JP2020072619A - Transfer device - Google Patents

Abstract

To provide a plane motor system capable of moving the moving element to any position in a plane.SOLUTION: A transfer device 10 includes a long guide structure 20, a base plate 30, and a movable body 40. The base plate 30 is positioned between the guide structure 20 and the movable body 40, and has a first terminal portion 33 facing the upper surface of the movable body 40. The movable body 40 includes: a body part 41; a second terminal part 47 that contacts a first terminal part 33, which is provided to the upper face of the body part 41; and a power supply part 49 which is provided to the bottom face of the body part 41 for supplying the electric power provided from the guide structure 20 side to a device attached to the movable body 40 via the first terminal part 33 and second terminal part 47.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a transfer device that transfers a movable body by magnetic force.

  Conventionally, a technique of transferring an object by a linear motor is known. Patent Document 1 discloses an inexpensive magnet movable linear motor for an automatic door.

JP, 2003-244928, A

  The present invention provides a transfer device capable of transferring a device attached to a movable body while supplying power to the device.

  A transfer device according to an aspect of the present invention is a plurality of coil rows each including a long guide structure and a plurality of spiral planar coils arranged in the longitudinal direction of the guide structure. A substrate having a plurality of coil rows arranged side by side in a direction crossing the longitudinal direction, and a substrate arranged in a space inside the guide structure, and transferred along the longitudinal direction by a magnetic force generated by the plurality of coil rows. A movable body, the substrate is located between the guide structure and the movable body, and has a first terminal portion facing an upper surface of the movable body, and the movable body includes a main body portion and the main body. A second terminal portion provided on the upper surface of the portion, which is in contact with the first terminal portion, and a power feeding portion provided on the lower surface of the main body portion, through the first terminal portion and the second terminal portion. Power from the guide structure side And a power supply portion for supplying to a device attached to the serial movable body.

  ADVANTAGE OF THE INVENTION According to this invention, the transfer apparatus which can transfer the apparatus attached to a movable body, supplying electric power to the said apparatus is implement | achieved.

FIG. 1 is an external perspective view of the transfer device according to the embodiment as seen from above. FIG. 2 is a partially exploded perspective view of the transfer device according to the embodiment as seen from below. FIG. 3 is a diagram showing an internal structure of the transfer device according to the embodiment. FIG. 4 is a diagram showing an example of a plurality of connected guide structures. FIG. 5 is a side view (a) of the substrate viewed from the longitudinal direction and a plan view (b) of the substrate viewed from below. FIG. 6 is an external perspective view of the movable body as seen from above. FIG. 7 is an external perspective view of the movable body as seen from below. FIG. 8 is a cross-sectional view of the movable body. FIG. 9 is a partially exploded perspective view of the movable body. FIG. 10: is a figure which shows the operation example which transfers a movable body by suction force. FIG. 11 is a diagram showing an operation example of transferring a movable body by a repulsive force. FIG. 12 is a diagram showing an operation example in which a movable body is transferred by a suction force and a repulsive force. FIG. 13 is an external perspective view of a movable body according to the modification as seen from above. FIG. 14 is an exploded perspective view of the movable body according to the modification as seen from above.

  Hereinafter, embodiments will be described with reference to the drawings. It should be noted that each of the embodiments described below shows a comprehensive or specific example. Numerical values, shapes, materials, constituent elements, arrangement positions and connection forms of constituent elements, steps, order of steps, and the like shown in the following embodiments are examples, and are not intended to limit the present invention. Further, among the constituent elements in the following embodiments, constituent elements that are not described in the independent claims showing the highest concept are described as arbitrary constituent elements.

  It should be noted that each drawing is a schematic diagram and is not necessarily strictly illustrated. Further, in each drawing, the same reference numerals are given to substantially the same configurations, and overlapping description may be omitted or simplified.

