JP2585747B2 - Transport equipment of the linear motor use - Google Patents

Transport equipment of the linear motor use

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Publication number
JP2585747B2
JP2585747B2 JP63236767A JP23676788A JP2585747B2 JP 2585747 B2 JP2585747 B2 JP 2585747B2 JP 63236767 A JP63236767 A JP 63236767A JP 23676788 A JP23676788 A JP 23676788A JP 2585747 B2 JP2585747 B2 JP 2585747B2
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direction
thrust
primary coil
moving body
pair
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JPH0287903A (en
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隆 岡村
成良 藤田
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株式会社ダイフク
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Description

【発明の詳細な説明】 〔産業上の利用分野〕 本発明は、例えば、工場内や倉庫内等において各種物品を搬送するためのリニアモータ利用の搬送設備に関し、詳しくは、一次コイルが地上側に設けられ、且つ、 BACKGROUND OF THE INVENTION [FIELD OF THE INVENTION The present invention is, for example, relates to the transport facilities of the linear motor utilized for transporting various articles in factory or warehouse, etc., in detail, the primary coil is ground side provided, and,
二次導体が移動体側に設けられたリニアモータ利用の搬送設備に関する。 Regarding transport facility of the linear motors utilizing the secondary conductor provided on the movable body side.

〔従来の技術〕 [Prior art]

上記この種のリニアモータ利用の搬送設備において、 Above in the conveying equipment of this type of linear motor utilized,
従来では、移動体の横幅方向での位置規制用の案内レール等を移動経路に沿って設け、その案内レールの長さ方向に向けて推力を与えるように、案内レールの長さ方向に沿って一次コイルを付設するようにしていた。 Conventionally, it provided along a moving path of the guide rail or the like for position regulation in the lateral direction of the body, to provide a thrust toward the longitudinal direction of the guide rails, along the length of the guide rail It had to be attached to the primary coil.

従って、案内レールを急角度で屈曲させて移動体の進行方向を急角度で変えることは困難であり、又、移動体を高速移動させることができるようにするためにも、案内レールを極力直線状に形成するようにしていた。 Therefore, it is difficult to change at a steep angle to the traveling direction of the moving body by bending the guide rail at a steep angle, also in order that the moving body can be moved at a high speed also the guide rail as far as possible linear It had to be formed to Jo.

着線状の案内レールを組み合わせて移動経路を形成すると、移動経路の向きが変わる箇所では、異なる向きの案内レール間に亘って、移動体の向きを変えて移動させるための手段が必要になる。 To form a moving path by combining wear linear guide rail, in a portion where the direction of the travel path changes, over between different orientations of the guide rail, means are required to move by changing the orientation of the moving object .

但し、上述の如く、移動体は案内レールによってその横幅方向での位置を規制され、且つ、その案内レールの長さ方向にのみ推力を与えるように構成されていることから、一次コイルによる推力を利用して移動体の進行方向を変更することは困難であった。 However, as described above, the mobile is regulating the position of its lateral width direction by the guide rails, and, because it is configured to provide thrust only in the length direction of the guide rail, the thrust by the primary coil it is difficult to change a traveling direction of the moving body by using.

尚、複数の移動経路が交差する交差点において、移動体を異なる移動経路間に亘って分岐・合流させるような場合にも、同様の問題が生じることになる。 Incidentally, at the intersection where a plurality of moving paths intersect, when the mobile as to branch-merge over different path of travel, so that the same problem arises.

そこで、従来では、例えば、第5図に示すように、移動経路の向きが急激に変わる案内レール(L)の接続部分に、水平方向に旋回駆動自在なターンテーブル(T) Therefore, conventionally, for example, as shown in FIG. 5, the connecting portion of the guide rail the direction of the movement path is changed rapidly (L), horizontally pivot drivable turntable (T)
を設けて、このターンテーブルを(T)を旋回駆動することにより、移動体(A)の進行方向を変更させるようにしていた。 The provided, by turning drive the turntable (T), it has so as to change a traveling direction of the moving body (A).

〔発明が解決しようとする課題〕 [Problems that the Invention is to Solve]

従来構成では、移動体の進行方向を変えるための設備構成が複雑になる不利があった。 In the conventional configuration, there is disadvantage that the equipment configuration for changing the traveling direction of the moving body is complicated.

