie 2 enters the branch 11 with the counterclockwise rotational moment of FIG. 5 acting on the carrier 3 about the rotary joint 5 as the center of rotation. When the traveling wheel 4 moves to a position corresponding to the curved guide groove 7 on the branch road 11a side, the bogie 2 moves relative to the carrier 3 so that the traveling wheel 4 rolls along the curved guide groove 7. The carrier 1 is rotated and changes its course toward the branch road 11a to travel. After the traveling wheel 4 of each bogie 2 passes the branch portion 11, the inverters 14a to 14d are controlled such that the thrust of each linear motor has the same value.

When a turning force is applied to the bogie 2 at the branch portion 11, if the inverters 14a to 14d are controlled so that the thrusts of the primary movers 8, 9 are opposite to each other, the rotation can be performed even with the same amount of current. The moment increases, and the turning force increases.

This embodiment has the following effects. (1) In a state in which at least one pair of right and left traveling wheels 4 supported rotatably about a vertical axis with respect to the bed 3 is provided, and the axle of the traveling wheels 4 is disposed at a position orthogonal to the front-rear direction of the bed 3, Linear motors are arranged in parallel to the left and right such that the direction of the thrust is perpendicular to the axle.
The traveling direction of the carrier 1 is changed by controlling the thrusts of the left and right linear motors to have a difference. Therefore, the current supplied to the primary movers 8 and 9 of the plurality of linear motors provided on the carrier 1 can be supplied to the inverters 14a to 14d without providing a route switching device on the traveling route 6 side.
It is possible to easily change the course in the branching unit 11 only by controlling the route.

(2) By making a difference in the magnitude of the thrust between the primary movers 8 and 9 of the linear motor provided on the left and right of the bogie 2, a turning force acts on the bogie 2. Steering becomes possible. As a result, it is possible to easily change the course in the branch portion 11 by controlling the amount of current supplied to the pair of linear motors.

(3) Since a linear induction motor is used as the linear motor, a metal plate can be used as the secondary-side stator 10, and the branch portion 11 does not need to have a special structure, so that the configuration is simplified. .

(4) Since the guide wheel 4a of the carrier 1 rolls along the guide groove 7, the difference between the thrusts of the left and right linear motor primary movers 8, 9 at the branch portion 11 can be accurately determined by a predetermined value. It is not controlled to be a value, but only to control the bogie 2 to apply a turning force to the branch road 11a side.
The guide wheel 4a rolls along the wall surface of the guide groove 7 and the transport vehicle 1
Can be changed to the branch road 11a side.

(5) The transport vehicle 1 travels along the guide grooves 7 for guiding the guide wheels 4a provided on the left and right sides of the transport vehicle 1. Therefore, compared to a configuration in which the vehicle is guided and guided by a guide provided at a position corresponding to the center in the width direction of the carrier 1, the degree of freedom of the installation position of the primary mover of the linear motor mounted on the carrier 1 is smaller. growing.

(6) Since the left and right linear motors are arranged so that the center of the primary movable elements 8 and 9 is located on a vertical plane including the axle of the bogie 2, the left and right primary movable elements 8 and 9 are arranged. 9 can be efficiently converted into the turning force (rotational moment) of the bogie 2.

(7) A pair of left and right linear motor primary movers 8 and 9 are provided on each of the bogies 2 provided on both front and rear sides of the carrier 1 so as to be pivotable with respect to the carrier 3. Therefore, the course change at the branching section 11 can be performed smoothly.

(8) Each linear motor mounted on each bogie 2 has an independent inverter 14a-14
Since it is controlled by d, the rotational moments of the front and rear bogies 2 can be independently and finely controlled, the course can be changed smoothly, and unnecessary energy consumption can be reduced. For example, the detected part 12 from the sensor 13
When the detection signal is input, the control device 15 does not control the primary motors 8 and 9 of the left and right linear motors of the front and rear bogies 2 at the same time so that the thrusts of the primary movers 8 and 9 have a difference. Is controlled so that there is a difference between the thrusts of the primary movers 8 and 9 of the left and right linear motors immediately before the vehicle enters the branch path 11a. In this case, the traveling distance of the traveling wheel 4 of the bogie 2 on the rear side while sliding in contact with the guide groove 7 while being steered in the turning direction is shortened, and wasteful energy consumption is reduced.

