JP2012006433A - Power supply line holding structure - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce hanging down of a power supply line by shortening intervals between a plurality of components holding the power supply line even in a curved part of a track.SOLUTION: A non-contact power supply line holding structure 10 is a structure for holding the non-contact power supply line 213 along the track 2 in a conveyance vehicle system 1. The holding structure 10 includes a plurality of support members 210 and a power supply line holder 212. The plurality of support members 210 are disposed at intervals from each other along the track 2. The power supply line holder 212 is supported by the plurality of support members 210 and is capable of deforming along the track 2 by having a continuous shape along the track 2 and forming a plurality of first slits 231 and second slits 232.

Description

  The present invention relates to a feeder line holding structure, and more particularly to a feeder line holding structure arranged along a track in a transport vehicle system.

Conventionally, in a clean room where generation of dust is a problem, such as in a semiconductor manufacturing factory, electric power is supplied to a transport vehicle for transporting articles by a non-contact power feeding method.
Hereinafter, the non-contact power feeding method will be described. The feed line is held by a feed line holder of a feed rail provided along the track. A ferrite core having a substantially “E” cross section is fixed to the power receiving unit of the transport vehicle. A coil is wound around the projecting piece at the center of the core, and is inserted between the two feeders in a non-contact manner. By flowing a high-frequency current through the feeder line, the magnetic field generated there acts on the coil wound around the core, and as a result, an induced current flows through the coil. As described above, power is supplied to the power receiving unit of the transport vehicle from the power supply line, and the power is used in the motor and the control device (see, for example, Patent Document 1).

JP 2002-337574 A

  The feeder line holder is a member arranged along the track. The feeder holder is continuously arranged along the track. In some cases, a plurality of feeder holders are arranged in a curved shape in the curved portion of the track.

  As described above, when a plurality of feeder holders are used in the curved portion of the track, the distance between the feeder holders is increased, so that the feeder lines are easily hung from the feeder holder. As a result, there arises a problem that the feeder line is rubbed against the core of the power receiving unit.

  An object of the present invention is to reduce the sag of a feeder line by shortening the interval between a plurality of holding portions that hold the feeder line even in a curved portion of the track.

  Hereinafter, a plurality of modes will be described as means for solving the problems. These aspects can be arbitrarily combined as necessary.

A feeder line holding structure according to an aspect of the present invention is a structure for holding a non-contact feeder line along a track in a transport vehicle system. The holding structure includes a plurality of base members and a power supply line holding member. The plurality of base members are spaced from each other along the track. The feeder holding member is supported by a plurality of base members, has a continuous shape along the track, and can be deformed along the track by forming a plurality of slits.
In this structure, the feeder holding member can be deformed along the track by a plurality of slits. On the other hand, since the feeder holding member has a continuous shape, it is possible to shorten the interval between the plurality of portions that hold the feeder in the curved portion of the track, and as a result, to reduce the sag of the feeder. it can. Moreover, since the feeder holding member has a continuous shape, the interval between the base members can be widened. As a result, the number of base members can be reduced and the structure can be simplified.

The plurality of slits may include a plurality of pairs of slits extending so as to approach each other from both sides in the second direction intersecting the first direction in which the power supply line holding member extends in the power supply line holding member. In that case, the connection part which connects the parts located in a line in the 1st direction is formed between each pair of slits.
In this structure, since the connection portion is formed in the middle in the second direction, the flexibility of the feeder holding member is improved, and the portion to which the base member is coupled can be realized with a simple structure. Therefore, handling of the feeder holding member is facilitated.

The power supply line holding member extends in a cross section so as to connect the first portion and the second portion extending in the second direction with a space between each other and the second direction intermediate portion of the first portion and the second portion in the cross section. And may have a portion.
This structure simplifies the structure of the feeder holding member.

The connection part may be formed of a part of the third part, and the slit may be formed in the first part and the second part.
In this structure, the third portion functions as a connection portion. Therefore, with this structure, the feeder holding member can be bent corresponding to the curved portion while maintaining the strength.

  In the feed line holding structure according to the present invention, the feed line holding member can be deformed along the track by a plurality of slits, so that the intervals between the plurality of portions that hold the feed line are shortened even in the curved portion of the track. As a result, it is possible to reduce the sag of the feeder line.

The schematic plan view of the conveyance vehicle in one Embodiment of this invention. The schematic plan view of a conveyance vehicle. The schematic side view of a conveyance vehicle. The top view of a drive travel part. The top view of a driven traveling part. The schematic plan view of the track layout of a conveyance vehicle system. The block diagram which shows the control structure of a conveyance vehicle system. The partial schematic plan view of a non-contact electric power feeding line structure. The schematic plan view of a 2nd drive wheel unit and a non-contact electric power feeding line structure. The schematic longitudinal cross-sectional view of a 2nd drive wheel unit and a non-contact electric power feeding line structure. It is the elements on larger scale of FIG. 10, and is schematic sectional drawing of a non-contact electric power feeding line structure. The partial top view of a non-contact electric power feeding line holding member. It is the elements on larger scale of FIG. 11, and is a schematic sectional drawing of a non-contact electric power feeding line holding member.