  In addition, coordinate axes may be shown in the drawings used for description in the following embodiments. The Z-axis direction in the coordinate axes is, for example, a vertical direction, the Z-axis + side is expressed as an upper side (upper side), and the Z-axis-side is expressed as a lower side (lower side). In other words, the Z-axis direction is a direction perpendicular to the main surface of the substrate. The X-axis direction and the Y-axis direction are directions orthogonal to each other on a plane (horizontal plane) perpendicular to the Z-axis direction. The Y-axis direction is the longitudinal direction of the guide structure, and the XY plane is a plane parallel to the main surface of the substrate. For example, in the following embodiments, “plan view” means viewing from the Z-axis direction. Further, in the drawings, the north pole of the magnet (permanent magnet or electromagnet) is described as “N”, and the south pole of the magnet is described as “S”.

(Embodiment)
[overall structure]
Hereinafter, the configuration of the transfer device according to the embodiment will be described with reference to the drawings. FIG. 1 is an external perspective view of the transfer device according to the embodiment as seen from above. FIG. 2 is a partially exploded perspective view of the transfer device according to the embodiment as seen from below. FIG. 3 is a diagram showing an internal structure of the transfer device according to the embodiment.

  As shown in FIGS. 1 to 3, the transfer device 10 includes a guide structure 20, a substrate 30, and a movable body 40. The transfer device 10 is an electromagnetic actuator device (in other words, a linear motor device) that can transfer the movable body 40 along the guide structure 20 by magnetic force. The guide structure 20 is attached to, for example, the ceiling (or wall) of the room. A device such as a lighting device 60 (shown in FIG. 2) is attached to the movable body 40. The transfer device 10 can transfer the device attached to the movable body 40 to an arbitrary position. Hereinafter, each component of the transfer device 10 will be described.

[Guide structure]
First, the guide structure 20 will be described. The guide structure 20 is a structure whose longitudinal direction is the Y-axis direction which is the moving direction of the movable body 40. The guide structure 20 forms a long groove in the transfer direction of the movable body 40. In other words, this groove is a space in which the movable body 40 is housed. The guide structure 20 is formed of a resin such as nylon resin, for example. Specifically, the guide structure 20 includes a top plate portion 21, a side wall portion 22, and a bottom plate portion 23. The top plate portion 21, the side wall portion 22, and the bottom plate portion 23 are fixed by, for example, screws.

  The top plate portion 21 is a long plate-shaped portion of the guide structure 20 located above the movable body 40. The substrate 30 is attached to the lower surface of the top plate portion 21. Further, two grooves 24 for guiding the upper sliding member 45 of the movable body 40 are provided on the lower surface of the top plate portion 21. The groove 24 is a groove long in the Y-axis direction, and the bottom portion of the groove 24 when viewed from the Y-axis direction is curved corresponding to the shape of the upper sliding member 45. If the bottom of the groove 24 is hard-coated with an inorganic oxide film such as a silicon oxide film, abrasion, dust generation, and generation of noise due to the sliding of the upper sliding member 45 are suppressed.

  The side wall portion 22 is a portion of the guide structure 20 located laterally of the movable body 40 in the X-axis direction. The third terminal portion 27 is provided on the inner surface of the side wall portion 22 (that is, the surface facing the side surface of the movable body 40). The third terminal portion 27 is, for example, a ground terminal, and contacts the fourth terminal portion 48 of the movable body 40. The third terminal portion 27 has a long shape that is long in the Y-axis direction, and is formed of, for example, a metal such as a copper-based sintered alloy or carbon.

  The bottom plate portion 23 is a portion of the guide structure 20 located below the movable body 40. The bottom plate portion 23 is divided into two long plate-shaped members, and an opening 25 is formed between the two members. That is, the opening 25 is formed in the portion of the guide structure 20 facing the lower surface of the movable body 40 along the Y-axis direction.

  Two grooves 26 for guiding the lower sliding member 46 of the movable body 40 are provided on the upper surface of the bottom plate portion 23. The groove 26 is a groove long in the Y-axis direction, and the bottom portion of the groove 26 when viewed from the Y-axis direction is curved corresponding to the shape of the lower sliding member 46. If the bottom of the groove 26 is hard-coated with an inorganic oxide film such as a silicon oxide film, abrasion, dust generation, and generation of noise due to the sliding of the lower sliding member 46 are suppressed.