本発明は、上記実情に鑑みてなされたものであって、 The present invention was made in view of the above circumstances,
その目的は、地上側の一次コイルによる推力のみによって移動体の進行方向を簡単に変えることができるようにすることにある。 Its purpose is to be able to easily change the traveling direction of the moving object only by the thrust by the primary coil of the ground side.

〔課題を解決するための手段〕 [Means for Solving the Problems]

本発明によるリニアモータ利用の搬送設備は、一次コイルが地上側に設けられ、且つ、二次導体が移動体側に設けられたものであって、その特徴構成は、以下の通りである。 Transport facility of the linear motor utilized according to the present invention, the primary coil is provided on the ground side, and, there is a secondary conductor is provided on the movable body side, the characteristic configuration is as follows.

すなわち、前記一次コイルは、前記二次導体に対して、前記移動体の進行方向には同方向となる推力を同時に与えながら、且つ、前記移動体の横幅方向には互いに逆方向となる推力を同時に与え、且つ、その逆方向となる推力が左右方向のずれに対して復元力として作用するように、前記移動体の横幅方向に配置された左右一対と、前記二次導体に対して、前記移動体の進行方向には同方向となる逆推力を同時に与えながら、且つ、前記移動体の横幅方向には互いに逆方向となる推力を同時に与え、且つ、その逆方向となる推力が左右方向のずれに対して復元力として作用するように、前記移動体の横幅方向に設置された左右一対とからなり、平面視で四角形をなす一組の一次コイルが、前記進行方向に複数並ぶ状態で設置され、前記二次導 That is, the primary coil to the secondary conductor, while giving the traveling direction of the moving body a thrust the same direction at the same time, and, a thrust in the opposite direction to each other in the lateral width direction of the movable body at the same time given, and, as the thrust to be the opposite direction acts as a restoring force to the lateral direction displacement, a pair arranged in the lateral direction of the moving body with respect to the secondary conductor, wherein the traveling direction of the moving body while applying a reverse thrust the same direction at the same time, and gives a thrust in the opposite direction to each other in the lateral direction of the moving body at the same time, and, thrust and vice versa direction of the left-right direction to act as a restoring force against displacement, it consists of a the installed pair in the lateral direction of the moving body, a set of primary coil forming a rectangle in a plan view, installed in a plurality of aligned state to the traveling direction It is the second derivative の前記移動体の横幅方向での存在範囲が、前記移動体が横幅方向における制御目標位置に位置するときに、平面視において、前記左右一対の一次コイルの夫々の前記横幅方向での存在範囲を部分的に覆う範囲となり、且つ、前記移動体の前記制御目標位置からのずれに伴って、前記左右一対の一次コイルのうち一方を覆う範囲が広くなり、他方を覆う範囲が狭くなるように形成されている点にある。 The existence range of the lateral width direction of the moving body, when the movable body is positioned at a control target position in the width direction, in plan view, the existence range in the lateral width direction of each of the pair of primary coils be in the range partially cover, and wherein with the deviation from the control target position of the movable body, the range covering one of the pair of the primary coil becomes wide, formed to have a range that covers the other narrows It lies in the fact that is.

〔作 用〕 [For work]

つまり、平面視で四角形をなす一組の一次コイルによる推力を全て同方向に発生させれば、四角形の各辺周りに回転する推力が生じて、移動体をその四角形の中心周りに、その場で旋回させて進行方向を変えることができる。 That, if produce thrust by a set of primary coil forming a rectangle in a plan view in all the same direction, occurring thrust to rotate about respective sides of a square, a mobile at the center around the square, place in swirled can change the traveling direction.

一方、平面視で四角形をなす一次コイルのうちから適宜選択して駆動することにより、移動体を所望の進行方向に向けて直線移動させることができる。 On the other hand, by driving appropriately selected and among the primary coil forming a rectangle in a plan view, it can be linearly moved toward the moving body in the desired direction of travel.