(1) Carrier Vehicle System A carrier vehicle system 1 as an embodiment of the present invention will be described with reference to FIGS. FIG. 1 is a schematic plan view of a transport vehicle according to an embodiment of the present invention. FIG. 2 is a schematic plan view of the transport vehicle. FIG. 3 is a schematic side view of the transport vehicle.

  The transport vehicle system 1 includes a track 2 and a transport vehicle 3 that travels on the track 2. In this embodiment, the track 2 is suspended from the ceiling, and the periphery of the track 2 is a clean room.

The track 2 includes a traveling rail 4 and a guide rail 6 as shown in FIG.
The traveling rail 4 includes a pair of left and right first traveling rails 4a and a second traveling rail 4b. The first traveling rail 4a and the second traveling rail 4b have flat traveling surfaces.

  The guide rail 6 has a first guide rail 6a and a second guide rail 6b. The first guide rail 6a and the second guide rail 6b are provided at the outer ends of the first travel rail 4a and the second travel rail 4b, respectively. The first guide rail 6a and the second guide rail 6b extend upward.

  Further, as shown in FIG. 1, a non-contact power supply line structure 10 is provided along the second traveling rail 4b. In FIG. 1, the non-contact power supply line structure 10 is composed of a first power supply line structure 10a and a second class electric wire structure 10b arranged on both the left and right sides. A power supply device (not shown) is provided at one end of the non-contact power supply line structure 10. The power supply device supplies high-frequency power to the contactless power supply line structure 10. Details of the contactless power supply line structure 10 will be described later.

(2) Trajectory Layout The layout of the trajectory 2 will be described using FIG. FIG. 6 is a schematic plan view of the track layout of the transport vehicle system.
In FIG. 6, the track 2 has a first straight portion 201, a branch portion 206, a curved portion 203 that bends from the branch portion 206 to the right side of the drawing, and a second straight portion 202 that extends straight from the branch portion 206. is doing.

  The first traveling rail 4a and the second traveling rail 4b extend continuously from the first straight portion 201 to the curved portion 203 and the second straight portion 202, respectively.

  In the branching portion 206, the first guide rail 6a is formed continuously, but the second guide rail 6b is not provided. In the branching portion 206, the second guide rail 6b is formed continuously, but the first guide rail 6a is not provided.

(3) Transport Vehicle The transport vehicle 3 has a placement unit 11 and a traveling unit 12.
The placement unit 11 has a structure for placing the article 17. The mounting portion 11 has a pair of mounting members 13 that extend to the left and right sides at both front and rear ends in the traveling direction, and a plurality of connecting members 14 that extend in the front and rear directions in order to connect the pair of mounting members 13. . The mounting member 13 includes a mounting portion 13a extending in the left-right direction, a column portion 13b extending downward from both ends of the mounting portion in the left-right direction, and a connecting portion 13c extending in the left-right direction so as to connect the lower ends of the column portions 13b. And have. The connecting member 14 connects the connecting portions 13 c of the mounting member 13. The connecting member 14 includes four members, which include a pair of left and right outer members and a pair of left and right inner members.

  The traveling unit 12 includes a driving traveling unit 18 and a driven traveling unit 19. The drive travel unit 18 and the driven travel unit 19 are bogies that are rotatably attached to the placement unit 11.

(3-1) Drive Travel Unit The drive travel unit 18 will be described with reference to FIG. FIG. 4 is a plan view of the drive travel unit.

  The drive travel unit 18 mainly includes a main body frame 20, a first drive wheel unit 21, a second drive wheel unit 22, a fixed guide roller mechanism 23, and a branch guide roller mechanism 24.

  The main body frame 20 is a thin plate-like member for supporting each member. The main body frame 20 extends in the left-right direction, and a bearing 35 that supports a shaft (not shown) extending from the mounting portion 11 is provided in the center portion.

  The first drive wheel unit 21 is attached to the right end of the main body frame 20, and includes a first drive wheel 25, a first motor 26, a first speed reducer 27, and a first encoder 96. Yes. The first drive wheels 25 are placed on the travel surface of the first travel rail 4a. The first motor 26 is connected to the first drive wheel 25 via a first speed reducer 27. The first encoder 96 measures the rotation of the first motor 26 and transmits a pulse signal. Thereby, the rotation speed and the number of rotations of the first motor 26 can be obtained.

The second drive wheel unit 22 is attached to the left end of the main body frame 20, and has a second drive wheel 28, a second motor 29, a second speed reducer 30, and a second encoder 97. Yes. The second drive wheels 28 are placed on the travel surface of the second travel rail 4b. The second motor 29 is connected to the second drive wheel 28 via the second reduction gear 30. The second encoder 97 measures the rotation of the second motor 29 and transmits a pulse signal. Thereby, the rotation speed and the number of rotations of the second motor 29 can be obtained.
The fixed guide roller mechanism 23 includes a first fixed guide roller 31, a second fixed guide roller 32, a third fixed guide roller 33, and a fourth fixed guide roller 34.