  By connecting a plurality of guide structures 20, it is possible to form a transfer path of the lattice-shaped movable body 40 as shown in FIG. FIG. 4 is a diagram showing an example of a plurality of connected guide structures 20.

[substrate]
Next, the substrate 30 will be described with reference to FIG. 5 in addition to FIGS. 5A is a side view of the substrate 30 seen from the longitudinal direction (Y axis + side) of the substrate 30, and FIG. 5B is a side view of the substrate 30 from below (Z axis − side). It is the top view seen.

  The substrate 30 is a plate member on which a plurality of plane coils 31 functioning as electromagnets that generate a magnetic force for moving the movable body 40 are formed. The board 30 has a long plate shape that is long in the Y-axis direction, and is specifically a printed board such as a glass epoxy board.

  In other words, the plane coil 31 is a pattern coil, and is formed by a method similar to the method of forming a wiring pattern on the substrate 30, such as etching. As shown in FIG. 5B, the planar coil 31 has a rectangular spiral shape (in other words, a rectangular winding shape), but may have another winding shape such as a circular winding shape. Good. The planar coil 31 may have, for example, a winding shape along a triangle or a polygon such as a hexagon. The winding directions of the plurality of planar coils 31 are the same, but may be different. The plane coil 31 is formed of a metal such as copper, for example. The planar coil 31 is formed, for example, by the same method as the wiring pattern formed on the substrate 30 by etching or the like. With such a planar coil 31, it is easy to make the transfer device 10 thinner and smaller.

  Although not shown, the substrate 30 is a multi-layer substrate, and the planar coil 31 is formed in a plurality of layers (for example, 5 layers) by the technique of layering the substrate 30. That is, the planar coil 31 that looks like one in FIG. 5B actually has a wiring length that is a multiple of this.

  Further, although not shown, the two planar coils 31 arranged in the X-axis direction (short side direction of the substrate 30) are electrically connected in series. That is, the two planar coils 31 arranged in the X-axis direction are driven integrally.

  The plurality of planar coils 31 arranged in the Y-axis direction form a coil row 32. In the example of FIG. 5, two coil rows 32 are formed side by side in the X-axis direction. It should be noted that three or more coil rows 32 may be formed on the substrate 30. With such two or more coil rows 32, the balance of the magnetic fields generated by the coil rows can be adjusted in the direction perpendicular to the moving direction of the movable body 40. Therefore, rattling at the time of moving the movable body 40 is reduced, and generation of dust is suppressed. Further, the stop position accuracy of the movable body 40 is improved.

  Further, the first terminal portion 33 is formed on the lower surface of the substrate 30. The lower surface of the substrate 30 is basically covered with an insulating film, but the first terminal portion 33 is not covered with the insulating film. The first terminal portion 33 is, for example, a power feeding terminal, and directly contacts the second terminal portion 47 of the movable body 40. The first terminal portion 33 has a long shape that is long in the Y-axis direction, and is formed of, for example, a metal such as a copper-based sintered alloy or carbon. As shown in (b) of FIG. 5, the first terminal portion 33 is located between the plurality of coil rows 32 in a plan view, but may be located laterally of the plurality of coil rows 32 in a plan view. Good. Further, as shown in FIG. 5A, the first terminal portion 33 projects below the plurality of coil rows 32 (on the movable body 40 side). This prevents the second terminal portion 47, which is not in contact with the first terminal portion 33, from rubbing against the substrate 30.

  The end on the Y axis + side of the first terminal portion 33 is the first connecting portion 33a, and the end on the Y axis − side of the first terminal portion 33 is the second connecting portion 33b. The first connecting portion 33a and the second connecting portion 33b can be fitted together. Thus, by connecting the first connecting portion 33a of one substrate 30 to the second connecting portion 33b of another substrate 30, the two substrate 30 are connected and the respective first terminal portions 33 of the two substrates 30 are connected. Can be electrically connected.

  A connector 34 is attached to the upper surface of the substrate 30. The connector 34 includes a control terminal, and the plurality of plane coils 31 and a control device (not shown) that supplies power to the plurality of plane coils 31 can be electrically connected via the control terminal. Further, the connector 34 includes a power supply terminal and can electrically connect an AC power supply (not shown) to the first terminal portion 33 via the control terminal.