(Second Embodiment) Next, a second embodiment will be described with reference to FIGS. In this embodiment, a linear motor for propulsion of the carrier 1, that is, a linear motor that applies a thrust in a direction orthogonal to the axle of the bogie 2, and a linear motor for imparting yaw force, that is, a linear motor that is parallel to the axle of the bogie 2. This embodiment is greatly different from the above-described embodiment in that a linear motor for applying thrust is provided exclusively. The same parts as those of the above-described embodiment are denoted by the same reference numerals, and detailed description thereof will be omitted. The illustration of the support shaft 2a and the guide wheel 4a is omitted.

As shown in FIGS. 6 and 7, the bogie 2
Is equipped with a primary mover 16 of a linear motor for propulsion and a primary mover 17 of a linear motor for applying a yaw force. The primary mover 16 for propulsion is equipped so that its center is located on the center line in the width direction of the bogie 2, and the primary mover 17 for imparting yaw force has its center in the width direction of the bogie 2. It is equipped so that it is located on the center line and in front of the vertical plane including the axle.

The supply current of the primary mover 16 for propulsion is controlled by a common inverter 18, and the primary mover 17 for applying yaw force is controlled by a separate inverter 19.
The supply current is controlled by a and 19b.

Next, the operation of the transport vehicle 1 configured as described above will be described. When a current is supplied to the primary mover 16 for propulsion, a thrust is generated in the primary mover 16 in a direction perpendicular to the axle. When a current is supplied to the primary side mover 17, a thrust (yaw force) in a direction parallel to the axle is generated on the primary side mover 17, and a turning force acts on the bogie 2 by the yaw force. When a thrust toward the left in the traveling direction is generated on the primary movable element 17, a turning force in a counterclockwise direction (counterclockwise) acts on the bogie 2, and when a thrust toward the right in the traveling direction is generated on the primary movable element 17. A clockwise (clockwise) turning force acts on the bogie 2. Bogie 2
When the center of the primary mover 17 is disposed on a vertical plane including the axle, the yaw force does not act as a force for turning the bogie 2 when the center is disposed on a vertical plane including the axle. The farther the center of the primary mover 17 is from the vertical plane including the axle, the larger the turning force becomes, even if the thrust is the same.

In the transport vehicle 1 of this embodiment, when the transport vehicle 1 travels on a portion other than the branch portion 11 of the travel route 6, the control device 15 supplies the electric current to the two primary movable elements 16 via the inverter 18. Supply. Then, the transport vehicle 1 moves along the guide groove 7 at a speed corresponding to the magnitude of the current.

If it is not necessary to change the course when the transport vehicle 1 passes through the branching section 11, the control device 15 supplies a current to both the primary movable elements 16 via the inverter 18 as before, and the yaw No current is supplied to both primary movable elements 17 for applying force. As a result, the carrier 1 travels straight through the branching section 11. When traveling straight through the branch portion 11, a current that slightly generates a thrust toward the side opposite to the branch path 11a may be supplied to the two primary movers 17 for applying the yaw force.

When the course is to be changed at the branching section 11, the control device 15 reduces the amount of current supplied to the two primary movable elements 16 to reduce the traveling speed. Further, a current is supplied to the two primary movable elements 17 for applying the yaw force through the inverters 19a and 19b so as to apply the yaw force to the branch path 11a. As a result, each bogie 2 enters the branch portion 11 while receiving a thrust that curves toward the branch road 11a. And the running wheel 4 is a branch road 1
When the bogie 2 is rotated with respect to the carrier 3 so that the running wheel 4 rolls along the curved guide groove 7 when the vehicle 1 moves to a position corresponding to the curved guide groove 7 on the 1a side, the carrier 1 The vehicle travels with the course changed to the branch road 11a side. After the traveling wheel 4 of each bogie 2 passes through the branch portion 11, the power supply to both primary movers 17 is stopped. In addition, the amount of current supplied to both primary movers 16 is increased, and the traveling speed is increased.

This embodiment has the following effects in addition to the effects similar to (1), (3), (5), (7) and (8) of the above-described embodiment. (9) Since the primary mover 17 for the dedicated linear motor for applying the yaw force to the bogie 2 is provided, the turning force can be efficiently applied to the bogie 2 with a small thrust. In addition, the turning force can be increased by separating the installation position of the primary mover 17 from the vertical plane including the axle.