  The first fixed guide roller 31 and the second fixed guide roller 32 are disposed at the right end portion of the main body frame 20 so as to be separated in the traveling direction. More specifically, the first fixed guide roller 31 and the second fixed guide roller 32 are disposed apart from each other on both the front and rear sides in the traveling direction of the first drive wheel 25, and always contact or approach the inner side of the first guide rail 6a. is doing. The third fixed guide roller 33 and the fourth fixed guide roller 34 are arranged at the left end portion of the main body frame 20 so as to be separated in the front-rear direction. More specifically, the third fixed guide roller 33 and the fourth fixed guide roller 34 are disposed apart from each other on both the front and rear sides in the traveling direction of the second drive wheel 28, and always contact or approach the inner side of the second guide rail 6b. is doing.

  The branch guide roller mechanism 24 is a mechanism for performing a branch operation in the branch portion 206, and includes a first branch guide roller 36, a second branch guide roller 37, a third branch guide roller 38, and a fourth branch guide roller. 39 and a branch guide roller drive mechanism 40.

  The first branch guide roller 36 and the second branch guide roller 37 are disposed corresponding to the first fixed guide roller 31 and the second fixed guide roller 32. The branch guide roller mechanism 24 further includes a first movable arm 101 (described later) to which a first branch guide roller 36 and a second branch guide roller 37 are rotatably connected.

  The third branch guide roller 38 and the fourth branch guide roller 39 are disposed corresponding to the third fixed guide roller 33 and the fourth fixed guide roller 34. The branch guide roller mechanism 24 further includes a second movable arm 103 (described later) to which a third branch guide roller 38 and a fourth branch guide roller 39 are rotatably connected.

  The branch guide roller drive mechanism 40 is a mechanism for changing the positions of the first branch guide roller 36, the second branch guide roller 37, the third branch guide roller 38, and the fourth branch guide roller 39. The branch guide roller drive mechanism 40 includes a first cylinder 42, a first shaft 43, a second shaft 44, and a connecting shaft 45.

  The first cylinder 42 is an electric cylinder and is arranged to generate a propulsive force in the left-right direction. The first cylinder 42 is supported by a trunnion method.

  The first shaft 43 is provided on the first branch guide roller 36 and the second branch guide roller 37 side. The first shaft 43 extends in the front-rear direction and is rotatably supported by the main body frame 20. Further, the first shaft 43 is movable in the left-right direction by the rod of the first cylinder 42.

  The first movable arm 101 has a bracket 47 extending in the front-rear direction, a pair of arm main bodies 48 extending inward in the left-right direction from both ends of the bracket 47, and a pair of connecting portions 49 extending upward from the ends of the arm main body 48. is doing. As described above, the first branch guide roller 36 and the second branch guide roller 37 are rotatably connected to both ends of the bracket 47 in the front-rear direction.

  A connecting portion between the arm body 48 and the connecting portion 49 is a rotation center portion 51. The rotation center portion 51 is rotatably supported by an axis center extending in the front-rear direction with respect to the main body frame 20. The distal end of the connecting portion 49 is rotatably connected to the first shaft 43. Therefore, when the first shaft 43 is driven in the left-right direction by the first cylinder 42, the first shaft 43 rotates about the rotation center portion 51.

  With the above structure, when the first shaft 43 moves in the left-right direction, the first movable arm 101 rotates about the rotation center portion 51. At this time, the first branch guide roller 36 and the second branch guide roller 37 move between a guide position that is in contact with or close to the outside of the first guide rail 6a and a non-guide position away from the first guide rail 6a. To do.

  The second shaft 44 is provided on the third branch guide roller 38 and the fourth branch guide roller 39 side. The second shaft 44 extends in the front-rear direction and is rotatably supported by the main body frame 20. The second shaft 44 is movable in the left-right direction.

  The connecting shaft 45 extends in the left-right direction, and connects the first shaft 43 and the second shaft 44. More specifically, the end of the connecting shaft 45 is rotatably connected to the first shaft 43 and the second shaft 44.

  The second movable arm 103 includes a fourth portion 52 that extends in the front-rear direction, a pair of fifth portions 53 that extend inward in the left-right direction from both ends of the fourth portion 52, and a pair that extends upward from the ends of the fifth portion 53. And a sixth portion 54. As described above, the third branch guide roller 38 and the fourth branch guide roller 39 are rotatably connected to both ends of the fourth portion 52 in the front-rear direction.

  A connecting portion between the fourth portion 52 and the fifth portion 53 is a rotation center portion 55. The rotation center portion 55 is rotatably supported on an axis center extending in the front-rear direction with respect to the main body frame 20. The tip of the fifth portion 53 is rotatably connected to the second shaft 44. Accordingly, when the second shaft 44 is driven in the left-right direction by the connecting shaft 45, the second shaft 44 rotates about the rotation center portion 55.

