JP2004217409A - Carrying device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide stable electric power regardless of a layout of a track by flexibly varying a position of a part mounted on a moving body. <P>SOLUTION: Since the moving body 1 is formed so that a bogie frame 2 has a bogie structure to the moving body 1, even if the moving body 1 travels on a circular track 3, a guide roller 4 does not cause a side slip. Thus, when a power supply transformer is arranged in a position of the bogie frame 2 of the bogie structure, even if the moving body 1 travels on a curved part and a straight line part of the track 3, the relative positional relationship between the moving body 1 side power supply transformer and a track 3 side primary power supply line becomes constant. Thus, the positional relationship between the primary side power supply line and the power supply transformer is constant regardless of the layout of the track 3 so that the power supply transformer can supply always stable electric power to a driving mechanism of the moving body 1. <P>COPYRIGHT: (C)2004,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a transport device that is a moving body that travels along a power supply line, and more particularly to a transport device that travels by acquiring its own power consumption by non-contact power supply or contact power supply from a power supply line.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, in hospitals, warehouses, factories, and the like, transport systems that transport a transport vehicle along a power supply line and transport an object (load) by the transport vehicle have been widely used. For example, such a transport system is used as a transport vehicle for transporting tableware and medical tools in hospitals and the like, used as a transport vehicle for transporting materials in warehouses and the like, or a liquid crystal substrate or semiconductor in a factory or the like. It is used as a wafer transfer robot. Hereinafter, such moving objects such as a transport vehicle and a transport robot may be collectively referred to as a transport device. Such a transport device is equipped with, for example, a travel motor such as a linear motor or a rotary motor, and the transport device travels along a power supply line by driving the travel motor. In addition, as a power supply system that supplies power to the traveling motor, a contactless power supply system that supplies power in a non-contact manner using a power supply transformer, and a contact that moves with the carrier contacts the trolley wire on the track side to supply power. A trolley power supply method (contact power supply method) for supplying power is widely used. In particular, in the non-contact power supply method, a power supply transformer is provided on the side of the transfer device, and a secondary winding is arranged near the primary-side power supply line, so that the secondary winding is induced and induced by a so-called transformer electromagnetic induction action. Electric power is generated and supplied wirelessly.
[0003]
That is, the moving body that is the transport device obtains power by non-contact power supply or trolley power supply, and each specific example will be described below with reference to the drawings. First, a non-contact power supply method will be described. FIG. 10 is a cross-sectional structural view of a power supply transformer for supplying power to a transport device by a non-contact power supply method and a peripheral portion thereof. In FIG. 10, the power supply transformer 50 is written so as to move in the direction of the front and back of the paper. The primary feed line 51 of the reciprocating path is supported by a feed line stay 54 fixed to a track side wall 55a laid along a moving path (track) of a moving body (not shown). A high-frequency current generated by an inverter circuit (not shown) or the like flows through the primary power supply line 51.
[0004]
On the other hand, the power supply transformer 50 that travels with the moving body has a secondary winding 52 wound around an E-shaped magnetic core 53 and is magnetically coupled to the primary power supply line 51. However, since the secondary side has a large leakage inductance on the secondary side, the secondary winding is connected to a resonance capacitor (not shown) in order to compensate for the leakage inductance. Forming a circuit. The resonance point of the resonance circuit is set so that the frequency of the high-frequency current flowing through the primary feed line 51 becomes the resonance frequency. Therefore, the power of the primary power supply line 51 is transmitted to the secondary winding 52 in a non-contact manner with high conversion efficiency. The power transmitted to the secondary winding 52 is rectified by a rectification unit (not shown), and then controlled to a constant voltage by a constant voltage unit, supplied to a linear motor or a rotary motor, and travels the moving body. The electric power controlled to a constant voltage is also supplied to a control circuit such as a CPU for controlling a linear motor or a rotary motor. Therefore, the power supply transformer 50 as a pickup coil is moved to the primary power supply line 51 side so that the primary power supply line 51 is disposed deep in the concave portion of the E-shaped magnetic core 53, and the primary power supply line 51 is connected to the primary power supply line 51. It is desirable to maximize the magnetic coupling with the secondary winding 52.
[0005]
Next, an example of a moving body driven by supplying power to a linear motor or a rotary motor by a non-contact power supply system will be described. FIG. 11 is a cross-sectional view of an overhead traveling type moving body that drives a linear motor by a non-contact power supply method. FIG. 12 is a cross-sectional view of a ground-traveling moving body that drives a linear motor by a non-contact power supply method. Both figures are drawn so that the moving body moves in the direction of the front and back of the paper. Hereinafter, when simply expressed as a linear motor, it refers to a linear DC motor and a linear induction motor.
[0006]
In FIG. 11, the frame of the track 55 is laid in the direction of the front and back of the paper, and the upper surface of the frame is fixed to the ceiling (not shown). When a high-frequency current flows through the primary power supply line 51, power is supplied to the linear motor 56 from a secondary winding (not shown) of the power supply transformer 50, and a running force acts between the linear motor 56 and the permanent magnet 61. As a result, the linear motor 56 causes the moving body to travel in the front and back directions on the paper together with the power supply transformer 50. At this time, the power supply transformer 50 and the moving body travel on the track 55 by the traveling roller 58, and transport the transported object mounted on the transport vehicle 59. A guide roller 57 fixed to the moving body guides both sides along the side wall of the track 55 so that the power supply transformer 50 and the moving body do not sway during traveling. This prevents the primary power supply line 51 held by the power supply line stay 54 from being displaced at the deep position of the E-shaped groove of the power supply transformer 50.
[0007]
FIG. 12 shows a taxiing type mobile body, in which the lower surface of the frame of the track 55 is laid on the ground (not shown) in the direction of the front and back of the paper. In this case, the power supply transformer 50 and the moving body are caused to travel by the traveling force acting between the linear motor 56 and the permanent magnet 61, and the articles on the upper carrier 59 are conveyed. Other operations are the same as those in the case of the overhead traveling type shown in FIG. Note that in FIGS. 11 and 12, the power supply transformer 50 can also serve as a communication transformer for so-called power line carrier communication that carries a communication signal through a power line, which is directly related to the present invention described below. Since it does not exist, its description is omitted.
[0008]
FIG. 13 is a cross-sectional view of an overhead traveling type moving body that drives a rotary motor by a non-contact power supply method. FIG. 14 is a cross-sectional view of a ground-traveling moving body that drives a rotary motor by a non-contact power supply method. In each of the figures, the operation of supplying power from the primary power supply line 51 to the rotary motor 60 via the power supply transformer 50 is the same as the case of driving the linear motor 56 in FIGS. In the case of traveling driving of the moving body by the rotary motor 60 in FIGS. 13 and 14, the rotation of the rotating motor 60 is transmitted to the moving body as a traveling force by a gear or the like instead of a direct drive like the linear motor 56. I have. Therefore, the other operations are basically the same as those in the case of the linear motor 56 in FIGS. 11 and 12, and the description of the operations is omitted.