(10) Since the bogie 2 is provided with one primary mover 16 for applying thrust for propulsion, as shown in FIG. 8A, two primary movers 8, 9 are provided. , The thrust is greater than that of the first embodiment in which are provided in parallel. This is because the maximum width of the primary mover is determined by the tread of the traveling wheel 4, and when the two primary movers 8, 9 are juxtaposed, the coil ends 8b, The area occupied by 9b is almost double the area occupied by the coil end 16b when one primary mover 16 for propulsion is provided, and the area of the cores 8a and 9a is reduced accordingly. When one primary mover 16 is provided, the area occupied by the coil end 16b is reduced, and the area of the core 16a can be increased accordingly, and the thrust increases.

(11) Since the guide wheel 4a of the transport vehicle 1 rolls along the guide groove 7 as a guide, the branch portion 11
In this case, the path of the transport vehicle 1 is controlled only by controlling the bogie 2 to apply a turning force to the branch road 11a side without controlling the thrust of the primary mover 17 to be exactly a predetermined value. Can be changed to the branch road 11a side.

(Third Embodiment) Next, a third embodiment will be described with reference to FIGS. 9 (a) and 9 (b). This embodiment is different from the second embodiment in that each bogie 2 is provided with two yaw force applying linear motors. The same parts as those in the second embodiment are denoted by the same reference numerals, and detailed description is omitted. FIG. 9 (b)
The illustration of the support shaft 2a and the guide wheel 4a is omitted.

A primary mover 16 for propulsion is disposed on each bogie 2 at a position corresponding to the axle, and a pair of primary movers 17a, 17 for applying a yaw force are provided at symmetrical positions before and after the primary mover.
b is provided. The two primary movers 16 are controlled via a common inverter 18, and each primary mover 17a,
17b is controlled via independent inverters 19a and 19b, respectively. That is, a total of five inverters are provided.

In this embodiment, when the course is required to be changed at the branch portion 11, control is performed so that the pair of primary movable elements 17a and 17b disposed on each bogie 2 exerts thrusts in opposite directions. Is done. Therefore, each bogie 2
The center of the axis when turning can be determined,
The magnitude of the rotational moment is twice that of the second embodiment at the same supply current amount.

The transport vehicle 1 stops at the station ST arranged at a predetermined position and transfers the load.
Since there is a margin between the transport wheel 1 and the outer circumference of the guide wheel 4a, the stop position of the transport vehicle 1 relative to the station ST varies in the width direction of the transport vehicle 1. It is preferable that there is no variation in the stop position for transferring the load to and from the station ST. From the point at which the carrier 1 approaches the station ST by a predetermined distance, all the primary movable elements 17a and 17b are moved in the same direction (for example,
When the transport vehicle 1 is caused to travel by the thrust of the primary mover 16 while controlling the thrust to the thrust to the side (where the station ST is present), as shown in FIG. , The guide wheel 4a on one side (the guide wheel 4a on the left side in the traveling direction in the drawing) comes into contact with one wall surface of the guide groove 7 before traveling.
As a result, the variation in the stop position in the width direction in the station ST is reduced. A gap is provided between the side surface of each running wheel 4 and the wall surface of the guide groove 7.

This embodiment has the following effects in addition to the effects similar to those of the second embodiment. (12) Each bogie 2 is provided with a pair of primary movers 17a and 17b for applying a yaw force, which are driven so as to exert thrusts in opposite directions when changing course. Therefore,
The center of the shaft when the bogie 2 turns can be determined, and the rotational moment can be increased.

(13) The pair of primary movers 17a and 17b for applying the yaw force travel to the stop position while traveling in the same direction while driving to generate the same magnitude of thrust. Variations in the width direction of the transport vehicle 1 at the stop position can be eliminated.

(Fourth Embodiment) Next, a fourth embodiment will be described with reference to FIGS. This embodiment is different from the second embodiment in that the current supply to each of the primary movers 16 and 17 is controlled by one inverter. The same parts as those in the second embodiment are denoted by the same reference numerals, and detailed description is omitted. The support shaft 2a and the guide wheel 4
a is omitted.