  With the above structure, when the second shaft 44 moves in the left-right direction, the second movable arm 103 rotates about the rotation center portion 55. At this time, the third branch guide roller 38 and the fourth branch guide roller 39 move between a guide position that is in contact with or close to the outside of the second guide rail 6b and a non-guide position that is away from the second guide rail 6b. To do.

  At this time, the positions of the first branch guide roller 36, the second branch guide roller 37, the third branch guide roller 38, and the fourth branch guide roller 39 change symmetrically.

  The driving traveling unit 18 is provided with a power receiving unit 79 for obtaining high-frequency power from the non-contact power feeding line structure 10. The power receiving unit 79 includes a first power receiving unit 79a and a second power receiving unit 79b. The first power receiving unit 79 a is provided at the right end of the drive travel unit 18. The second power receiving unit 79 b is provided at the left end of the driving traveling unit 18.

(3-2) Driven Traveling Unit The driven traveling unit 19 will be described with reference to FIG. FIG. 5 is a plan view of the driven section.

  The driven section 19 mainly has a main body frame 57, a first driven wheel unit 58, a second driven wheel unit 59, a fixed guide roller mechanism 60, and a branch guide roller mechanism 61.

  The main body frame 57 is a thin plate-like member for supporting each member. The main body frame 57 extends in the left-right direction, and a bearing 74 that supports a shaft (not shown) extending from the mounting portion 11 is provided at an intermediate portion.

  The first driven wheel unit 58 is attached to the right end of the main body frame 57 and has a first driven wheel 62. The first driven wheel 62 is placed on the traveling surface of the first traveling rail 4a. The first driven wheel 62 is rotatably supported by a shaft 98 fixed to the main body frame 57.

  The second driven wheel unit 59 is attached to the left end portion of the main body frame 57 and has a second driven wheel 63. The second driven wheel 63 is placed on the traveling surface of the second traveling rail 4b. The second driven wheel 63 is rotatably supported by a shaft 99 fixed to the main body frame 57.

The fixed guide roller mechanism 60 includes a first fixed guide roller 65, a second fixed guide roller 66, a third fixed guide roller 67, and a fourth fixed guide roller 68.
Since the fixed guide roller mechanism 60 is the same as the fixed guide roller mechanism 23, the description thereof is omitted below.

  The branch guide roller mechanism 61 is a mechanism for performing a branch operation in the branch portion 206, and includes a first branch guide roller 69, a second branch guide roller 70, a third branch guide roller 71, and a fourth branch guide roller. 72 and a branch guide roller drive mechanism 73.

The branch guide roller drive mechanism 73 is a mechanism for changing the positions of the first branch guide roller 69, the second branch guide roller 70, the third branch guide roller 71, and the fourth branch guide roller 72. The branch guide roller drive mechanism 73 includes a second cylinder 91, a third shaft 92, a fourth shaft 93, and a second connection shaft 94.
Since the branch guide roller mechanism 61 is the same as the branch guide roller mechanism 24, the description thereof is omitted below.

(4) Detected part and sensor

  A plurality of types of detected parts provided along the traveling rail 4 will be described with reference to FIG. The detected portion includes a reflective tape 104, an iron plate 105, and a barcode 106. The reflective tape 104 is a member for detecting the position of the transport vehicle 3 in the curved portion 203, and is disposed inside the first traveling rail 4a in the curved portion 203 in the drawing. The iron plate 105 is a member for detecting the conveyance vehicle stop position 118, the start position of the curved portion 203, the branch point 206a, and the like. In the figure, the iron plate 105 is disposed inside the first traveling rail 4a before the branch point 206a of the branching portion 206, and further disposed inside the first traveling rail 4a before the transport vehicle stop position 118. Yes. The bar code 106 functions as an origin mark and a plurality of reference marks of the traveling rail 4, and in the figure, a plurality of barcodes 106 are arranged inside the second traveling rail 4b.

  The drive travel unit 18 further includes a first photoelectric sensor 75 and a second photoelectric sensor 76. The first photoelectric sensor 75 is for detecting the reflective tape 104 stretched on the first traveling rail 4a, and in particular for detecting the reflective tape 104 while traveling on the right curved portion. The second photoelectric sensor 76 is for detecting a reflective tape (not shown) stretched on the second traveling rail 4b, and in particular, detects the reflective tape (not shown) while traveling on the left curved portion. Is to do.

  The driven traveling unit 19 further includes a linear scale 77 and a barcode reader 78. The linear scale 77 is for detecting the iron plate 105 stretched on the first traveling rail 4a. The barcode reader 78 is for detecting the barcode 106 stretched on the second traveling rail 4b.

(5) Control Configuration FIG. 7 is a block diagram showing a control configuration of the transport vehicle system 1 as one embodiment of the present invention.

  The transport vehicle system 1 includes a transport vehicle controller 80 and a CAD system 81.