[0009]
In general, two power supply transformers attached to the moving body are arranged before and after in the traveling direction of the moving body and on the left and right sides of the moving body. FIG. 15 is a structural diagram of a moving body showing a mounted state of a power feeding transformer in a non-contact power feeding type moving body. As shown in FIG. 15, two power supply transformers 50a and 50b are provided before and after in the traveling direction of the moving body 62. This is because the traveling power of the moving body 62 is insufficient with one power supply transformer. In the case of the moving body 62 having the branching mechanism, it is not known which of the left and right sides of the moving body 62 has the primary power supply line 51. Therefore, in the case of the non-contact power supply system, usually, a total of four power supply transformers, that is, power supply transformers 50a and 50b on the right side in the traveling direction and power supply transformers 50c and 50d on the left side in the traveling direction, are provided for one moving body 62. Have been. Of course, the primary power supply line 51 is arranged on the right side when using the power supply transformers 50a and 50b on the right side in the traveling direction, and the primary power supply line is arranged on the left side when using the power supply transformers 50c and 50d on the left side in the traveling direction. ing. Since the communication is performed by the power line superimposed communication, each of the power supply transformers 50a, 50b, 50c, and 50d also serves as a communication transformer. Alternatively, a communication transformer (not shown) is separately provided.
[0010]
Next, an example of a moving body driven by supplying electric power to a rotary motor by a trolley power supply system will be described. FIG. 16 is a cross-sectional view of a taxiing type mobile unit that drives a rotary motor by a trolley power supply system. In FIG. 16, a trolley wire 63 laid along the side wall of the track 55, which is a moving path of the moving body, is slidable while a contact 64 attached to the moving body is in contact with the trolley wire 63. Since the contact 64 is in contact with the trolley wire 63 at a predetermined pressure by the pressing force of the pressing mechanism 65 such as a spring, stable electric power is always supplied to the rotary motor 60. The traveling roller 58 travels on the track 55 by the rotation drive of the rotary motor 60 and the deceleration drive by the gear, and conveys the conveyed goods of the conveyance cart 59. The guide roller 57 prevents the mobile body from rolling, so that the trolley wire 63 and the contact 64 always contact with a constant area and a constant pressure during traveling. Even in the case of the trolley-powered moving body of FIG. 16, in the case of a moving body having a branching mechanism, it is not known whether the trolley wire 63 is located on the left or right of the moving body. The contacts are arranged on the left and right of the moving body 62.
[0011]
[Patent Document 1]
JP-A-8-87435
[0012]
[Problems to be solved by the invention]
However, the conventional transport device (moving body) using the non-contact power supply method or the trolley power supply method as described above has various problems as described below.
[0013]
First, a problem in the case of a moving body using a non-contact power supply method will be described. In the non-contact power supply method, as described with reference to FIG. 10, the supplied power greatly changes depending on the relative position between the power supply transformer 50 and the primary power supply line 51. This is due to a change in the degree of magnetic coupling between the power supply transformer 50 and the primary power supply line 51. If the primary power supply line 51 is located deep inside the concave portion of the power supply transformer 50, the degree of magnetic coupling increases and the power conversion efficiency increases, so that the power supply also increases. However, when the primary power supply line 51 is separated from the concave portion of the power supply transformer 50, the degree of magnetic coupling is reduced and the power conversion efficiency is reduced, so that the supplied power is inevitably reduced.
[0014]
When the mobile body is driven by attaching the non-contact power supply transformer 50 as shown in FIG. 10, depending on the track layout of the mobile body, it may be necessary to pass not only a straight line part but also a curved part. FIG. 17 is a conceptual diagram showing an example of a relative position between a power supply transformer and a primary power supply line when a conventional moving body travels on a track in a non-contact power supply method. As shown in FIG. 17, when the moving body 62 passes through the linear portion of the track 55, the relative position between the power supply transformer 50b and the primary power supply line 51 on the right side in the drawing is in a normal positional relationship. However, where the moving body 62 passes through the curved portion of the track 55, the power supply transformer 50a on the left side in the figure moves in a direction away from the primary power supply line 51. Accordingly, the degree of magnetic coupling between the primary power supply line 51 and the power supply transformer 50a is reduced, and power supplied from the power supply transformer 50a to the moving body 62 is reduced, resulting in a shortage of power supply. That is, the moving body may not be able to pass through the curved portion due to insufficient driving power.
[0015]
FIG. 18 is a conceptual diagram showing another example of a relative position between a power supply transformer and a primary power supply line when a conventional moving body travels on a track in a non-contact power supply method. As shown in FIG. 18, depending on the layout curve of the track 55, the primary power supply line 51 may be too close to the power supply transformers 50a and 50b, contrary to the case of FIG. The power supply transformer 50b on the upper side in FIG. 18 and the power supply transformer 50a on the lower side in FIG. 18 are too close to the primary power supply line 51 in the curved portion, and the transformer edges 50b 'and 50a' of the power supply transformers 50b and 50a are primary power supply. There is a risk of contact with the electric wire 51.
[0016]
In order to avoid such a phenomenon, the height of the feeder stay (not shown) is changed so that the primary feeder 51 and the feeder transformers 50a and 50b do not physically interfere (that is, come into contact with each other). Structural changes, such as having to be done. Alternatively, it is necessary to change the attachment position of the power supply transformers 50a and 50b to a position where the primary power supply line 51 does not physically interfere with the power supply transformers 50a and 50b. However, when the mounting positions of the power supply transformers 50a and 50b are changed in this way, the primary power supply line 51 is far away from the power supply transformers 50a and 50b both in the linear portion and the curved portion of the track 55, and as a result, the primary power supply is performed. There is a problem that the degree of magnetic coupling between the electric wire 51 and the power supply transformers 50a and 50b is reduced, and power supply is reduced.
[0017]
Further, as described above, in the case of the non-contact power supply system, the resonance circuit is provided on the power supply transformer side, and the resonance point is adjusted to the current frequency of the primary power supply line by the inductance of the power supply transformer and the resonance capacitor. . Therefore, for example, as shown in FIG. 17, when the relative position between the metal track 55 and the power supply transformer 50a changes in the curved portion of the track 55, the inductance of the power supply transformer 50a also changes. However, since the resonance capacitor has a constant value, the resonance frequency shifts, and power cannot be transmitted from the primary power supply line 51 to the power supply transformer 50a at the maximum conversion efficiency. As a result, the power supply from the power supply transformer 50a The power will be reduced.
[0018]
The same applies to the case where power line superimposed communication is performed using the primary power supply line of the non-contact power supply system. For example, in FIG. 10, the communication transformer that is also used as the power supply transformer 50 (or separately disposed) is the primary power supply transformer. When moving away from the power supply line 51, the degree of magnetic coupling between the primary power supply line 51 and the communication transformer (that is, the power supply transformer 50) is reduced, and the communication quality is reduced.
[0019]
Next, problems in the case of a moving body using a trolley power supply system will be described. In the case of a trolley-powered moving body, the degree of contact between the trolley wire and the contact changes at the curved portion of the trajectory as compared to the straight portion. In particular, the relative distance between the trolley wire and the contact is large in a curved portion where the orbital radius of the moving body is convex, and it is necessary to bring the contact into contact with the trolley wire with a stronger pressing pressure than the straight portion. However, if such a strong pressing pressure is set, when the relative distance between the trolley wire and the contact becomes closer in a straight portion or a concave curved portion, the contact pressure between the trolley wire and the contact becomes smaller. It will be too high and will accelerate wear of the trolley wires and contacts.
[0020]
In order to avoid such a problem, if a mechanism for controlling the pressing pressure of the contact according to the layout state of the track is provided, the structure of the entire moving body becomes large, or a component for controlling the pressing pressure. There are problems such as an increase in points. Further, in order to keep the pressing pressure at the curved portion constant, the shape of the trolley wire must be changed between the curved portion and the straight portion, so that the equipment cost of the transport system increases. In addition, when the contact pressure is weakened or the contact between the trolley wire and the contact becomes poor due to the wear of the contact, the communication signal to be superimposed to carry the power line on the trolley wire should be sent and received. Inconveniences such as the inability to perform operations occur.