In this embodiment, the inverters 19a and 19b for driving the primary mover 17 for applying the yaw force are omitted, and each primary mover 17 is replaced with the primary mover 16 for propulsion.
Contactor 2 for controlling inverter 18
0 and 21 are connected.

If the branch path 11a constituting the branch portion 11 is always on the same side (for example, the left side in the traveling direction of the transport vehicle 1),
Since each primary mover 17 only needs to apply a yaw force to the left in the traveling direction in the excited state, the magnet contactors 20 and 21 may be configured to simply turn on and off the current from the inverter 18.

When the traveling route 6 includes both the branch portion 11 having the branch road 11a on the left side and the branch portion 11 having the branch road 11a on the right side, each magnet contactor 2
As shown in FIG. 11, two magnet contactors MC1 and MC2 having different connection methods of three-phase wiring as 0 and 21.
Use the one equipped with 2. Then, the turning direction of the bogie 2 can be selected at the branching section 11 depending on which of the magnet contactors MC1 and MC2 is turned on (excited). Although the wiring connecting the inverter and the primary-side mover is three-phase in other than FIG. 11, it is omitted and shown by one line.

In this embodiment, during traveling other than when a course change is required at the branching section 11, the respective magnet contactors 20, 21 are held in the off state, and the bogie 2
The carrier 1 travels in a state in which only the thrust of the primary mover 16 acts on the vehicle. When the course is required to be changed at the branching section 11, the primary contactor 16 for propulsion is excited while the magnet contactors 20, 21 are kept on while passing through the branching section 11, and the primary contactor 16 is excited. The side mover 17 is held in a state in which a yaw force is applied to the branch path 11a.
As a result, the bogie 2 receives the turning force toward the branch road 11a, and the course of the carrier 1 is changed.

Therefore, in this embodiment, in addition to having the same effects as those of the second embodiment, the inverters 19a, 19a for controlling the excitation and demagnetization of the primary movable element 17 for applying the yaw force are provided.
Since the magnet contactors 20 and 21 are used instead of b, the manufacturing cost is reduced.

(Fifth Embodiment) Next, a fifth embodiment will be described with reference to FIGS. This embodiment differs from the second embodiment in the arrangement of the linear motor for propulsion and the linear motor for imparting yaw force mounted on the two front and rear bogies 2 in the configuration of the carrier 1. Further, the configuration of the traveling route 6 is different from each of the above embodiments. The same parts as those in the second embodiment are denoted by the same reference numerals, and detailed description is omitted. In addition, illustration of the support shaft 2a, the guide wheel 4a, the rotary joint 5, the sensor 13, and the like is omitted.

As shown in FIG. 12, of the two front and rear bogies 2 supporting the carrier 3, the front bogie 2
In FIG. 12, a primary mover 17 constituting a linear motor for imparting a yaw force is provided on the front side with respect to the turning center of the bogie 2 (FIG.
, The right side of the vehicle), that is, on the front side of the axle of the traveling wheel 4. The primary mover 17 mounted on the rear bogie 2 is disposed on the rear side with respect to the turning center of the bogie 2.

The traveling path 6 is constituted by a stator unit 41 formed in the same size as the grating unit 40 as a square floor plate. The stator unit 41 includes the secondary stator 10 and the guide groove 7. Two traveling routes 6 are formed and connected via the branch portion 11. The shape of the branch portion 11 is formed point-symmetrically. The stator unit 41 is formed so that there is a slight gap between the adjacent grating unit 40 and the stator unit 41 in order to facilitate installation and replacement, and the adjacent secondary stator 10 (secondary side) is formed. The conductors are not electrically connected to each other.

In this embodiment, the primary movers 16, 1
The eddy current generated in the secondary stator 10 when electricity is supplied to the stator 7 flows when the primary movers 16 and 17 pass the position facing the seam of the stator unit 41 due to the interruption of the flow path. Disappears. As a result, the primary mover 16,
The thrust acting on 17 decreases.