The transport vehicle controller 80 is a controller for managing the traveling of the plurality of transport vehicles 3. The transport vehicle controller 80 and the transport vehicle 3 can communicate with each other. The transport vehicle controller 80 includes a controller main body 82 and a first memory 83. The controller body 82 is a computer that includes a CPU, a RAM, a ROM, and the like and executes a program. A route map is stored in the first memory 83.
The route map is a map that describes the arrangement of the travel route, the position of the origin, the reference position based on the origin, and the coordinates of the transfer position. The coordinates are obtained by converting the travel distance from the origin into the number of output pulses of the encoder of the transport vehicle.
The transport vehicle 3 continues traveling while comparing the coordinates described in the route map with the internal coordinates of the own machine (coordinates obtained by the encoder).

  The CAD system 81 is a system for designing and storing a travel route. The CAD system 81 has a system main body 84 and a second memory 85. The system main body 84 is a computer that includes a CPU, a RAM, a ROM, and the like and executes a program. The system main body 84 designs a travel route and stores data at that time in the second memory 85 as a layout map. The function of the CAD system 81 may be realized by the transport vehicle controller 80.

  The transport vehicle 3 includes a control unit 87 and a third memory 90. The control unit 87 is a computer that includes a CPU, a RAM, a ROM, and the like and executes a program. The control unit 87 is connected to the travel control unit 88. The traveling control unit 88 can transmit a signal for driving the first motor 26 and the second motor 29 based on a command from the control unit 87. The control unit 87 is further connected to the branch control unit 89. The branch control unit 89 can transmit a signal for driving the first cylinder 42 and the second cylinder 91 based on a command from the control unit 87.

  Further, a first encoder 96, a second encoder 97, a first photoelectric sensor 75, a second photoelectric sensor 76, a linear scale 77 and a barcode reader 78 are connected to the control unit 87.

  A route map is stored in the third memory 90. The transport vehicle 3 calculates a travel distance from the difference between the coordinates of the current position on the route map and the coordinates of the target position, thereby generating a travel speed pattern. In addition, the transport vehicle 3 obtains internal coordinates by the first encoder 96 and the second encoder 97, calculates the remaining travel distance to the destination, and when this value becomes a predetermined value or less, the travel control unit 88 performs a deceleration process. Do. The values of the first encoder 96 and the second encoder 97 are reset to the coordinates of the origin when the origin mark is detected, and are changed to the coordinates of the reference when the reference mark is detected.

(6) Non-contact electric power feeding part The layout of the non-contact electric power feeding line structure 10 is demonstrated using FIG.

  The non-contact power supply line structure 10 is arranged on both the left and right sides with respect to the track 2. In FIG. 6, the non-contact power supply line structure 10 includes first to fourth non-contact power supply line structures 10 </ b> A to 10 </ b> D. 10 A of 1st non-contact electric power feeding line structures are provided in the right side of the 1st driving rail 4a over the 1st linear part 201, the branch part 206, and the curve part 203. FIG. The second non-contact power supply line structure 10 </ b> B is provided on the left side of the second traveling rail 4 b over the first straight part 201, the branch part 206, and the second straight part 202. 10C of 3rd non-contact electric power feeding line structures are arrange | positioned in the 2nd linear part 202 at the right side of the 1st driving rail 4a. 4th non-contact electric power feeding line structure 10D is arrange | positioned in the curve part 203 on the left side of the 2nd traveling rail 4b.

  Next, a specific structure of the non-contact power supply line structure 10 and a structure of the power receiving unit 79 on the side of the transport vehicle 3 will be described with reference to FIGS. FIG. 8 is a partial schematic plan view of the non-contact power supply line structure. FIG. 9 is a schematic plan view of the second drive wheel unit and the non-contact feed line structure. FIG. 10 is a schematic longitudinal sectional view of the second drive wheel unit and the non-contact power supply line structure. FIG. 11 is a partially enlarged view of FIG. 10, and is a schematic cross-sectional view of a non-contact power supply line structure. FIG. 12 is a partial plan view of the non-contact power supply line holding member. FIG. 13 is a partially enlarged view of FIG. 11 and is a schematic cross-sectional view of a non-contact power supply line holding member.

(6-1) Non-contact power line structure The non-contact power line structure 10 mainly includes a support member 210 as a base member, a power line holder 212 as a power line holding member supported by the support member 210, and a power supply. It is comprised from the non-contact electric power feeding line 213 hold | maintained at the electric wire holder 212. FIG. The plurality of support members 210 are suspended from a ceiling (not shown), and are arranged at intervals along the track. Each support member 210 extends in the horizontal direction. The support member 210 has a base portion 210a and a support portion 210b. The base part 210a is fixed to a suspension member (not shown) extending from the ceiling, and the support part 210b supports the feeder line holder 212. The support part 210b is a pair of members that are arranged apart in the vertical direction. A holding portion 210c is formed at the tip of the support portion 210b. A groove portion 210d is formed in the holding portion 210c.
The support member may be suspended directly from the ceiling, or may be fixed to a rail suspended from the ceiling.