[Movable body]
Next, the movable body 40 will be described with reference to FIGS. 6 to 9 in addition to FIGS. 1 to 3. FIG. 6 is an external perspective view of the movable body 40 as seen from above. FIG. 7 is an external perspective view of the movable body 40 as seen from below. FIG. 8 is a sectional view of the movable body 40. FIG. 9 is a partially exploded perspective view of the movable body 40. In FIG. 9, the lower half of the main body 41 is not shown.

  The movable body 40 is an object to be transferred in the transfer device 10, and a device such as the lighting device 60 is attached thereto. Although the device is detachably attached to the movable body 40, the device may be integrally formed with the movable body 40. The movable body 40 includes a body portion 41, a permanent magnet 42, a yoke 43, a spacer 44, an upper sliding member 45, a lower sliding member 46, a second terminal portion 47, and a fourth terminal portion 48. And a power supply unit 49.

  The main body 41 is a flat rectangular parallelepiped member, and accommodates the permanent magnet 42, the yoke 43, the spacer 44, and the like inside. The shape of the main body 41 in plan view is a square shape with rounded corners. If the shape of the main body 41 in a plan view is rounded square, it becomes easy to change the direction in the crossroads formed by the plurality of guide structures 20 as shown in FIG. When the movable body 40 moves linearly, the shape of the main body 41 in plan view may be rectangular. The shape of the main body 41 in plan view may be circular.

  The permanent magnet 42 is a magnet for moving the movable body 40 by the magnetic force generated by the planar coil 31. The permanent magnet 42 is, for example, a flat columnar neodymium magnet. The shape and material of the permanent magnet 42 are not particularly limited. The permanent magnet 42 may be, for example, a ferrite magnet or an alnico magnet. The movable body 40 includes two permanent magnets 42 that are vertically stacked, but at least one permanent magnet 42 may be included. The permanent magnet 42 is located at the center of the main body 41 in a plan view. The arrangement of the permanent magnets 42 is not particularly limited.

  The yoke 43 is a yoke that forms a magnetic gap for concentrating the magnetic flux of the permanent magnet upward. The yoke 43 covers the spacer 44 and the lower surface of the permanent magnet 42, and does not cover the temporary surface of the permanent magnet 42. The yoke 43 is made of metal such as iron, ferrite, or silicon.

  The spacer 44 is located between the permanent magnet 42 and the yoke 43. The spacer 44 is an annular shape (in other words, a ring shape) that covers the side surface of the permanent magnet 42. The spacer 44 may be used as necessary to increase the upward magnetic force of the permanent magnet 42, and the movable body 40 may not include the spacer. The material of the spacer may be selected appropriately.

  The upper sliding member 45 is provided at four places on the upper surface of the main body 41, and slides with the portion forming the groove 24 of the guide structure 20 when the movable body 40 is transferred. The upper sliding member 45 is specifically a ball bear. If the upper sliding member 45 is hard-coated with an inorganic oxide film such as a silicon oxide film, abrasion, dust generation, and generation of abnormal noise are suppressed.

  The lower sliding member 46 is provided at four places on the upper surface of the main body 41 and slides with the portion forming the groove 26 of the guide structure 20 when the movable body 40 is transferred. The lower sliding member 46 is specifically a ball bear. If the lower sliding member 46 is hard-coated with an inorganic oxide film such as a silicon oxide film, abrasion, dust generation, and generation of abnormal noise are suppressed.

  The second terminal portions 47 are provided at four places on the upper surface of the main body portion 41 and are in direct contact with the first terminal portions 33 provided on the substrate 30. The second terminal portion 47 is a terminal for receiving power from the first terminal portion 33, and is formed of, for example, a metal such as a copper-based sintered alloy or carbon. The second terminal portion 47 is curved in an arch shape in order to impart elasticity to the second terminal portion 47. The second terminal portions 47 are provided at four locations in a cross shape, assuming transfer of the crossroads shown in FIG. In other words, the four second terminal portions 47 are arranged at the positions of the apexes of the rhombus on the upper surface of the main body portion 41.