Therefore, the primary mover 1 for applying the yaw force is provided.
In the case where the configuration of the second embodiment is adopted in which all of the wheels 7 are arranged on the front side with respect to the turning center of the bogie 2, the carrier 1 moves forward in the direction of arrow A as shown in FIG. After the primary mover 17 for applying the yaw force passes through the joint, the traveling wheel 4 approaches the entrance of the branch road 11a. Therefore, when the traveling wheel 4 is steered, the yaw force of the primary mover 17 for imparting the yaw force does not decrease, and the bogie 2 can smoothly enter the branch road 11a. However, when the transport vehicle 1 moves backward in the direction of arrow B, when the traveling wheel 4 approaches the entrance of the branch road 11a, the primary movable element 17 for applying the yaw force passes through a position facing the seam. Becomes Therefore, the yaw force is reduced, and the bogie 2 may not be able to smoothly enter the branch road 11a.

However, in this embodiment, as shown in FIG. 12, when the traveling wheel 4 of the bogie 2 which is on the front side in the traveling direction approaches the entrance of the branch road 11a, the yaw is made during both forward and backward travels. The primary mover 17 for applying the force has completed the passage at the position facing the joint, and the bogie 2 can smoothly enter the branch road 11a without decreasing the yaw force. The traveling wheel 4 of the bogie 2 on the rear side in the traveling direction
When the vehicle approaches the entrance of the branch path 11a, the primary mover 17 for applying the yaw force passes through a position facing the joint, and the yaw force decreases. However, since the traveling direction of the carrier 1 has already been changed to the branch road 11a side, the bogie 2 that subsequently enters the branch road 11a has a smaller yaw than the bogie 2 that enters the branch road 11a first. The vehicle can be turned by force and smoothly enters the branch road 11a.

In this embodiment, the above (1), (3),
In addition to the same effects as (5) and (7) to (11), the following effects are provided. (14) Regardless of whether the transport vehicle 1 is moving forward or backward, it is possible to smoothly enter the branch road 11a when changing the course at the branch portion 11. As a result, the transport route of the transport vehicle 1 can include a reciprocating route that passes through the branch portion 11, and the degree of freedom of the transport route is increased.

(15) Since the stator unit 41 constituting the traveling route 6 has the same shape as the grating unit 40, when the layout of the traveling route 6 is changed, the stator unit 41 is replaced with another grating unit 40 and the stator unit 41 is replaced. By changing the laying position of the unit 41, the layout can be easily changed.

The embodiment is not limited to the above, and may be embodied as follows, for example. In a configuration in which a pair of left and right primary movers 8 and 9 are provided on each bogie 2 as in the first embodiment, FIG.
, Two primary movers 8 disposed on the left side of the carrier 1 are simultaneously controlled by one inverter 22a, and the right primary mover 9 is simultaneously controlled by one inverter 22b. I do. In this configuration, both the inverters 22a, 22a, except when traveling to change the course to the branch road 11a side,
22b is controlled to supply the same amount of current to each of the primary movers 8,9. When the path is changed to the branch path 11a by the branch unit 11, the two inverters 22a, 22a are controlled so that the amount of current to the primary mover on the branch path 11a side is reduced.
b is controlled. In this case, the number of inverters is １ ／
And the manufacturing cost is reduced.

In the configuration in which the primary mover 17 for applying the yaw force is provided on each bogie 2 as in the second embodiment, as shown in FIG. 15, each bogie 2 is disposed on each bogie 2. The primary mover 17 may be controlled by one inverter 23. In this case, the number of inverters for controlling the primary mover 17 is halved, and the manufacturing cost is reduced.

As in the fourth embodiment, the drive (excitation) of the primary movable element 17 for applying the yaw force is controlled by the inverter 18 for controlling the primary movable element 16 for propulsion and the magnet contactors 20 and 21. In the configuration in which the control is performed by using a single magnetic contactor, one magnet contactor may be used. That is,
As shown in FIG. 16, both primary movers 17 are connected to an inverter 18 via a common magnet contactor 24. In this case, the manufacturing cost is lower than in the fourth embodiment.

In the first embodiment, each pair of primary movers 8, 9 may be controlled by one inverter and a pair of magnet contactors MC1, MC2 shown in FIG. That is, one primary mover 8 is directly connected to the inverter, and the other primary mover 9 is connected to the inverter via a pair of magnet contactors MC1 and MC2. When no turning force is applied to the bogie 2, only one of the magnet contactors MC 1 is excited to control the primary movers 8 and 9 to apply a thrust in the same direction. When a turning force is applied to the bogie 2, the other magnet contactor MC
2 is excited so that both primary movers 8, 9 exert a thrust in opposite directions. In this case, since the thrust does not act on the bogie 2, it is necessary to control the switching timing of the magnet contactors MC <b> 1 and MC <b> 2 in the front and rear bogies 2 when the carrier 1 approaches the branch. .