しかも、その移動体の直線移動においては、上記の平面視で四角形をなす一組の一次コイルが複数並ぶ状態で設置されて、その一組の一次コイルのうちの移動体の横幅方向に設置された左右一対の一次コイルによって移動体の進行方向には同方向となる推力を与えられて進行し、又、同じく移動体の横幅方向に設置された、もう一方の左右一対の一次コイルによって移動体の進行方向には同方向となる逆推力が与えられて制動力が加えられるか、あるいは、逆方向へ進行する。 Moreover, in its linear movement of the moving body, it is placed in a state where a pair of the primary coil forming a rectangle in a plan view of the lined plurality, is installed in the lateral direction of the body of its set of primary coil was in the traveling direction of the moving body is given a thrust the same direction proceeds by a pair of left and right primary coil, also likewise installed in the width direction of the moving body, the moving body by the other pair of the primary coil the traveling direction of either the braking force reverse thrust is given to the same direction is applied, or travels in the opposite direction.

又、移動体が夫々の左右一対の一次コイルによって推力を受ける場合でも、あるいは、逆推力を受ける場合でも、移動体の横幅方向には互いに逆方向となる推力を受けて、移動体の横幅方向における制御目標位置への復元力を受けることになる。 Further, even when the moving body is subjected to thrust by the left and right pair of the primary coil each, or even when undergoing the thrust reverser, in the lateral direction of the body receives a thrust in the opposite directions to each other, the width direction of the moving body It will undergo a restoring force to the control target position in the.

更に、二次導体の移動体の横幅方向での存在範囲が、 Furthermore, the existence range in the lateral direction of the body of the secondary conductor,
移動体が横幅方向における制御目標位置に位置するとき、平面視において、左右一対の一次コイルの夫々の横幅方向での存在範囲を部分的に覆う範囲となり、且つ、 When the moving body is located on the control target position in the width direction, in a plan view, it is in the range covering the existence range of the lateral width direction of each of the pair of primary coils s partially and,
移動体が制御目標位置からのずれに伴って、左右一対の一次コイルのうちの一方を覆う範囲が広くなり、他方を覆う範囲が狭くなるように形成されていることから、移動体が、制御目標位置から左右の何れかにずれると、左右一対の一次コイルのうちの一方では移動体の横幅方向の推力が増大し、他方では移動体の横幅方向の推力が減少するので、左右一対の一次コイルの夫々が、同時に、 With the shift from the moving body is controlled target position, a wider range of one to cover the pair of left and right primary coil, since the range to cover the other are formed to be narrower, the mobile control When the target position deviated to one of the left and right, one at a thrust of the lateral direction of the body is increased of the pair of the primary coil, the thrust of the lateral direction of the body is reduced in the other, a pair of left and right primary each of the coil, at the same time,
移動体を制御目標位置に復帰させるための復元力の生成に寄与し、その復元力を可及的に増大させることができる。 Contributes to the generation of a restoring force for returning the moving body to the control target position, it is possible to increase the restoring force as much as possible.

〔発明の効果〕 〔Effect of the invention〕

もって、一次コイルによる発生推力の方向を制御するだけで、正逆並びに旋回自在に移動体に推力を与えるとができ、設備構成の簡素化を図ることができる。 Have been, only controls the direction of the thrust generated by the primary coil, given a thrust forward and reverse and pivotally moving body can, it is possible to simplify the system configuration.

しかも、そのような多彩な移動体の移動を可能としながらも、移動体を的確に横幅方向における制御目標位置に位置させて、安定性良く移動体を運行させることができる。 Moreover, it is also possible while allowing the movement of such a versatile mobile and accurately be positioned on the control target position in the width direction of the movable body, thereby operating the stability good mobile.

〔実施例〕 〔Example〕

以下、本発明の実施例を図面に基づいて説明する。 DETAILED DESCRIPTION OF THE PREFERRED embodiment of the present invention with reference to the drawings.

第1図及び第2図に示すように、物品搬送用の移動体(A)は、車体の前後に左右一対のキャスタ式の走行車輪(1)を備えたパレット状の台車に構成されている。 As shown in FIGS. 1 and 2, the moving body for article transporting (A) is constructed in the body of the pallet-like truck having traveling wheels (1) of the pair of right and left caster type back and forth .
そして、前記移動体(A)の下側面に、車体長さと略同長さの二次導体(D)が取り付けられている。 Then, the lower surface of the movable body (A), the body length and approximately the same length of the secondary conductor (D) is attached.