  Accordingly, even when the movable body 40 changes the transfer direction by 90 degrees, two of the four second terminal portions 47 continue to contact the first terminal portion 33. Note that, as described above, the first terminal portion 33 projects toward the movable body 40 side. As a result, the remaining two second terminal portions 47 that are not in contact with the first terminal portion 33 are prevented from coming into contact with the substrate 30. Note that the number of second terminal portions 47 is not limited to four. The movable body 40 may have at least one second terminal portion 47.

  The fourth terminal portions 48 are provided at four locations on the side surface of the main body portion 41 (specifically, one location on one side surface) and contact the third terminal portions 27 provided on the guide structure 20. The fourth terminal portion 48 is, for example, a ground terminal and is formed of, for example, a metal such as a copper-based sintered alloy or carbon. The fourth terminal portion 48 is curved in an arch shape in order to impart elasticity to the fourth terminal portion 48. The fourth terminal portion 48 may be provided in at least one place. The fourth terminal portion 48 may have any configuration as long as it can keep contacting the third terminal portion 27 even if the movable body 40 is transferred. The fourth terminal portion 48 may be provided in at least one place.

  The power feeding section 49 is a device (for example, the lighting device 60 shown in FIG. 2) in which electric power obtained from the guide structure 20 side (AC power source) via the first terminal section 33 and the second terminal section 47 is attached to the movable body 40. ) Is a power supply structure for supplying to. That is, the power supply terminal of the power supply section 49 is electrically connected to the second terminal section 47 inside the main body section 41. In addition, in the movable body 40, the power feeding section 49 includes a ground terminal, and the ground terminal is electrically connected to the fourth terminal section 48 inside the main body section 41. The power feeding section 49 is provided on the lower surface of the main body section 41 and is exposed to the outside through an opening 25 provided in the guide structure 20.

  A device attached to the movable body 40 is electrically connected to the power feeding unit 49. The detailed structure of the power feeding unit 49 is not particularly limited, and may be a standardized structure such as an outlet, a connector, or a socket, or a dedicated structure corresponding to a device attached to the movable body 40. Good. A device that does not need power feeding may be attached to the movable body 40, and in this case, the power feeding unit 49 is not used.

[Operation example]
Next, the operation of the transfer device 10 will be described. FIG. 10 is a diagram showing an operation example of transferring the movable body 40 by a suction force. It should be noted that in FIG. 10, the substrate 30 is shown in cross section, and the state in which the planar coils 31 are stacked is shown. The movable body 40 is also a cross-sectional view, and the permanent magnets 42 arranged inside are shown. The same applies to FIGS. 11 and 12 described later.

  The transfer device 10 includes a control device 50. The controller 50 can selectively supply DC power to the plurality of planar coils 31 via the connector 34.

  Further, as described above, in the transfer device 10, a pair of flat coils (that is, the two flat coils 31) arranged in the X-axis direction are integrally driven. The following description of FIGS. 10 to 12 will be made in consideration of this point.

  As shown in FIG. 10, when the N pole of the permanent magnet 42 of the movable body 40 is located on the substrate 30 side, the control device 50 controls the front of the movable body 40 (Y-axis + side) of the plurality of planar coils 31. A pair of planar coils 31 located in () are electrically connected and are integrally driven). As a result, the pair of flat coils 31 to which the direct current voltage of the first polarity is supplied functions as an electromagnet with the S pole on the movable body 40 side, and an attractive force is generated between the pair of flat coils 31 and the permanent magnet 42. Occur. The movable body 40 is transported forward by such a suction force.

  The control device 50 may simultaneously supply the direct current voltage of the first polarity to the two or more sets of planar coils 31 located in front of the movable body 40 in order to move the one movable body 40. Thereby, the control device 50 can apply a relatively large thrust to the movable body 40.

  Further, the control device 50 may transfer the movable body 40 by the repulsive force generated between the permanent magnet 42 and the plane coil 31. FIG. 11 is a diagram showing an operation example in which the movable body 40 is transferred by a repulsive force.