In the above configuration, only the magnet contactor MC1 may be provided, and the turning force may be applied to the bogie 2 only by turning off the magnet contactor MC1. In this case, the action of thrust can be maintained without shifting the switching timing of the magnet contactor between the front and rear bogies 2.

When the transport vehicle 1 travels at least in the branching section 11 only when traveling forward, there is no need to provide a plurality of linear motors so that each bogie 2 can be provided with a propulsive force and a turning force. Alternatively, the plurality of linear motors may be provided only on the front bogie 2. In this case, the number of linear motors is halved, and the manufacturing cost is reduced.

Instead of providing the detected part 12 and the sensor 13 as means for detecting that the transport vehicle 1 has approached the branch portion 11, the number of rotations of the traveling wheel 4 of the transport vehicle 1 is detected, and The travel distance may be calculated from the radius of 4 and the number of rotations, and the position of the branch portion 11 may be recognized based on the travel distance from the reference position.

The transport vehicle 1 is not limited to the configuration in which the loading platform 3 is supported by the two front and rear bogies 2 as shown in FIG.
As shown in (a), the front side of the loading platform 3 is supported by the bogie 2, and the rear side of the loading platform 3 is supported by running wheels 25 that are pivotally supported on the loading platform 3 about a vertical axis. It may be a car. Also, as shown in FIG. 17B, the front side of the bed 3 is supported by the bogie 2, and the rear side of the bed 3 cannot turn with respect to the bed 3 and has the same interval (tread) as the traveling wheels 4.
It is good also as a structure supported by the running wheel 26 equipped with.

As shown in FIG. 18, traveling wheels 26 are provided at the four corners of the carrier 3 so as to be able to turn,
Guide wheels 29, 30 rotatably mounted on support shafts 27, 28 provided to extend vertically in the center of the bottom on both front and rear sides of the bed 3 are provided. One guide groove 31 for guiding the guide wheels 29 and 30 is provided on the traveling route 6 side. A primary mover 16 for propulsion and a primary mover 17 for applying yaw force are provided at the bottom of the bed 3. Also in this case, the course change is smoothly performed by applying a yaw force in the predetermined direction to the primary movable element 17 at the branch portion 11.

In the configuration in which the guide wheel 4a moves along a pair of guide grooves 7 common to the traveling wheel 4, the guide wheel 4a
Instead of the configuration in which a moves in contact with the inside of the guide groove 7,
The guide wheel 4a may be configured to contact the outside of the guide groove 7. In this case, it becomes easy to dispose the traveling wheel 4 near the center of the guide groove 7, and when traveling on a curve, the outer traveling wheel 4 comes off the wheel or enters the branch road 11 a at the branch portion 11. There is no risk of trouble.

Instead of supplying power required for driving the carrier 1 from a battery, a trolley wire is provided along the traveling route 6 and a contact is provided on the carrier 1 side to supply power from the trolley wire. Or power may be supplied by a non-contact power supply from a power supply line arranged along the traveling route 6.

The guide groove 7 for guiding the guide wheel 4a is not always necessary, and the carrier 1 travels on a flat surface,
The secondary stator 10 of the linear motor may be laid so as to form a predetermined traveling path 6, and the transport vehicle 1 may move along the traveling path. Further, the entire traveling surface of the transport vehicle 1 is formed of a metal plate serving as the secondary stator 10 of the linear induction motor, travels while always checking the position of the transport vehicle 1, and changes the traveling direction at a desired point. It may be configured.

The guide for guiding the transport vehicle 1 so as to travel along a predetermined route is not limited to the guide groove 7.
A guide wall provided along the side of the transport vehicle 1 along the traveling route may be used. Also, without providing the guide wheel 4a,
The traveling wheel 4 is engaged with the guide groove 7 to prevent the vehicle from deviating from a predetermined route, or the traveling wheel 4 is shaped like a wheel of a railway vehicle. It may be configured to roll.