前記二次導体(D)に推力を与える一次コイル(C) The primary coil to provide a thrust to the secondary conductor (D) (C)
が、平面視が菱形の各辺上に位置する状態で、四個を一組として地上側に付設され、それら四個の一次コイル(C)を一組みとする複数組みが、前記移動体(A)の移動経路の長手方向に沿って連続的に連なる状態で付設されている。 But, with the plan view are located on each side of the rhombus, it is attached to the ground side of four as a group, more sets of those four primary coil (C) an set is, the movable body ( along the longitudinal direction of the path of movement of a) it is attached in a state of continuous continuously.

但し、前記移動体(A)の移動経路は、互いに平行な直線状の二本の移動経路(L 1 )と、それら二本の移動経路(L 1 )の間を直交する方向に結ぶ一つの直線状の移動経路(L 2 )とを備えている。 However, the moving path of the moving body (A) is the one which connects in a direction perpendicular to the parallel linear two movement path together (L 1), between them two travel path (L 1) and a straight movement path (L 2).

そして、前記各移動経路(L 1 ),(L 2 )が交差する交差点(K)に位置する菱形の中心には、前記移動体(A)の在席を検出するために、光反射式の在席検出用センサ(S)が設けられている。 Then, each movement path (L 1), in the center of the rhombus (L 2) is located at the intersection (K) which intersects, in order to detect the presence of the moving body (A), the light reflective presence detection sensor (S) is provided. つまり、この在席検出用センサ(S)の検出情報に基づいて、前記移動体(A)が前記交差点(K)上に位置しているか否かを判別して、設定された移動方向の情報に基づいて、前記菱形の各辺上に位置する四個の一次コイル(C)による発生推力の方向を制御することになる。 In other words, on the basis of the presence detection information of the detecting sensor (S), the moving body (A) is to determine whether located on the intersection (K), information of the moving direction which is set based on the results in controlling the direction of thrust generated by four of the primary coil (C) positioned on each side of said rhombus.

説明を加えれば、前記移動体(A)の進行方向に対して左右両側に位置する状態となる互いに隣接する二辺上の一次コイル(C)を一対として、前記移動体(A)の進行方向に対しては同方向の推力を発生させるように駆動すると、前記移動体(A)に対して左右に位置する一対の一次コイル(C)が、前記移動体(A)の進行方向に対して斜め方向に向かう推力を与える状態となる。 If you add the description, the moving body of the primary coil on the two sides adjacent to each other to a state located to the left and right sides with respect to the traveling direction of the (A) (C) as a pair, the traveling direction of the moving body (A) as for the driven so as to generate a thrust in the same direction, a pair of primary coils located to the left and right with respect to the movable body (a) (C) is, the traveling direction of the moving body (a) a state which gives a thrust toward the oblique direction. その結果、前記移動体(A)の二次導体(D)に対して、 As a result, the secondary conductor (D) of the moving body (A),
進行方向に向かう推力を左右両側から同時に与えながら、且つ、前記移動体(A)の横幅方向には互いに逆向きとなる推力を同時に与える状態となり、各一次コイル(C)から発生する推力のみによって、前記移動体(A)の横幅方向での位置を、その移動経路上にある前記菱形の中心に規制しながら、且つ、各菱形が連なる移動経路の長さ方向に向けて前記移動体(A)を進行させることができるのである。 While providing at the same time a thrust directed in the traveling direction from the left and right sides, and, in a state which gives simultaneously the thrust in the opposite directions to each other in the lateral width direction of the movable body (A), only by the thrust generated from the primary coil (C) the position in the width direction of the movable body (a), while restricting the center of the diamond is on the path of movement thereof, and, the movable body toward the length direction of the movement path in which each rhombic contiguous with (a ) it is possible to advance the.