  As shown in FIG. 11, when the N pole of the permanent magnet 42 of the movable body 40 is located on the substrate 30 side, the control device 50 controls the rear side (Y-axis-side) of the movable body 40 among the plurality of planar coils 31. ) Is supplied to the pair of planar coils 31 located at (1). As a result, the pair of planar coils 31 to which the DC voltage of the second polarity is supplied functions as an electromagnet having an N pole on the movable body 40 side, and a repulsive force is generated between the pair of planar coils 31 and the permanent magnet 42. Occur. The movable body 40 is transported forward by such repulsive force.

  Note that the control device 50 may simultaneously supply the DC voltage of the second polarity to two or more sets of planar coils 31 located behind the movable body 40 in order to transfer one movable body 40. Thereby, the control device 50 can apply a relatively large thrust to the movable body 40.

  In addition, the control device 50 may transfer the movable body 40 by an attractive force generated between the permanent magnet 42 and the plane coil 31 and a repulsive force generated between the permanent magnet 42 and the plane coil 31. FIG. 12 is a diagram showing an operation example in which the movable body 40 is transferred by a suction force and a repulsive force.

  As shown in FIG. 12, when the N pole of the permanent magnet 42 included in the movable body 40 is located on the substrate 30 side, the controller 50 sets one set of the plurality of planar coils 31 located in front of the movable body 40. The direct current voltage of the first polarity is supplied to the planar coil 31. As a result, the pair of flat coils 31 to which the direct current voltage of the first polarity is supplied functions as an electromagnet with the S pole on the movable body 40 side, and an attractive force is generated between the pair of flat coils 31 and the permanent magnet 42. Occur.

  Further, the control device 50 supplies the DC voltage of the second polarity to the set of the planar coils 31 located behind the movable body 40 among the plurality of planar coils 31. As a result, the pair of planar coils 31 to which the DC voltage of the second polarity is supplied functions as an electromagnet having an N pole on the movable body 40 side, and a repulsive force is generated between the pair of planar coils 31 and the permanent magnet 42. Occur. Accordingly, the control device 50 can transfer the movable body 40 forward by simultaneously using the suction force and the repulsive force.

  In addition, the direct current voltage of the first polarity is simultaneously supplied to two or more sets of the plane coils 31 located in front of the movable body 40, and the second coil is supplied to the two or more sets of plane coils 31 located behind the movable body 40. The DC voltage of the polarity may be simultaneously supplied. Thereby, the control device 50 can apply a relatively large thrust to the movable body 40.

  As described above, the transfer device 10 moves the movable body 40 arranged in the space inside the guide structure 20 in the Y-axis direction by the magnetic force generated by the plurality of planar coils 31 (in other words, the plurality of coil rows 32). Can be transported along.

[Modified example of movable body]
In the movable body 40, the second terminal portions 47 are provided at four positions in a cross shape, assuming transfer of the cross road shown in FIG. Here, if the second terminal portion 47 is provided at the center position of the upper surface of the main body portion 41, one second terminal portion 47 can cope with the transfer of the crossroads. FIG. 13 is an external perspective view of a movable body according to such a modification as seen from above. FIG. 14 is an exploded perspective view of the movable body according to the modification as seen from above.

  As shown in FIGS. 13 and 14, the movable body 40a according to the modified example has a body portion 41a, a permanent magnet 42a, a yoke 43, a spacer 44, an upper sliding member 45, and a second terminal portion 47a. And a fourth terminal portion 48. Although not shown in FIGS. 13 and 14, the movable body 40 a also includes a lower sliding member 46 and a power feeding section 49.

  The movable body 40a includes only one second terminal portion 47a at the center position of the upper surface of the main body portion 41. As a result, the second terminal portion 47a continues to contact the first terminal portion 33 even when the movable body 40 changes the transfer direction by 90 degrees. That is, the power supply to the power supply unit 49 is continued even when the transfer direction is changed by 90 degrees.

  Further, in the movable body 40a, the permanent magnet 42a has an annular shape and is arranged so as to surround the second terminal portion 47a. This avoids interference between the permanent magnet 42a and the second terminal portion 47a. The movable body 40a includes two permanent magnets 42a that are vertically stacked, but may include at least one permanent magnet 42a.