A linear motor other than a linear induction motor, for example, a linear pulse motor or a linear synchronous motor may be used as the linear motor. In this case, it is necessary to provide a guide wheel 4a and a guide groove 7 (guide) for guiding the guide wheel 4a, or to make the shape of the running wheel 4 similar to the shape of the wheel of a railway vehicle and to run on a rail.
When the course is changed to the side of the branch path 11a at the branching section 11, accurate synchronous driving cannot be performed. However, when the guide wheel 4a is provided,
Since the guide wheel 4a rolls along the guide groove 7, the course is changed in a coasting state in which a certain amount of turning force is applied.
Also, when the running wheels roll on the rails, the course is changed in a coasting state in which a certain amount of turning force is applied.

The technical ideas (inventions) other than those described in the claims which can be grasped from the embodiment will be described below together with their effects. (1) In the invention according to claim 7, the guide is provided so as to guide guide wheels provided on the left and right sides of the transport vehicle. In this case, as compared with a guide provided at a position corresponding to the center in the width direction of the transport vehicle, the degree of freedom of the installation position of the primary mover of the linear motor mounted on the transport vehicle is increased.

(2) In the invention according to claim 4,
The plurality of linear motors mounted on the bogies are the linear motor for propulsion and the linear motor for applying yaw force according to claim 2, wherein the primary movable element of the linear motor for applying yaw force is a linear motor for propulsion. It is connected to the inverter that controls the motor via a magnet contactor. In this case, the manufacturing cost is reduced as compared with a configuration in which the linear motor for applying the yaw force is controlled by the inverter.

[0090]

As described in detail above, according to the first to eighth aspects of the present invention, a device for switching the route of a carrier is not provided on the traveling route side of the carrier, and You can change course.

According to the second aspect of the present invention, since the primary movable element of the linear motor for applying the yaw force is provided, the turning force can be efficiently applied with a small thrust. Further, the turning force can be increased by moving the installation position of the primary mover for applying the yaw force away from the vertical plane including the axle.

According to the third aspect of the present invention, since a plurality of linear motors are mounted on the bogie, the thrust of the linear motors is efficiently converted into turning force. According to the invention as set forth in claim 4, by independently controlling each linear motor mounted on each bogie bogie, the rotational moments of the front and rear bogie bogies can be independently and finely controlled, and the course change can be smoothly performed. And energy consumption can be reduced.

According to the fifth aspect of the present invention, the traveling route is constituted by the stator unit having the same shape as the grating unit constituting the floor, and even if the joint of the stator unit is arranged at the branch portion, the transporting route is formed. Regardless of whether the vehicle is moving forward or backward, the vehicle can smoothly change its course to the branch road at the branch.

According to the sixth aspect of the present invention, since the linear induction motor is used as the linear motor, a metal plate can be used as the secondary stator, and it is necessary to provide a special structure even at the branch portion. Configuration becomes simpler.

According to the seventh aspect of the present invention, since the transport vehicle travels along the guide provided along the predetermined path, the linear motor is operated so that the turning force acts on the branch road at the branch. , The path of the carrier can be changed to the branch road side.

According to the eighth aspect of the present invention, the number of inverters required for controlling the linear motor is reduced, and the manufacturing cost can be reduced.

[Brief description of the drawings]

FIGS. 1A and 1B show a first embodiment, wherein FIG. 1A is a schematic side view of a carrier, FIG. 1B is a schematic plan view of the carrier, and FIG.

FIG. 2 is a schematic perspective view of a cart.

FIG. 3 is a partial sectional view of a traveling route.

FIG. 4 is a schematic plan view illustrating an operation.

FIG. 5 is a schematic plan view illustrating a steering operation of the linear motor.

FIG. 6 is a schematic diagram showing an arrangement of a linear motor according to a second embodiment.

FIG. 7 is a schematic perspective view of a cart.

FIG. 8 is a schematic plan view illustrating a difference in the area of the core of the linear motor.

9A and 9B show a third embodiment, in which FIG. 9A is a schematic plan view illustrating an operation, and FIG. 9B is a schematic diagram showing an arrangement of a linear motor.

FIG. 10 is a schematic diagram showing an arrangement of a linear motor according to a fourth embodiment.

FIG. 11 is a circuit diagram of a configuration capable of changing the direction of the yaw force.

FIG. 12 is a schematic plan view illustrating the operation of the fifth embodiment.