  The power supply line holder 212 is attached to each support part 210b. As shown in detail in FIGS. 12 and 13, the feeder holder 212 is a member formed continuously in the direction in which the track 2 extends. The feeder holder 212 can be deformed along the track by forming a plurality of slits (described later). The power supply line holder 212 mainly has a holding part 221 and a supported part 222. The holding unit 221 is a part that holds the power supply line 213. The supported portion 222 is a portion supported by the support member 210.

  The holding part 221 has a first surface part 221a and a second surface part 221b that is separated from the first surface part 221a in the vertical direction. The first surface portion 221a and the second surface portion 222b are flat rectangular portions. The base portions of the first surface portion 221a and the second surface portion 221b are connected by a connecting portion 223 extending in the vertical direction. The connecting part 223 is formed continuously in one direction. In a space formed by the first surface portion 221a, the second surface portion 221b, and the connecting portion 223, a feeder line 213 is accommodated as a litz wire. A first flange 224a and a second flange 224b that extend inward and prevent the feed line 213 from jumping out are formed at the tips of the first surface portion 221a and the second surface portion 221b, respectively.

  The supported portion 222 includes a third surface portion 222a and a fourth surface portion 222b that is separated from the third surface portion 222a in the vertical direction. The third surface portion 222a and the fourth surface portion 222b are flat rectangular portions. The third surface portion 222a extends from the connecting portion 223 to the side opposite to the first surface portion 221a. The fourth surface portion 222b extends from the connecting portion 223 to the side opposite to the second surface portion 221b. The third surface portion 222a and the fourth surface portion 222b are shorter than the first surface portion 221a and the second surface portion 221b. The holding portion 210c of the support portion 210b of the support member 210 is accommodated in the space formed by the third surface portion 222a, the fourth surface portion 222b, and the connecting portion 223. A first protrusion 225a and a second protrusion 225b facing inward are formed on the third surface portion 222a and the fourth surface portion 222b, respectively. The protrusions 225a and 225b are fitted in the groove part 210d of the holding part 210c.

  With the above configuration, the feeder holder 212 has an H-shaped cross section as shown in FIG. That is, the connecting portion 223 extends so as to connect the second direction intermediate portions of the first portion (the first surface portion 221a and the third surface portion 222a) and the second portion (the second surface portion 222b and the fourth surface portion 222b). Yes.

  A first slit 231 and a second slit 232 are formed in the feeder holder 212 as two types of slits. The first slits 231 are formed in the first surface portion 221a and the second surface portion 221b, and are formed side by side at equal intervals in the first direction, which is the direction in which the feed line holder 212 extends. The second slits 232 are formed in the third surface portion 222a and the fourth surface portion 222b, and are formed side by side at equal intervals in the first direction, which is the direction in which the feeder line holder 212 extends. The first slit 231 and the second slit 232 extend in a second direction orthogonal to the first direction.

More specifically, the first slit 231 formed in the first surface portion 221a and the second slit 232 formed in the second surface portion 221b coincide with each other in the first direction. The first slit 231 extends in the second direction to the entire first surface portion 221a and the second surface portion 221b, that is, to the vicinity of the connecting portion 223. The first slit 231 formed in the first surface portion 221a and the second slit 232 formed in the second surface portion 221b coincide with each other in the first direction, and further coincide with the position of the second slit 232. ing. The second slit 232 extends in the second direction to the entire third surface portion 222a and the fourth surface portion 222b, that is, to the vicinity of the connecting portion 223.
In addition, you may make it the V shape which made the near side of the slit wide and narrowed the back side. In that case, the feeder holder is more easily bent.

The structure of the feeder holder 212 will be described with other expressions. By the first slit 231 and the second slit 232, the feeder holder 212 has a plurality of holders 233 (first surface portion 221 a, second surface portion 221 b, third surface portion 222 a, fourth surface portion 222 b, and connection that are divided in the first direction. Portion 223) and a connecting portion 234 (a part of the connecting portion 223) between the first slit 231 and the second slit 232 and connecting the plurality of holders 233. In another expression, a plurality of first slits 231 are formed in the holding portion 221 of the feeder holder 212, and a plurality of second slits 232 are formed in the supported portion 222, whereby the holding portion 221 and Flexibility is improved in both of the supported portions 222.
Note that the support member 210 supports two holders 233 every two. Thus, the number of support members 210 can be smaller than that of the holders 233, and the attachment of the support members 233 and the power supply holder 212 is facilitated.

  In the above configuration, the feeder holder 212 is easily bent at the plurality of connecting portions 234. Therefore, it is easy to place the feeder holder 212 in a curved manner. For example, the feeding portion 221 (the portion on the first slit 231 side of the holder 233) may be brought closer to each other and the tip of the supported portion 222 (the portion on the second slit 232 side of the holder 233) may be separated from each other. The electric wire holder 212 can be curved (corresponding to the first non-contact feeder structure 10A in FIG. 6). Furthermore, the feeder holder 212 can be curved so that the tips of the holding portions 222 are separated and the tips of the supported portions 222 are close to each other (corresponding to the fourth non-contact feeder structure 10D in FIG. 6). ).