[Effects, etc.]
As described above, the transfer device 10 includes the elongated guide structure 20 and the plurality of coil rows 32 each including the plurality of spiral planar coils 31 arranged in the longitudinal direction of the guide structure 20. A substrate 30 having a plurality of coil rows 32 arranged side by side in a direction crossing the longitudinal direction, and a magnetic field generated by the coil rows 32 arranged in a space inside the guide structure 20 along the longitudinal direction. And a movable body 40 to be transferred. The substrate 30 has a first terminal portion 33 located between the guide structure 20 and the movable body 40 and facing the upper surface of the movable body 40. The movable body 40 includes a main body portion 41, a second terminal portion 47 provided on the upper surface of the main body portion 41 and in contact with the first terminal portion 33, and a power feeding portion 49 provided on the lower surface of the main body portion 41. , A power supply unit 49 for supplying electric power obtained from the guide structure 20 side via the first terminal portion 33 and the second terminal portion 47 to a device attached to the movable body 40.

  Such a transfer device 10 can transfer a device attached to the movable body 40 while supplying power to the device.

  In addition, for example, the first terminal portion 33 has an elongated shape along the longitudinal direction.

  Such a transfer device 10 can continue to supply power to the device attached to the movable body 40 even when the movable body 40 is transferred in the longitudinal direction.

  Moreover, for example, the first terminal portion 33 is located between the plurality of coil rows 32 in a plan view.

  In such a transfer device 10, the position of the second terminal portion 47 of the movable body 40 can be brought closer to the center of the movable body 40. That is, since the position where the movable body 40 and the substrate 30 contact each other approaches the center of the movable body 40, the movement of the movable body 40 becomes smooth.

  In addition, for example, the first terminal portion 33 projects toward the movable body 40 side with respect to the plurality of coil rows 32.

  In such a transfer device 10, when a plurality of second terminal portions 47 are provided on the main body portion 41 of the movable body 40, the remaining second terminal portion 47 not in contact with the first terminal portion 33 has the substrate 30. It is suppressed to contact with. That is, the abrasion of the substrate 30 is suppressed, and the durability of the transfer device 10 is improved.

  Further, for example, an opening 25 is formed along the longitudinal direction in a portion of the guide structure 20 facing the lower surface of the movable body 40, and the power feeding portion 49 is exposed to the outside from the opening 25.

  Such a transfer device 10 can facilitate the electrical connection between the power feeding unit 49 and the device attached to the movable body 40.

  Further, for example, the guide structure 20 further includes a third terminal portion 27 facing the side surface of the movable body 40. The movable body 40 includes a fourth terminal portion 48 provided on the side surface of the main body portion 41 and in contact with the third terminal portion 27.

  By using the third terminal portion 27 and the fourth terminal portion 48 for grounding, the transfer device 10 can transfer the device attached to the movable body 40 while electrically grounding the device. it can.

  In addition, for example, the movable body 40 further has a cylindrical permanent magnet 42 inside the main body 41, a spacer 44 that covers the side surface of the permanent magnet 42, a spacer 44, and a yoke that covers the lower surface of the permanent magnet 42. 43 and.

  In such a transfer device 10, the magnetic force generated by the permanent magnet 42 can be concentrated on the substrate 30 side by the spacer 44 and the yoke 43. In other words, the thrust of the movable body 40 can be improved.

  Further, for example, the movable body 40 further includes sliding members (specifically, the upper sliding member 45 and the lower sliding member 46) provided on the upper surface and the lower surface of the main body 41, respectively. The guide structure 20 is provided with a groove (specifically, the groove 24 and the groove 26) for guiding the sliding member.

  In such a transfer device 10, the sliding member is guided by the groove, so that the transfer accuracy (for example, straightness) of the movable body 40 can be improved. In addition, rattling at the time of moving the movable body 40 is reduced, and dust is suppressed. Further, the stop position accuracy of the movable body 40 is improved.

(Other embodiments)
Although the transfer device according to the embodiment has been described above, the present invention is not limited to the above embodiment.