[0021]
Next, problems in a case where the moving body is driven by the linear DC motor will be described. FIG. 19 is a conceptual diagram showing a relative position between a linear DC motor and a permanent magnet when traveling on a curved portion of a track in a conventional moving body driven by a linear DC motor. As shown in FIG. 19, in a curved portion of the track 55, the positional relationship between the permanent magnet 61 attached to the track 55 and the linear DC motor 56 on the moving body side is shifted. The magnetic efficiency with the motor 56 is reduced. For this reason, the running driving force is reduced in the curved portion. Since the speed is slow in the curved portion, the load is usually heavier in the straight portion having the higher speed. However, in the worst case, the power required by the moving body is increased in the curved portion as compared with the straight portion, and the load may exceed the rated supply power, resulting in an overload and the transportation system being down. In FIG. 19, when the ground-side excitation coil is mounted or the ground-side plate is mounted instead of mounting the permanent magnet 61 on the track 55, the same problem as in the case of the permanent magnet 61 occurs.
[0022]
In the case of driving by a normal linear DC motor, the linear DC motor 56 is driven based on the magnetic pole position detected using the magnetic pole sensor 66. However, in the related art, the magnetic pole sensor 66 is arranged at the end of the linear DC motor 56 (that is, at the front or rear in the traveling direction of the moving body) as shown in FIG. Therefore, in the curved portion of the trajectory, as shown in the figure, the magnetic pole detected by the magnetic pole sensor 66 is different from the magnetic pole of the portion where the linear DC motor 56 actually exists. Therefore, at the curved portion of the trajectory, problems such as a decrease in the magnetic efficiency of the linear DC motor 56 occur.
[0023]
Next, problems in the case of driving by a linear induction motor will be described. Even when a ground-type primary linear induction motor is used, the aluminum or copper attached to the moving body is used as the primary coil in the curved portion of the track, as in the case of the linear DC motor shown in FIG. As a result, the magnetic efficiency of the primary coil deteriorates, the efficiency of the linear induction motor decreases, and the driving force of the moving body decreases. A similar problem occurs when an on-vehicle primary linear induction motor is used.
[0024]
Next, a problem when the moving body is driven by the rotary motor will be described. When a moving body is driven by a rotary motor as shown in FIGS. 13 and 14, a differential mechanism such as a passenger car is required in order to smoothly travel on a curved portion of a track, and as a result, the entire transport device is required. Structure becomes large. In particular, in the case of the moving body as shown in FIG. 13, the traveling roller 58 will come off the wheel unless the surface of the track 55 in contact with the traveling roller 58 is made wide. Therefore, problems such as an increase in the width of the track 55 and an increase in the installation location of the transport system occur.
[0025]
FIG. 20 is a conceptual diagram showing a side slip phenomenon of a traveling roller that occurs when traveling on a curved portion of a track in a conventional moving body driven by a rotary motor. As shown in FIG. 20, the running roller 58 causes a side slip at the curved portion of the track 55, so that the wear of the running roller 58 is accelerated. That is, as shown in the enlarged view of FIG. 20, the side slip force of the moving body 62 is determined by the vector A of the force regulated by the guide roller (not shown) and the vector B of the force by the propulsion of the rotary motor. C occurs. If the traveling roller 58 is worn by such side slip force, for example, when a semiconductor wafer or the like is transported using a moving body in a clean room, the degree of cleanness is reduced by wear debris, which causes a decrease in the yield of the semiconductor wafer. . Therefore, various measures must be taken to prevent the skid of the running roller 58 and minimize the generation of dust due to wear of the running roller 58.
[0026]
FIG. 21 is a structural view of a conventional ground-running moving body driven by a rotary motor, in which side slip of a running roller is prevented. FIG. 22 is a structural view of a conventional ceiling traveling type moving body driven by a rotary motor, in which side slip of a traveling roller is prevented. That is, as shown in FIGS. 21 and 22, the traveling roller 58 is a free wheel with respect to the track 55, and the rotary motor 60 is disposed at the center of the moving body, as shown in FIGS. Running rollers 58 are arranged on both sides. With such a configuration of the moving body, a differential device is not required. However, even in such an arrangement of the rotary motor 60 and the traveling roller 58, a slight slippage occurs due to a slight shift between the center of the track and the center of the moving body. Can not be offered.
[0027]
FIG. 23 is a conceptual diagram showing a slight side slip phenomenon of a traveling roller that occurs when the vehicle travels along a curved portion of a track in a moving body having a conventional sideslip prevention structure. That is, as shown in FIGS. 21 and 22, the traveling roller 58 is used as a free wheel with respect to the track 55, and the rotary motor 60 and the traveling roller 58 are disposed at the center of the moving body to provide a side slip prevention structure. As shown in FIG. 5, since the position of the center of the track 55 and the center of the moving body are slightly shifted, the difference between the vector A of the propulsion force at the center of the track 55 and the vector B of the propulsion force at the center of the moving body is slightly increased. A vector C having a large side slip force is generated.
[0028]
The present invention has been made in view of the above-described problems, and has as its object to enable a position of a component mounted on a moving body to be flexibly changed so that the position is always stable regardless of a track layout. An object of the present invention is to provide a transfer device that can obtain electric power.
[0029]
[Means for Solving the Problems]
In order to achieve the above object, the transport device of the present invention is a transport device configured to travel on a track by receiving power from a power supply line laid along a track, wherein the movable body is Equipped with a bogie mechanism that acts so that the axle is always at right angles to the traveling direction of the track, and the mounted parts of the moving body that maintains the corresponding positional relationship with the installed parts installed on the track are placed on the bogie mechanism. It is characterized by being arranged. Further, in the transfer device according to the present invention, the bogie mechanism is characterized in that the bogie mechanism acts so as to make the corresponding positional relationship between the installed component and the mounted component constant regardless of the layout of the track. Further, in the transfer device of the present invention, the bogie mechanism operates so as to maintain a corresponding positional relationship such that the installed component and the mounted component do not physically interfere with each other regardless of the layout of the track. I do.
[0030]
In other words, according to the transfer device of the present invention, since the mounted components of the moving body are placed on the axle of the bogie mechanism, the moving body is fixed to the track side even if the moving body travels on a straight line portion or a curved portion of the track. The corresponding positional relationship between the installed component and the mounted component on the moving body side is always constant. Therefore, even if the moving body travels on any part of the track, the installed component on the track side does not come into contact with the mounted component on the moving body side, and the physical phenomenon occurring between the installed component and the mounted component may change. Absent. Therefore, a stable transport device can be provided.
[0031]
Further, in the transfer device of the present invention, power supply to the moving body is performed by a non-contact power supply method in which power is supplied from a power supply line through a power supply transformer in a non-contact manner, the installed component is a power supply line, and the mounted component is It is a power supply transformer. That is, according to the transfer device of the present invention, since the power supply transformer on the moving body is mounted on the bogie mechanism, even if the moving body travels on any part of the track, the feeder line on the track side and the power supply line on the moving body side. There is no contact between the power supply transformer and the physical phenomena related to power conversion between the power supply line and the power supply transformer does not change, so that stable power supply from the power supply line to the moving body can be performed.