尚、前記移動体(A)の横幅方向での位置が前記左右を一対とする一次コイル(C)の中間に位置する適正状態すなわち横幅方向における制御目標位置に位置する状態から左右方向にずれた場合には、前記二次導体(D) Note that deviates from the state position in the width direction is located at the control target position in the proper state, i.e. the width direction is located between the primary coil (C) to a pair of the right and left of the movable body (A) in the lateral direction case, the secondary conductor (D)
に対して横幅方向に逆向きとなる推力によって前記左右一対の一次コイル(C)の中間に向かう復元力が発生するように、前記一次コイル(C)の夫々は、前記移動対(A)が前記適正状に位置している状態において、前記二次導体(D)の横幅方向の外側端部よりも更に外側にはみ出した状態となるように設置してある。 As restoring force middle toward opposite become the right and left pair of the primary coil by the thrust (C) in the lateral direction occurs for the respective primary coil (C), the transfer pair (A) is in the state that are located within the appropriate shape, it is placed so as to be in a state of protruding further outward than the outer end of the lateral width direction of the secondary conductor (D). すなわち、 That is,
二次導体(D)の移動体(A)の横幅方向での存在範囲が、移動体(A)が横幅方向における制御目標位置に位置するときに、平面視において、左右一対の一次コイル(C)の夫々の横幅方向での存在範囲を部分的に覆う範囲となり、且つ、移動体(A)の制御目標位置からのずれに伴って、左右一対の一次コイル(C)のうちの一方を覆う範囲が広くなり、他方を覆う範囲が狭くなるように形成されているのである。 Presence range in the lateral direction of the body of the secondary conductor (D) (A) is, when the moving body (A) is located at the control target position in the width direction, in a plan view, left and right of the primary coil (C ) the existence range of the lateral width direction of the respective part will range covering the, and, with the deviation from the control target position of the movable body (a), covering one of the pair of the primary coil (C) range is widened, it is the range that covers the other are formed to be narrower.

従って、移動車(A)を加速する場合には、内側方向に向けて推力を発生する状態となる走行前方側に位置する一次コイル(C)を、左右一対として進行方向に向かう推力を発生させるように作動させることになる(第1 Therefore, when accelerating the transport vehicle (A) is a primary coil (C) positioned on the running front side serving as a state for generating a thrust inward direction, to generate a thrust force toward the traveling direction as a left-right pair It will be operated as (first
図中、実線の矢印で示す)。 In the figure, indicated by solid line arrow). 逆に、前記移動車(A)の減速させる場合には、外側方向に向けて推力を発生する状態となる走行後方側に位置する一次コイル(C)を、 Conversely, in the case of deceleration of the transport vehicle (A) is a primary coil (C) positioned on the traveling rearward to be a state for generating a thrust outward direction,
左右一対として、移動体(A)の進行方向には同方向のなる逆推力を発生させるように作動させることになり、 As pair, in the traveling direction of the moving body (A) will be actuated so as to generate a thrust reverser made of the same direction,
移動体(A)の横幅方向には互いに逆方向となる推力を同時に与えて、制御目標位置への復元力を発生させるように作動させることになる(第1図中、破線の矢印で示す)。 Giving thrust in the opposite direction to each other in the lateral direction of the body (A) at the same time, so that the actuating to generate a restoring force to the control target position (in FIG. 1, indicated by broken line arrow) .

一方、前記菱形の各辺上に位置する一次コイル(C) On the other hand, the primary coil located on each side of the rhombus (C)
の夫々を、各辺に沿って同方向となる推力を発生するように駆動すると、全体として菱形の中央を中心として各辺上を回転する推力が発生する状態となる。 Of respectively, it is driven so as to generate a thrust as the same direction along each side, a state where thrust rotate on respective sides around the center of the rhombus as a whole occurs. その結果、 as a result,
前記移動体(A)が前記菱形の中心を回転中心としてその場で旋回することになる。 So that the movable body (A) turns on the spot as a rotation around the center of the rhombus.

つまり、前記在席検出用センサ(S)の検出情報に基づいて、前記菱形の各辺上に位置する一次コイル(C) In other words, on the basis of the presence detection information of the detecting sensor (S), a primary coil located on each side of the rhombus (C)
の夫々による推力の発生方向を制御するだけで、複数個の移動経路が交差する交差点(K)において、地上側の一次コイル(C)による発生推力のみを用いて、前記移動体(A)を所望の経路方向に向けて、分岐・合流、並びに、通過させるとができるのである。 The only controls the generating direction of the thrust by respective at the intersection where a plurality of moving path intersecting (K), using only the thrust generated by the primary coil (C) on the ground side, the movable body (A) toward a desired path direction, branching and merging, and, but they can passing.