FIG. 13 is a schematic diagram illustrating an operation when the arrangement of the linear motor is changed.

FIG. 14 is a schematic diagram illustrating a connection state of an inverter according to another embodiment.

FIG. 15 is a schematic diagram showing a connection state of an inverter according to another embodiment.

FIG. 16 is a schematic diagram illustrating a connection state of an inverter according to another embodiment.

FIG. 17 is a schematic plan view of a carrier according to another embodiment.

FIG. 18 is a schematic plan view of a carrier according to another embodiment.

FIG. 19 is a schematic plan view of a conventional route switching device.

FIG. 20 is a schematic plan view of another conventional course switching device.

FIG. 21 is a schematic plan view of another conventional path switching device.

[Explanation of symbols]

1 ... transport vehicle, 2 ... bogie bogie, 3 ... carrier as body,
4, 26: running wheel, 6: running route, 7, 31: guide groove as guide, 8, 9: primary movable element, 14a to 14
d, 18, 19a, 19b, 22a, 22b, 23 ... Inverter, 16 ... Primary mover for propulsion, 17, 17
a, 17b: Primary mover for applying yaw force.

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Hiroto Hayashi 2-1-1 Toyota-cho, Kariya-shi, Aichi Prefecture Inside Toyota Industries Corporation (72) Inventor Taiji Taiji 2-1-1, Toyota-cho, Kariya-shi, Aichi Prefecture F-term in Toyota Industries Corporation (reference)

Claims (8)

[Claims] 1. A linear motor drive carrier equipped with a primary mover of a linear motor as a drive source, comprising at least a pair of right and left traveling wheels supported to be able to turn around a vertical axis with respect to a vehicle body. A transport vehicle having at least one traveling wheel behind the traveling wheels is provided with at least two linear motors that can be independently driven and controlled so that the thrust direction is the axle of the pair of left and right traveling wheels in the front-rear direction of the vehicle body. The right and left linear motors can be controlled independently of each other so as to be in a direction perpendicular to the axle in a state where they are arranged at a position orthogonal to the axle. A linear motor driven carrier equipped with control means for controlling the traveling direction of the carrier by changing the thrust. 2. A linear motor driven transport vehicle equipped with a primary mover of a linear motor as a drive source, comprising at least a pair of left and right traveling wheels supported to be able to turn around a vertical axis with respect to a vehicle body. A vehicle provided with at least one traveling wheel behind the traveling wheel, the thrust direction of which is set to the axle in a state where the axles of the pair of left and right traveling wheels are arranged at positions orthogonal to the front-rear direction of the vehicle body. A propulsion linear motor having a direction orthogonal to the direction thereof, and a yaw force applying linear motor having a direction of thrust substantially perpendicular to the direction of the thrust of the linear motor for propulsion are provided, and the linear motor for propulsion and the yaw A control device capable of independently controlling the force applying linear motors and having control means for controlling the yaw force applying linear motor to change the traveling direction of the carrier vehicle. Amota drive transport vehicle. 3. The bogie according to claim 1, wherein the linear motor is rotatably connected to the vehicle body to support the vehicle body, and is provided on a bogie having a pair of running wheels. Linear motor driven carrier. 4. The linear motor driven transport vehicle according to claim 3, wherein the vehicle body is supported by two front and rear bogies, and each bogie has a plurality of linear motors. 5. The vehicle body is connected to the vehicle body so as to be rotatable relative to the vehicle body, supports the vehicle body, and is supported by two front and rear bogies provided with a pair of running wheels. A linear motor for propulsion and a linear motor for imparting yaw force are provided, and the linear motor for imparting yaw force provided on the front bogie is disposed on the front side with respect to the center of rotation of the bogie, and the bogie on the rear side is provided. The linear motor driven transport vehicle according to claim 2, wherein the yaw force imparting linear motor mounted on the bogie is disposed on a rear side with respect to a turning center of the bogie. 6. The linear motor driven transport vehicle according to claim 1, wherein a linear induction motor is used as the linear motor. 7. The linear motor-driven transport vehicle according to claim 1, wherein the transport vehicle travels along a guide provided along a predetermined route. 8. The control means controls a plurality of linear motors as one.
The linear motor driven transport vehicle according to any one of claims 1 to 7, wherein the transport vehicle is controlled via one of the inverters.