[0032]
Further, the feeder of the present invention is characterized in that the feeder stays for holding the feeder along the track have the same shape at all positions on the track, regardless of the layout of the track. That is, according to the transfer device of the present invention, the corresponding positional relationship between the power supply transformer and the power supply line is always constant by the action of the bogie mechanism regardless of whether the trajectory is a curve or a straight line. The wire stay can be of the same shape over the entire section of the track. Therefore, the equipment cost of the transport system can be reduced.
[0033]
Further, in the transport device of the present invention, the bogie mechanism is characterized in that the bogie mechanism acts so as to keep the power supplied from the power supply transformer to the moving body constant, regardless of the layout of the track. In other words, according to the transfer device of the present invention, the corresponding positional relationship between the power supply transformer and the power supply line can be always kept constant by the bogie mechanism, so that the degree of magnetic coupling between the power supply transformer and the power supply line becomes constant, and stable power is generated. Can be supplied.
[0034]
Also, in the transfer device of the present invention, the core shape of the power supply transformer is E-shaped, and the power supply line is disposed deep inside the E-shaped recess of the power supply transformer so as to maximize the power conversion efficiency of the power supply transformer. It is characterized by having been done. In other words, according to the transfer device of the present invention, since the corresponding positional relationship between the power supply transformer and the power supply line does not change, the power supply transformer and the power supply line can be magnetically coupled so as to obtain the maximum conversion efficiency.
[0035]
Further, in the transfer device of the present invention, the secondary winding of the power supply transformer forms a resonance circuit together with the resonance capacitor, and the bogie mechanism makes the inductance of the power supply transformer constant regardless of the track layout. It operates so as to maintain the resonance frequency at a constant value. That is, according to the transfer device of the present invention, the resonance circuit creates a resonance frequency that resonates at the frequency of the high-frequency current flowing through the power supply line, and the power supply transformer performs power conversion with high efficiency using the resonance frequency. At this time, since the bogie mechanism does not deviate the corresponding positional relationship between the feeding transformer and the track on the side wall of the track, the inductance of the feeding transformer is always constant. Therefore, since the resonance frequency does not change, the power supply transformer can always perform power conversion with high efficiency.
[0036]
Further, in the transport apparatus of the present invention, the moving body performs communication by the power line superimposed signal using the communication transformer, and the mounted component includes the communication transformer. Further, in the transfer device of the present invention, the bogie mechanism is characterized in that the bogie mechanism acts so as to make the degree of magnetic coupling between the communication transformer and the feed line constant regardless of the layout of the track. That is, according to the transfer device of the present invention, since the communication transformer is mounted on the bogie mechanism, the corresponding positional relationship between the communication transformer and the power supply line is always constant whether the track is straight or curved. It is. Therefore, since the degree of magnetic coupling does not change, the communication quality level can always be kept constant.
[0037]
Further, in the transfer device of the present invention, power supply to the moving body is performed by a contact power supply method in which power is supplied from a power supply line through a contact by contact current collection, the installed component is a power supply line, and the mounted component is Is a contact. Further, in the transfer apparatus according to the present invention, the bogie mechanism is characterized in that the bogie mechanism acts so as to keep the contact pressure between the contactor and the power supply line constant regardless of the layout of the track. In other words, according to the transfer device of the present invention, since the contact on the moving body is mounted on the bogie mechanism, even if the moving body travels on any part of the track, the feeder line on the track side and the moving body side The corresponding positional relationship with the contact does not change. Therefore, since the contact pressure between the power supply line and the contact is always constant, stable power supply from the power supply line to the moving body can be performed.
[0038]
Further, the feeder according to the present invention is characterized in that the feeder line is a trolley wire having the same shape in all parts of the track, regardless of the layout of the track. In other words, according to the transfer device of the present invention, even if the trajectory is a curve or a straight line, the corresponding positional relationship between the contact and the power supply line is always constant by the action of the bogie mechanism, and the contact pressure between the two is stable. Therefore, the shape of the trolley wire, which is the power supply line, can be made the same over the entire section of the track. Therefore, the equipment cost of the transport system can be reduced.
[0039]
Further, in the transport device of the present invention, the moving body performs communication using a power line superimposed signal using a contact. That is, according to the transfer device of the present invention, since the contact is mounted on the bogie mechanism, the corresponding positional relationship between the contact and the feed line is always constant whether the track is straight or curved. It is. Therefore, a communication signal can be transmitted favorably between the contact and the power supply line, so that a constant communication quality level can be always maintained regardless of whether the track is straight or curved.
[0040]
Further, in the transfer device of the present invention, the moving body is driven by a motor, and the mounted component includes a motor. Further, in the transfer apparatus according to the present invention, the bogie mechanism operates so as not to lower the driving efficiency of the motor, regardless of the layout of the track. The motor is any one of a rotary motor, a linear induction motor, and a linear DC motor.
[0041]
In other words, according to the transport device of the present invention, since the motor for driving the moving body is mounted on the bogie mechanism, the corresponding positional relationship between the motor and the traveling rollers regardless of the shape of the track layout. Can be kept constant, so that the driving efficiency and transmission efficiency of the motor can be kept constant.
[0042]
Further, in the transfer device of the present invention, when the motor is a linear DC motor, at least one of the magnetic pole sensor and the encoder is arranged substantially at the center of the moving body. Further, in the transport device of the present invention, at least one of the magnetic pole sensor and the encoder is disposed on the bogie mechanism. Further, the motor is a linear induction motor, and an encoder is disposed substantially at the center of the moving body. Further, the encoder is arranged on the bogie mechanism. Further, the encoder is arranged on a bogie link mechanism that moves in conjunction with an axle of the traveling mechanism. When a linear DC motor is divided into two or more parts in a transfer device having two or more bogie shafts, at least one of the magnetic pole sensor and the encoder is a bogie shaft link that moves in conjunction with the axle of the hogie mechanism. It is characterized by being arranged on a mechanism.
[0043]
That is, according to the transfer device of the present invention, when the linear DC motor is divided into two or more and arranged in the transfer device having two or more bogie axes, at least one of the magnetic pole sensor and the encoder is positioned at the center of the moving body. (That is, almost at the center of the orbit). At this time, the magnetic pole sensor detects the magnetic pole detected by the magnetic pole sensor and the magnetic pole of the portion where the linear DC motor actually exists in the curved portion of the track, so that it is possible to prevent the motor efficiency from decreasing in the curved portion of the track. it can. In the curved portion of the track, the position detected by the encoder and the position of the central portion of the track are substantially the same, and it is possible to prevent the running efficiency of the linear DC motor from decreasing in the curved portion of the track.
[0044]
Further, in the case where the linear DC motor is divided into two or more parts in a transfer device having two or more bogie axes, at least one of the magnetic pole sensor and the encoder is arranged in a link mechanism part on a bogie frame having a bogie structure. This allows the magnetic pole sensor or encoder to pass through the center of the track, thereby enabling more accurate detection of the magnetic pole position and preventing a reduction in motor efficiency.
[0045]
On the other hand, when a linear DC motor is divided into two or more and arranged in a transfer device having two or more bogie shafts, and there is one or more bogie shafts without a linear DC motor, this bogie By arranging at least one of the magnetic pole sensor or the encoder on the link center on the bogie frame of the bogie structure on the axis center, the magnetic pole sensor or the encoder completely passes through the center of the track, so that a more accurate magnetic pole can be obtained. The position can be detected, and a decrease in motor efficiency can be prevented. In addition, the encoder has the same effect when a linear induction motor is used.