  For example, as shown in FIG. 8, the first slit 231 is kept sufficiently small even in a state in which the feeder holder 212 is curved so that the tips of the holder 233 on the first slit 231 side are separated from each other. . Therefore, the power supply line 213 is unlikely to hang down even at the curved portion of the power supply line holder 212.

(6-2) Power Receiving Unit The first power receiving unit 79a and the second power receiving unit 79b each have a pickup unit 241 for obtaining power from the non-contact power feeding line structure 10. The pickup units 241 are provided on both sides of the drive travel unit 18.

Hereinafter, the structure of the second power receiving unit 79b will be described with reference to FIGS. 9 and 10. The structure of the first power receiving unit 79a is the same as the structure of the second power receiving unit 79b.
The second power receiving unit 79b is located at a position further away from the second driving wheel 28 to the outside by the plate 243 fixed to the main body frame 20 of the driving traveling unit 18, and the non-contact power feeding line 213 and the power feeding line. It is arranged at a position corresponding to the holder 212. As shown in FIG. 11, the pickup unit 241 includes a ferrite core 245 having a substantially E-shaped cross section, and a pickup coil 247 wound around the core 245. Specifically, the core 245 includes a connecting portion 249 and first to third protrusions 251, 253, and 255. The first to third protrusions 251, 253, 255 are arranged in the left-right direction through predetermined openings 257, 259, and extend outward in the left-right direction from the connecting portion 249. The pickup coil 247 is wound around the second protrusion 253. A pair of non-contact power supply lines 213 held by the power supply line holder 212 in the opening 257 between the first protrusion 251 and the second protrusion 253 and the opening 259 between the second protrusion 253 and the third protrusion 255. Are arranged respectively.

  In the structure described above, a magnetic field generated by flowing a high-frequency current through the non-contact power supply line 213 acts on the pickup coil 247, and an induced current is generated in the pickup coil 247. In this way, electric power is supplied from the non-contact power supply line 213 to the pickup unit 241 in a non-contact manner to drive the traveling motor or supply power to the control device. In this way, the non-contact power feeding mechanism is configured by the non-contact power feeding line structure 10 and the power receiving unit 79 of the transport vehicle 3.

(7) Features The structure and operation described above can also be expressed as follows.
The non-contact power supply line holding structure 10 is a structure for holding the non-contact power supply line 213 along the track 2 in the transport vehicle system 1. The holding structure 10 includes a plurality of support members 210 (base members) and a feed line holder 212 (feed line holding member). The plurality of support members 210 are arranged along the track 2 so as to be spaced from each other. The feeder holder 212 is supported by a plurality of support members 210, has a continuous shape along the track 2, and is deformed along the track 2 by forming a plurality of first slits 231 and second slits 232. Is possible.
In this structure, the feeder holder 212 can be deformed along the track 2 by a plurality of first slits 231 and second slits 232. Since the feeder line holder 212 has a continuous shape, the intervals between the plurality of holders 233 holding the feeder line 213 can be shortened even in the curved portion of the track 2, and as a result, the sag of the feeder line 213 is reduced. be able to. Moreover, since the feeder holder 212 has a continuous shape, the interval between the support members 210 can be widened. As a result, the number of the support members 210 can be reduced and the structure can be simplified.

The plurality of first slits 231 and the second slits 232 are a plurality of pairs of first slits 231 extending from both sides in the second direction intersecting the first direction in which the power supply line holder 212 extends in the power supply line holder 212, and A second slit 232 is included. Further, a connection portion 234 that connects the holders 233 arranged in the first direction is formed between the first slit 231 and the second slit 232.
In this structure, since the connection portion 234 is formed in the middle of the second direction, the flexibility of the feeder holder 212 is improved, and the portion to which the support member 210 is coupled can be realized with a simple structure. . Therefore, handling work of the feeder holder 212 is facilitated.

In the cross section, the feeder holder 212 includes a first surface portion 221a and a third surface portion 222a as first portions extending in the second direction at intervals, and a second surface portion 221b and a fourth surface portion 222b as second portions. And a connecting portion 223 as a third portion extending so as to connect the second direction intermediate portions of the first portion and the second portion.
With this structure, the structure of the feeder holder 212 is simplified.

The connection part 234 is a part of the connection part 223. The first slit 231 and the second slit 232 are formed in the first portion and the second portion, respectively.
In this structure, the connecting portion 223 functions as the connecting portion 234. Therefore, with this structure, the feeder holder 212 can be bent corresponding to the curved portion while maintaining the strength.

(8) Other Embodiments Although one embodiment of the present invention has been described above, the present invention is not limited to the above embodiment, and various modifications can be made without departing from the scope of the invention. In particular, a plurality of embodiments and modifications described in this specification can be arbitrarily combined as necessary.