  For example, in the above embodiment, the first terminal portion and the second terminal portion are used for power feeding, the third terminal portion and the fourth terminal portion are used for grounding, but the first terminal portion and the second terminal portion are It may be used for grounding, and the third terminal portion and the fourth terminal portion may be used for power feeding. Further, the terminal portion used for grounding is not essential.

  Further, in the above embodiment, the lighting device is attached to the movable body, but other devices may be attached. For example, a reel outlet or the like may be attached to the movable body. Further, a device or an article that does not require power feeding may be attached to the movable body, for example, a hanging advertisement or a guide display medium may be attached.

  Further, in the above-described embodiment, each component (for example, control device) may be realized by executing a software program suitable for each component. Each component may be realized by a program execution unit such as a CPU or a processor reading and executing a software program recorded in a recording medium such as a hard disk or a semiconductor memory.

  Further, each component may be realized by hardware. For example, each component may be a circuit (or integrated circuit). These circuits may form one circuit as a whole or may be separate circuits. Further, each of these circuits may be a general-purpose circuit or a dedicated circuit.

  Further, the general or specific aspects of the present invention may be realized by a recording medium such as a system, a device, a method, an integrated circuit, a computer program, or a computer-readable CD-ROM. Further, the system, the device, the method, the integrated circuit, the computer program, and the recording medium may be implemented in any combination. For example, the present invention may be realized as a method for transferring a movable body according to the above-described embodiment, or may be realized as a program for causing a computer such as a control device to execute the transfer method. The present invention may be realized as a computer-readable non-transitory recording medium in which the program is recorded.

  In addition, it is realized by making various modifications to those skilled in the art by those skilled in the art, or realized by arbitrarily combining the components and functions in each embodiment without departing from the spirit of the present invention. The present invention also includes the forms.

10 Transfer Device 20 Guide Structure 24, 26 Groove 25 Opening 27 Third Terminal Part 30 Substrate 31 Planar Coil 32 Coil Row 33 First Terminal Part 40, 40a Movable Body 41, 41a Body Part 42, 42a Permanent Magnet 43 Yoke 44 Spacer 45 Upper sliding member (sliding member)
46 Lower sliding member (sliding member)
47, 47a Second terminal part 48 Fourth terminal part 49 Power supply part 60 Lighting device (equipment)

Claims (8)

Long guide structure,
A substrate having a plurality of coil rows each formed by a plurality of spiral planar coils arranged along the longitudinal direction of the guide structure, the plurality of coil rows being arranged side by side in a direction intersecting the longitudinal direction. When,
A movable body which is arranged in a space inside the guide structure and is moved along the longitudinal direction by a magnetic force generated by the plurality of coil rows,
The substrate is
Located between the guide structure and the movable body,
Having a first terminal portion facing the upper surface of the movable body,
The movable body is
Body part,
A second terminal portion provided on the upper surface of the main body portion, which contacts the first terminal portion,
A power supply unit provided on the lower surface of the main body unit, for supplying electric power obtained from the guide structure side through the first terminal unit and the second terminal unit to a device attached to the movable body. A transfer device having a power supply unit. The transfer device according to claim 1, wherein the first terminal portion has an elongated shape along the longitudinal direction. The transfer device according to claim 1, wherein the first terminal portion is located between the plurality of coil rows in a plan view. The transfer device according to claim 1, wherein the first terminal portion protrudes toward the movable body side with respect to the plurality of coil rows. An opening is formed along the longitudinal direction in a portion of the guide structure facing the lower surface of the movable body,
The transfer device according to claim 1, wherein the power feeding unit is exposed to the outside through the opening. The guide structure further includes a third terminal portion facing a side surface of the movable body,
The movable body is
The transfer device according to claim 1, further comprising a fourth terminal portion provided on a side surface of the main body portion, the fourth terminal portion being in contact with the third terminal portion. The movable body is further provided inside the main body,
A cylindrical permanent magnet,
A spacer covering the side surface of the permanent magnet,
The transfer device according to claim 1, further comprising a spacer and a yoke that covers a lower surface of the permanent magnet. The movable body further includes sliding members provided on each of an upper surface and a lower surface of the main body,
The transfer device according to claim 1, wherein the guide structure is provided with a groove that guides the sliding member.

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