[0046]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of a transport device according to the present invention will be described in detail with reference to the drawings. A feature of the transfer device according to the present invention is that the guide roller portion of the moving body has a bogie structure, and components related to a relative position between the moving body side and the track side are arranged on the axle of the bogie structure. As a result, the relationship between the relative position between the moving body-side component and the track-side component is substantially constant both in the linear portion and the curved portion of the track. Therefore, regardless of whether the track layout is a straight line or a curved line, the positional relationship between the primary side feeder line and the feeder transformer is constant in the non-contact feeder system, so that the feeder transformer always moves stable power. It can be supplied to the body drive mechanism. In addition, in the trolley power supply system, the contact pressure between the trolley wire and the contact is always constant, so that the trolley wire and the contact do not wear excessively, and a stable power is supplied from the contact to the drive mechanism of the moving body. Can be supplied.
[0047]
Hereinafter, each embodiment of the transport device in the present invention will be described in detail. FIGS. 1A and 1B are comparative explanatory views of a guide roller portion in a conventional transport device and a guide roller portion in a transport device of the present invention. FIG. 1A shows a conventional configuration, and FIG. 1B shows a configuration of the present invention. . In FIG. 1A, in the conventional moving body 1 ', since the bogie frame 2' is fixed to the moving body 1 ', when the moving body 1' runs on the circular track 3, the guide rollers 4 ' The width of the rail must be increased in order to pass through, and since the guide rollers 4 'do not contact both side surfaces of the track during traveling, play is large. On the other hand, in FIG. 1B, in the moving body 1 of the present invention, since the bogie frame 2 has a bogie structure with respect to the moving body 1, a rail having the same width as the straight portion can be used, and Also less.
[0048]
Note that the bogie structure is a structure in which the bogie center and the center of the bogie frame 2 are always positioned at right angles to the surface of the track 3. Therefore, if the power supply transformer or the contact is arranged at the position of the bogie frame 2 having the bogie structure, the power supply transformer or the contact on the mobile body side can be used regardless of whether the moving body 1 runs along the curved portion or the straight portion of the track 3. The relative positional relationship between the child and the primary feeder or trolley wire on the track side is substantially constant.
[0049]
First, an embodiment of a transfer device of the present invention in a non-contact power supply system will be described. FIG. 2 is an explanatory diagram showing a relative position relationship between the power supply transformer and the primary power supply line in the case of the non-contact power supply type transport device of the present invention. In FIG. 2, a power supply transformer 5a is arranged on a bogie frame 2a having a bogie structure, and similarly, a power supply transformer 5b is arranged on a bogie frame 2b having a bogie structure. In such a structure, the relative positions of the feeder transformers 5a and 5b and the primary feeder line 6 are such that the primary feeder line 3 is parallel to the feeder transformers 5a and 5b even in the curved portion of the track 3. It becomes almost the same as the relative position between the two in the linear portion of the trajectory 3. As a result, the power supplied to the power supply transformers 5a and 5b becomes substantially constant both in the straight line portion and in the curved portion of the track 3.
[0050]
That is, by arranging the feed transformers 5a and 5b on the bogie frames 2a and 2b having the bogie structure as shown in FIG. 2, the primary feed line 51 and the feed transformers 50a and 50b as shown in the conventional structure of FIG. Eliminates physical proximity or contact with parts. Therefore, as compared with the conventional transfer device, the transfer device of the present invention can arrange the primary power supply line as deep as possible in the concave portion of the power supply transformer to achieve a high magnetic coupling. This makes it possible to increase the power supplied to the power supply transformer.
[0051]
In FIG. 2, since the relative position between the magnetic material on the side wall of the track 3 and the feed transformers 5a and 5b is substantially constant in the linear portion and the curved portion, the inductance of the feed transformers 5a and 5b in any portion of the track 3 Is almost constant. Therefore, even if the resonance capacitor connected to the secondary windings of the power supply transformers 5a and 5b has a fixed value, the resonance frequency is always constant, so that the power supply transformer 5a , 5b are substantially constant. Further, the feeder stays (not shown) having the same shape can be used in the straight portion and the curved portion of the track 3, so that the cost of the transfer device can be reduced.
[0052]
Next, an embodiment of the transport device of the present invention in a trolley power supply system will be described. Also in the case of a trolley-powered transfer device, as shown in FIG. 1B, the contacts are arranged on a bogie frame 2 having a bogie structure. In such a structure of the trolley power supply system, the relative position between the contact and the trolley wire on the track side is substantially the same in the straight and curved portions of the track as in the case of the non-contact power supply transformer shown in FIG. Become. As a result, in the straight part and the curved part of the track, the contact presses the trolley wire with the same pressing pressure, so that there is almost no difference in the pressing pressure of the contact due to the difference in the layout of the track as in the conventional transport device. Therefore, excessive pressing pressure by the contact is eliminated, and wear of the contact and the trolley wire can be suppressed. In addition, the trolley wires having the same shape can be used in the straight portion and the curved portion of the track, so that the cost of the transport system can be reduced.
[0053]
Next, an embodiment of the transport device of the present invention when driven by a linear DC motor will be described. In the case of this embodiment, as shown in FIG. 1B, a linear DC motor is disposed on a bogie frame 2 having a bogie structure. At this time, the conventional linear DC motor is divided into two or more and arranged on the bogie frame 2 having the bogie structure. FIG. 3 is a conceptual diagram showing the relative positions of the linear DC motor and the permanent magnet when the moving body travels along the curved portion of the track in the transport device of the present invention driven by the linear DC motor. As shown in FIG. 3, by dividing the linear DC motor into two linear DC motors 8a and 8b and arranging them on a bogie-shaped axle, the permanent magnet 7 and the linear DC motors 8a and 8b are arranged. Is substantially constant in the linear portion and the curved portion of the trajectory 3. Therefore, it is possible to prevent the motor efficiency of the linear DC motors 8a and 8b from decreasing in the curved portion, and to stabilize the traveling thrust of the transfer device as a result.
[0054]
Further, as shown in FIG. 3, the magnetic pole sensor 9 can be arranged at the center of the transfer device (that is, the center position of the row of the permanent magnets 7 at the portion facing the linear DC motors 8a and 8b). Since the magnetic pole detected by No. 9 is substantially the same as the magnetic pole of the portion where the linear DC motor actually exists, it is possible to prevent a decrease in the motor efficiency of the linear DC motor in the curved portion of the track 3. Further, since the encoder can be arranged at the center of the transfer device (that is, at a position where the magnetic pole sensor 9 is located), the position detection by the encoder and the position of the center of the track 3 become almost the same, It is possible to prevent the motor efficiency of the linear DC motor from decreasing in the curve portion 3.
[0055]
Next, an embodiment of the transport device of the present invention when driven by a linear induction motor will be described. Also in this embodiment, as shown in FIG. 1B, a linear induction motor is arranged on a bogie frame 2 having a bogie structure. At this time, the conventional linear induction motor is divided into two or more and arranged on the bogie frame 2 having the bogie structure. Even when the ground primary type linear induction motor is used, similarly to the linear DC motors 8a and 8b as shown in FIG. 3, the relative position between the aluminum or copper mounted on the moving body side and the ground primary coil is Since it becomes almost the same in the straight portion and the curved portion of the track 3, it is possible to prevent a decrease in the motor efficiency of the linear induction motor. The same applies to the case where an on-vehicle primary type linear induction motor is used, and a decrease in motor efficiency of the linear induction motor can be prevented. Further, since the encoder can be arranged at the center of the transfer device, the position detection by the encoder and the position of the center of the track 3 become almost the same, so that the motor efficiency of the linear DC motor in the curved portion of the track 3 is improved. Can be prevented from decreasing.