  In the embodiment described above, the transport vehicle travels on a track suspended from the ceiling, but the present invention is not limited to this. The track may be provided on the ground, or the transport vehicle may be suspended from the track.

In the said embodiment, although the connection part was one wall shape, this invention is not limited to it. For example, the connection may be more than one wall or other structure.
In the said embodiment, although the connection part is formed in the same shape and position as a connection part, this invention is not limited to it. The connecting portion may have a different shape at a different position from the connecting portion.

  The present invention can be widely applied to a transport vehicle system that supplies power to a transport vehicle by a non-contact power supply method.

DESCRIPTION OF SYMBOLS 1 Transfer vehicle system 2 Track 3 Transfer vehicle 4 Travel rail 4a First travel rail 4b Second travel rail 6 Guide rail 6a First guide rail 6b Second guide rail 10 Non-contact power supply line structure 10a First non-contact power supply line structure 10b Second contactless power supply line structure 11 Mounting portion 12 Traveling portion 13 Mounting member 13a Mounting portion 13b Pillar portion 13c Connecting portion 14 Connecting member 17 Article 18 Drive traveling portion 19 Followed traveling portion 20 Main body frame 21 First drive wheel unit 22 Second Drive Wheel Unit 23 Fixed Guide Roller Mechanism 24 Branch Guide Roller Mechanism 25 First Drive Wheel 26 First Motor 27 First Reducer 28 Second Drive Wheel 29 Second Motor 30 Second Reducer 31 First Fixed Guide Roller 32 Second fixed guide roller 33 Third fixed guide roller 34 Fourth fixed guide roller 35 Bearing 36 First branch guide roller 3 Second branch guide roller 38 Third branch guide roller 39 Fourth branch guide roller 40 Branch guide roller drive mechanism 42 First cylinder 43 First shaft 44 Second shaft 45 Connection shaft 47 Bracket 48 Arm body 49 Connection portion 51 Center of rotation Portion 52 fourth portion 53 fifth portion 54 sixth portion 55 rotation center portion 57 main body frame 58 first driven wheel unit 59 second driven wheel unit 60 fixed guide roller mechanism 61 branch guide roller mechanism 62 first driven wheel 63 first 2 driven wheel 65 first fixed guide roller 66 second fixed guide roller 67 third fixed guide roller 68 fourth fixed guide roller 69 first branch guide roller 70 second branch guide roller 71 third branch guide roller 72 fourth branch guide Roller 73 Branch guide roller drive mechanism 74 Bearing 75 First photoelectric sensor 76 second photoelectric sensor 77 linear scale 78 bar code reader 79 power receiving unit 79a first power receiving unit 79b second power receiving unit 80 carrier controller 81 CAD system 82 controller main body 83 first memory 84 system main body 85 second memory 87 control unit 88 Travel controller 89 Branch controller 90 Third memory 91 Second cylinder 92 Third shaft 93 Fourth shaft 94 Second connection shaft 96 First encoder 97 Second encoder 98 Shaft 99 Shaft 101 First movable arm 103 Second movable arm 104 Reflective tape 105 Iron plate 106 Bar code 118 Transport vehicle stop position 201 First straight line portion 202 Second straight line portion 203 Curved portion 206 Branching portion 206a Branching point 210 Support member (base member)
210a Base 210b Supporting part 210c Holding part 210d Groove part 212 Feed line holder (feed line holding member)
213 Non-contact power supply line 221 Holding portion 221a First surface portion (first portion)
221b Second surface portion (second portion)
222 Supported portion 222a Third surface portion (first portion)
222b Fourth surface portion (second portion)
223 connecting part (third part)
224a 1st flange 224b 2nd flange 225a 1st protrusion 225b 2nd protrusion 231 1st slit 232 2nd slit 233 Holder 234 Connection part 241 Pickup unit 243 Plate 245 Core 247 Pickup coil 249 Connection part 251 1st protrusion 253 2nd protrusion 255 Third projection 257 Opening 259 Opening

Claims (4)

A feeder line holding structure for holding a non-contact feeder line along a track in a transport vehicle system,
A plurality of base members spaced apart from each other along the trajectory;
A feeder holding member that is supported by the plurality of base members, has a continuous shape along the track, and is deformable along the track by forming a plurality of slits,
A feeder line holding structure. The plurality of slits include a plurality of pairs of slits extending so as to approach each other from both sides in a second direction intersecting a first direction in which the track extends in the feeder holding member.
The feed line holding structure according to claim 1, wherein a connection portion that connects portions arranged in the first direction is formed between each pair of the slits.   In the cross section, the feeder holding member connects the first part and the second part extending in the second direction with a space therebetween, and the intermediate part in the second direction of the first part and the second part. The feeder line holding structure according to claim 2, further comprising a third portion extending in a manner as described above. The feed line holding structure according to claim 3, wherein the connection portion is formed of a part of the third portion, and the slit is formed in the first portion and the second portion.

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