[0056]
Next, an embodiment of the transport device of the present invention when driven by a rotary motor will be described. FIG. 4 is a conceptual diagram of one embodiment showing the propulsive force and the traveling direction of the bogie-type transfer device of the present invention driven by a rotary motor. Also in the case of the embodiment driven by a rotary motor, a rotary motor is arranged on a bogie frame 2 having a bogie structure as shown in FIG. In the structure of the transfer device using the rotary motor as shown in FIGS. 13 and 14, the propulsion direction of the traveling roller 10 and the traveling direction of the moving body 1 in the curved portion of the track 3 are as shown in FIG. , The vector A almost coincides, so that the skid of the traveling roller 10 hardly occurs.
[0057]
FIG. 5 is a conceptual diagram of another embodiment showing the propulsion force and the traveling direction of a bogie-structured moving body according to the present invention driven by a rotary motor. In other words, in the structure of the transfer device using a rotary motor as shown in FIGS. 21 and 22, for example, a bogie frame having a bogie structure is made up of two axes, and one or both of them are driven by the rotary motor. In the case of the traveling roller 10 ′, as shown in FIG. 5, the propulsion direction of the traveling roller 10 ′ and the traveling direction of the moving body 1 coincide with each other as shown by a vector A in the curved portion of the track 3. The 10 'sideslip does not occur.
[0058]
The embodiment described above is an example for describing the present invention, and the present invention is not limited to the above embodiment, and various modifications are possible within the scope of the invention. In other words, in each of the embodiments described above, the bogie-structured axle is described as having two axles. However, if the number of axles is three or more, the effect of the invention is further increased. It will be described as.
[0059]
First, a modified example in the case of driving with a linear motor and a rotary motor will be described. In this case, the linear motor may be any of a ground primary type linear induction motor, an on-board primary type linear induction motor, or a linear DC motor. FIG. 6 is a conceptual diagram showing a link mechanism between a magnetic pole sensor and a bogie frame having a bogie structure as a modification of the transport device of the present invention using a linear DC motor. Even if the magnetic pole sensor 9 is arranged at the center (center) of the moving body 1, the curved portion of the track slightly shifts from the center of the track. Therefore, as a countermeasure, as shown in FIG. 6, a bogie shaft link mechanism 11 that moves by linking to a bogie frame having a bogie structure is provided at a mounting portion of the magnetic pole sensor 9 so that the magnetic pole sensor 9 is always positioned at the track center 3a. A bogie structure. By adopting such a modified bogie structure, the magnetic pole sensor 9 is always at the position of the track center 3a. Therefore, there is no possibility that the magnetic pole sensor 9 deviates from the track center 3a even in the curved portion of the track 3.
[0060]
In the case of the linear DC motor and the linear induction motor, even if the encoder is arranged at the center (center) of the moving body, the curved portion of the track slightly shifts from the center of the track. Therefore, as a countermeasure, an encoder is mounted at the position of the magnetic pole sensor 9 as shown in FIG. A bogie structure as shown in FIG. With such a modified bogie structure, since the encoder is always at the position of the track center 3a, there is no possibility that the encoder is displaced from the track center 3a even in the curved portion of the track 3.
[0061]
Further, the linear motor and the rotary motor can be divided by the number of bogies, and a plurality of linear motors or rotary motors can be arranged on one bogie. By doing so, it is possible to realize a transport device in which the relative position between the power supply transformer or the contact and the primary power supply line or the trolley wire is more stable than in the conventional transport device. FIG. 7 is a conceptual diagram showing a configuration in which two linear DC motors are arranged in a bogie structure in the transfer device of the present invention. As shown in FIG. 7, a plurality of linear motors or rotary motors are divided by the number of bogie structures such that a linear DC motor 8a is arranged in a bogie structure 12a and a linear DC motor 8b is arranged in a bogie structure 12b. If it is arranged on the axis of the bogie structure, more efficient power supply efficiency can be obtained than in the conventional transfer device. In FIG. 7, the same effect can be obtained when the ground-side excitation coil is mounted instead of mounting the permanent magnet 7 on the track 3 or when the ground-side plate is mounted.
[0062]
Next, a description will be given of a modified example in the case of driving by the non-contact power supply method and the trolley power supply method. In the above-described embodiment, the case where two power supply transformers are provided before and after the moving body has been described. However, the number of power supply transformers can be increased by the number of bogies. When the load on the moving body is large, the number of power supply transformers on the bogie axis can be increased in this way. 8A and 8B are conceptual diagrams in which a plurality of power supply transformers and the like are arranged on a bogie axis in a track direction in the transport device of the present invention, wherein FIG. 8A is an example of an arrangement of two power supply transformers, and FIG. And an arrangement example of a communication transformer. 9A and 9B are conceptual diagrams in which a plurality of power supply transformers and the like are arranged on a bogie axis in the width direction of the track in the transport device of the present invention. FIG. 9A is an example of an arrangement of two power supply transformers, and FIG. () Shows an example of arrangement of two power supply transformers and two communication transformers.
[0063]
As shown in FIG. 8A, even if two power supply transformers 5a and 5b are arranged on one axis of the bogie structure 12 configured in the traveling direction of the moving body (that is, the direction of the orbit 3), The relative positions of the primary power supply line 6 and the power supply transformers 5a and 5b are more stable than in the conventional transport device. As shown in FIG. 8B, one feed transformer 5 and one communication transformer are provided on one axis of the bogie structure 12 configured in the traveling direction of the moving body (that is, the direction of the trajectory 3). , The relative positions of the primary power supply line 6, the power supply transformer 5, and the communication transformer 13 are more stable than in the conventional transport device.
[0064]
That is, the communication transformer 13 for power line superimposition is also arranged in one bogie frame of the bogie structure 12 in the same manner as the power supply transformer 5, so that the communication transformer 13 and the primary power supply line 6 can be provided in the straight line portion and the curved portion of the track 3. Since the relative position does not change, the degree of magnetic coupling does not decrease at the curved portion, and there is no possibility that the communication quality will decrease. Regarding the arrangement configuration of the transformer, as shown in FIG. 8B, even if the power supply transformer 5 and the communication transformer 13 are arranged together, the effect of stabilizing the relative position can be obtained. The same applies to the case of the trolley power supply system, and the same effect can be obtained by attaching a plurality of contacts to one bogie frame of the bogie structure 12.
[0065]
Further, as shown in FIG. 9A, even when two power supply transformers 5a and 5b are arranged on the bogie frame of the bogie structure 12 in the width direction of the track, as shown in FIG. Even if two power supply transformers 5a and 5b and two communication transformers 13a and 13b are arranged in the bogie frame of the bogie structure 12 in the width direction, the primary power supply line 6 and the power supply transformers 5a and 5b and the communication transformers 13a and 13b. The relative position of 13b is stable as compared with the conventional transport device.
[0066]
In each of the above embodiments, the relative position between the power supply transformer and the primary power supply line and the relative position between the contact and the trolley wire are improved. Or, for antennas, etc., whose relative position to the primary feeder is related to communication quality, placing those components on the axis of the bogie structure of the moving object will stabilize the relative position. Therefore, good communication quality can be maintained.
[0067]
【The invention's effect】
As described above, according to the transfer device of the present invention, the guide roller portion of the moving body is disposed on the bogie frame, and the moving body-side components related to the relative position between the moving body and the track side, for example, a power supply transformer , A contact, a linear DC motor, a linear induction motor, a rotary motor, a power line superimposing communication transformer, a magnetic sensor, and a vehicle body are arranged on an axle having a bogie structure. As a result, even if the moving body travels along the straight line portion and the curved portion of the track, the relative positions of the components on the moving body side and the track side become substantially constant. Therefore, regardless of the shape of the track layout, stable power can always be supplied from the power supply transformer to the moving body, and the parts on the moving body side and the parts on the track side are curved, etc. There is no danger of causing physical interference such as contact.
[0068]
In addition, in the case of the non-contact power supply system, by arranging the non-contact power supply transformer on a bogie frame having a bogie structure, a feeder stay having the same shape can be used in a straight portion and a curved portion of a track. The cost of the transfer device can be reduced, and component mounting errors during manufacturing can be prevented. Further, since the relative position between the power supply transformer and the primary power supply line is substantially constant in the linear portion and the curved portion of the track, the degree of magnetic coupling between the power supply transformer and the primary power supply line in the linear portion and the curved portion is reduced. There is no difference, and consequently, the power supplied to the moving body does not change in the linear portion and the curved portion, so that a transport device with stable power supply can be realized.
[0069]
Further, in the conventional transfer device, the primary power supply line cannot be inserted deep into the concave portion of the power supply transformer due to physical interference between components during traveling. However, according to the transfer device of the present invention, since the relative position between the power supply transformer and the primary power supply line is substantially constant in the linear portion and the curved portion of the track, the primary power supply line is located deep inside the concave portion of the power supply transformer. Even if they are arranged, mutual physical interference is eliminated. Therefore, in the transfer device of the present invention, the power supply amount can be increased by the power supply transformer having a higher degree of magnetic coupling than the conventional transfer device.
[0070]
In addition, since the relative positions of the power supply transformer, the primary power supply line, and the track side wall are substantially constant in the linear portion and the curved portion of the track, the magnetic characteristics of the material of the power supply transformer and the track side wall become constant, and as a result, In addition, the self-inductance of the power supply transformer can be made constant. Therefore, the resonance frequency of the resonance circuit formed by the feeding transformer inductance and the fixed-capacitance resonance capacitor in the power supply unit on the moving body side is substantially constant in the linear portion and the curved portion of the track. Therefore, the power conversion efficiency in the linear portion and the curved portion of the track becomes constant, so that the power supplied from the power supply transformer can be made substantially constant.
[0071]
Further, in the conventional transport device, since the communication transformer is separated from the primary power supply line at the curved portion, the degree of magnetic coupling between the communication transformer and the primary power supply line is reduced, and the communication quality is degraded. However, in the transfer device of the present invention, by disposing the communication transformer in the power line superimposed communication system on the axle of the bogie structure, the relative position between the communication transformer and the primary power supply line or the dedicated communication line can be determined by the linear portion of the track and Since it is substantially constant in the curved portion, there is no difference in the degree of magnetic coupling between the straight portion and the curved portion. Therefore, the communication quality does not decrease in the curved portion of the track, and the communication quality level can be kept constant regardless of the state of the track layout.
[0072]
In the trolley power supply system, by disposing the contacts on the axle of the bogie structure, the relative position between the contacts and the trolley wire on the track side becomes constant in the linear portion and the curved portion of the track. Therefore, in the straight part and the curved part of the track, the contact can press the trolley wire with a constant pressing pressure. Therefore, regardless of the shape of the track, the contact does not press against the trolley wire with unnecessary pressing pressure, so that wear of the contact and the trolley wire can be suppressed. In addition, since the trolley wire having the same shape can be used in the straight portion and the curved portion of the track, the cost of the transport system can be reduced.
[0073]
In addition, when the transfer device is driven by a linear DC motor, the relative position between the permanent magnet and the linear DC motor is determined by arranging the linear DC motor on the axle of the bogie structure in the linear portion and the curved portion of the track. Since it is substantially constant, it is possible to prevent a decrease in the running efficiency of the linear DC motor in the curved portion. Further, in a transfer device having an axle having a bogie structure having two or more bogies, when a linear DC motor is divided into two or more and arranged on each axle having a bogie structure, the magnetic pole sensor is placed at the center of the moving body (that is, (Center of the orbit). For this reason, the magnetic pole detected by the magnetic pole sensor and the magnetic pole of the part where the linear DC motor actually exists are almost the same in the linear part and the curved part of the track, so that the running efficiency of the linear DC motor in the curved part of the track is reduced. Drop can be prevented. Further, by disposing the magnetic pole sensor at the link mechanism on the bogie of the bogie, the magnetic pole sensor can more accurately detect the magnetic pole.
[0074]
In addition, when the linear DC motor is divided into two or more and arranged in a transfer device having two or more bogie axes, the encoder can be disposed at the center of the transfer device (that is, the center of the track), In the curved part of the track, the position detection by the encoder and the position of the center part of the track become almost the same, and it is possible to prevent the running efficiency of the linear DC motor from decreasing in the curved part of the track. Further, by disposing the encoder at the link mechanism on the bogie frame having the bogie structure, the encoder can more accurately detect the magnetic pole.
[0075]
In addition, when the transfer device is driven by a linear induction motor, the linear induction motor is arranged on a bogie frame having a bogie structure, so that even when a ground-type primary linear induction motor is used, the linear induction motor can be mounted on the moving body side. Since the relative position between a certain aluminum or copper and the ground primary coil is substantially the same in the linear portion and the curved portion of the track, it is possible to prevent a decrease in the running efficiency of the linear induction motor. Further, even when the on-vehicle primary type linear induction motor is used, the relative position between the aluminum or copper mounted on the ground side and the on-vehicle primary coil is substantially the same in the linear portion and the curved portion of the track. Therefore, it is possible to prevent a decrease in the running efficiency of the linear induction motor.
[0076]
In addition, in the case of driving with a rotary motor, by disposing the rotary motor on a bogie frame having a bogie structure, the direction of the propulsive force of the traveling roller and the traveling direction of the moving body substantially coincide with each other. Almost gone. Further, when two bogie shafts are used, if one or both of them are running rollers driven by a rotary motor, side slip can be eliminated. Therefore, since no dust is generated due to the wear of the traveling rollers, a transfer robot for transferring a semiconductor wafer or the like in a clean room or the like can be realized.
[Brief description of the drawings]
1A and 1B are comparative explanatory views of a guide roller portion in a conventional transport device and a guide roller portion in a transport device of the present invention, wherein FIG. 1A shows a conventional configuration, and FIG. 1B shows a configuration of the present invention.
FIG. 2 is an explanatory diagram showing a relative position relationship between a power supply transformer and a primary power supply line in the case of a non-contact power supply type transport device according to the present invention.
FIG. 3 is a conceptual diagram showing a relative position between a linear DC motor and a permanent magnet when a moving body travels along a curved portion of a track in a transport device of the present invention driven by a linear DC motor.
FIG. 4 is a conceptual diagram of an embodiment showing a propulsion force and a traveling direction of a bogie-structured transport device of the present invention driven by a rotary motor.
FIG. 5 is a conceptual diagram of another embodiment showing a propulsion force and a traveling direction of a bogie-type transfer device according to the present invention driven by a rotary motor.
FIG. 6 is a conceptual diagram showing a link mechanism between a magnetic pole sensor and an axle having a bogie structure as a modification of the transfer device of the present invention.
FIG. 7 is a conceptual diagram showing a configuration in which two linear DC motors are arranged in a bogie structure in the transfer device of the present invention.
FIG. 8 is a conceptual diagram in which a plurality of power supply transformers and the like are arranged on a bogie axis in a track direction in the transport device of the present invention, (a) is an example of arrangement of two power supply transformers, and (b) is a power supply transformer. And an arrangement example of a communication transformer.
9A and 9B are conceptual diagrams in which a plurality of power supply transformers and the like are arranged on a bogie axis in a width direction of a track in the transfer device of the present invention, wherein FIG. 9A is an example of an arrangement of two power supply transformers, and FIG. An example of arrangement of two power supply transformers and two communication transformers is shown.
FIG. 10 is a cross-sectional structural view of a power supply transformer that supplies power to a transport device by a non-contact power supply method and a peripheral portion thereof.
FIG. 11 is a cross-sectional view of an overhead traveling type moving body that drives a linear motor by a non-contact power supply method.
FIG. 12 is a cross-sectional view of a taxiing type moving body that drives a linear motor by a non-contact power supply method.
FIG. 13 is a cross-sectional view of a ceiling traveling type moving body that drives a rotary motor by a non-contact power supply method.
FIG. 14 is a cross-sectional view of a ground-traveling moving body that drives a rotary motor by a non-contact power supply method.
FIG. 15 is a structural diagram of a moving body showing a state in which a power feeding transformer is mounted in a moving body of a non-contact power feeding method.
FIG. 16 is a cross-sectional view of a ground-traveling moving body that drives a rotary motor by a trolley power supply method.
FIG. 17 is a conceptual diagram illustrating an example of a relative position between a power supply transformer and a primary power supply line when a conventional moving body travels on a track in a non-contact power supply method.
FIG. 18 is a conceptual diagram showing another example of a relative position between a power supply transformer and a primary power supply line when a conventional moving body travels on a track in a non-contact power supply method.
FIG. 19 is a conceptual diagram showing a relative position between a linear DC motor and a permanent magnet when traveling on a curved portion of a track in a conventional moving body driven by a linear DC motor.
FIG. 20 is a conceptual diagram showing a side slip phenomenon of a traveling roller that occurs when traveling on a curved portion of a track in a conventional moving body driven by a rotary motor.
FIG. 21 is a structural view of a conventional ground-traveling moving body driven by a rotary motor, in which a running roller is prevented from skidding.
FIG. 22 is a structural view of a conventional ceiling traveling type moving body driven by a rotary motor, in which side slip of a traveling roller is prevented.
FIG. 23 is a conceptual diagram showing a slight side slip phenomenon of a traveling roller that occurs when the vehicle travels along a curved portion of a track in a moving body having a conventional anti-skid structure.
[Explanation of symbols]
1, 1 ': moving body, 2, 2' 2a, 2b: bogie frame, 3: track, 3a: track center, 4, 4 ', 4a, 4b: guide roller, 5a, 5b: power supply transformer, 6: 1 Next feeding line, 7: permanent magnet, 8a, 8b: linear DC motor, 9: magnetic pole sensor, 10, 10 ': running roller, 11: bogie shaft link mechanism, 12, 12a, 12b: bogie structure, 13, 13a, 13b: communication transformer, 50, 50a, 50b, 50c, 50d: power supply transformer, 50a ', 50b': transformer edge, 51: primary power supply line, 52: secondary winding, 53: magnetic core, 54: power supply Electric wire stay, 55: track, 55a: track side wall, 56: linear motor, 57, 57a, 57b: guide roller, 58: running roller, 59: transporting car, 60: rotary motor, 61: permanent magnet, 62: moving body, 3 ... trolley wire, 64 ... contact, 65 ... pressing mechanism, 66 ... magnetic sensor.

Claims (23)

A transport device configured so that a moving body travels on the track by receiving power from a power supply line laid along the track,
The moving body includes a traveling mechanism that acts so that the bogie is always positioned at right angles to the traveling direction of the trajectory,
A transport device, wherein a mounted component of the moving body that maintains a corresponding positional relationship with an installed component installed on the track is disposed on the traveling mechanism. 2. The transport device according to claim 1, wherein the traveling mechanism operates so as to keep a corresponding positional relationship between the installation component and the mounting component irrespective of a layout of the track. 3. The said traveling mechanism acts so that the installation component and the mounted component may maintain the corresponding positional relationship which does not physically interfere irrespective of the layout of the said track. The transfer device according to claim 2. The power supply to the moving body is performed by a non-contact power supply method in which power is supplied from the power supply line in a non-contact manner through a power supply transformer,
The transport device according to claim 1, wherein the installation component is the power supply line, and the mounting component is the power supply transformer. 5. The transfer device according to claim 4, wherein a feeder stay that holds the feeder along the track has the same shape at all positions on the track, regardless of the layout of the track. 6. . The said traveling mechanism acts so that the electric power supplied to the said moving body may maintain the electric power supplied to the said moving body irrespective of the layout of the said track | truck, The Claim 4 or Claim 5 characterized by the above-mentioned. Transport device. A core shape of the power supply transformer is E-shaped, and the power supply line is disposed deep in the E-shaped recess of the power supply transformer so as to maximize the power conversion efficiency of the power supply transformer. The transfer device according to any one of claims 4 to 6, wherein The secondary winding of the power supply transformer forms a resonance circuit together with a resonance capacitor,
The said travel mechanism acts so that the inductance of the said feed transformer may be kept constant and the resonance frequency of the said resonance circuit may be maintained at a constant value regardless of the layout of the said track | truck. Item 8. The transfer device according to any one of Items 7. The mobile unit performs communication by a power line superimposed signal using a communication transformer,
The transport device according to claim 4, wherein the mounting component includes the communication transformer. The transport device according to claim 9, wherein the traveling mechanism acts to make the degree of magnetic coupling between the communication transformer and the power supply line constant regardless of the layout of the track. The power supply to the moving body is performed by a contact power supply method in which power is supplied from the power supply line through a contact by contact current collection,
The transport device according to any one of claims 1 to 3, wherein the installation component is the power supply line, and the mounting component is the contact. The transport device according to claim 11, wherein the traveling mechanism acts to keep the contact pressure between the contactor and the power supply line constant regardless of the layout of the track. 13. The transport apparatus according to claim 11, wherein the power supply line is a trolley wire having the same shape in all parts of the track regardless of the layout of the track. The transport device according to any one of claims 11 to 13, wherein the movable body performs communication using a power line superimposed signal using the contact. The transporting apparatus according to claim 4, wherein the moving body is driven by a motor, and the mounted component includes the motor. 16. The transfer device according to claim 15, wherein the bogie mechanism operates so as not to lower the driving efficiency of the motor regardless of the layout of the track. 17. The transfer device according to claim 15, wherein the motor is one of a rotary motor, a linear induction motor, and a linear DC motor. 18. The transfer device according to claim 17, wherein when the motor is a linear DC motor, at least one of a magnetic pole sensor and an encoder is disposed substantially at the center of the moving body. 19. The transport device according to claim 18, wherein at least one of the magnetic pole sensor and the encoder is disposed on the bogie mechanism. 20. The transport device according to claim 18, wherein at least one of the magnetic pole sensor and the encoder is disposed on a bogie link mechanism that moves in conjunction with an axle of the traveling mechanism. 18. The transfer device according to claim 17, wherein the motor is a linear induction motor, and an encoder is disposed substantially at the center of the moving body. The transport device according to claim 21, wherein the encoder is disposed on the bogie mechanism. 23. The transfer device according to claim 21, wherein the encoder is disposed on a bogie link mechanism that moves in conjunction with an axle of the traveling mechanism.

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