〔別実施例〕 [Another embodiment]

上記実施例では、移動体(A)の移動経路上に一列の菱形が直線状に連なるようにした場合を例示したが、後えば、第3図に示すように、上記実施例における菱形の各辺が、互いに隣接する菱形の一辺の夫々と重複するように、多数個の一次コイル(C)を二次元方向に設置してもよい。 In the above embodiment, one row of diamond-shaped on the movement path of the moving body (A) is exemplified a case in which as continuous straight, if the rear example, as shown in FIG. 3, the diamond in the above Example sides, to overlap the respective side of the diamond adjacent to each other may be provided plurality of primary coils (C) in two-dimensional directions. この場合、移動体(A)の移動経路を各菱形の前後左右のみならず斜め方向にも自由に設定できるばかりか、どの菱形が位置する箇所でも自由に移動方向を変更させることができるようになる。 In this case, the moving path of the moving body (A) to be able to change only either freely moving direction at the point where any diamonds positioned can be freely set in the oblique direction as well before and after the right and left only in each rhombic Become.

又、上記実施例では、一次コイル(C)に菱形状に設置した場合を例示したが、6角形、8角形等に設置してもよく、一次コイル(C)を設置する多角形の具体的な形状は各種変更できる。 Further, in the above embodiment, a case has been exemplified installed in a rhombic shape the primary coil (C), 6 square, may be installed in octagonal, etc., specific polygon installing a primary coil (C) a shape can be various modifications. 同様に、二次導体(D)は、多角形の角辺夫々に位置する一次コイル(C)からの推力を同時に受けることができるように構成されていればよいものであって、その具体形状は各種変更できる。 Similarly, the secondary conductor (D) can be one that may be composed so as to receive the thrust from the primary coil (C) is located in the s polygon corner edges husband simultaneously, its specific shape It can be various changes.

又、上記実施例では、交差点(K)に位置する菱形の中心に光反射式の在席検出用センサ(S)を設けて、移動体(A)の進行を制御させるようにした場合を例示したが、例えば、第4図に示すように、移動体(A)の下側面に、移動体(A)の前後方向とそれに直交する横幅方向の両方に向けて交差する十字状のマーク(m)を設け、且つ、地上側の多角形の中心に二次元イメージセンサ(S′)を設けて、移動体(A)の旋回中心に対するずれ量や旋回角度を判別できるようにして、各一次コイル(C)の駆動を制御して、移動体(A)の旋回量や多角形上の位置を微調節できるようにしてもよい。 Further, in the above embodiment, exemplifying a case which is adapted to provide a crossing (K) Presence detection sensor of the light reflective (S) to the center of the rhombus located, to control the progress of the moving body (A) was. for example, as shown in FIG. 4, the lower surface of the moving body (a), cross-shaped marks crossing towards both the front and rear direction and the lateral width direction orthogonal to that of the moving object (a) (m ) is provided, and, on the ground side of the polygon center of providing a two-dimensional image sensor (S '), so as to be discriminated deviation amount and the turning angle with respect to the turning center of the moving object (a), each primary coil by controlling the drive of the (C), the position on the turning amount and polygon of the moving body (a) may be able to fine adjustment.

又、上記実施例では、移動体(A)を走行車輪(1) Further, in the above embodiment, the running wheel mobile (A) (1)
によって走行させるようにした場合を例示したが、後えば、浮上式に構成してもよく、移動体(A)の具体構造等、各部の具体構成は各種変更できる。 A case has been exemplified which is adapted to travel by, if the rear example, may be configured to floating, concrete structures such as mobile (A), each part of the specific configuration may various modifications.

尚、特許請求の範囲の項に図面との対照を便利にする為に符号を記すが、該記入により本発明は添付図面の構造に限定されるものではない。 Although referred to code in order to conveniently control the drawing-claims, the present invention by the fill is not limited to the structure of the accompanying drawings.

【図面の簡単な説明】 BRIEF DESCRIPTION OF THE DRAWINGS

図面は本発明に係るリニアモータ利用の搬送設備の実施例を示し、第1図は一次コイルの配置状態を示す概略平面図、第2図は一次コイルと二次導体の位置関係を示す移動体の正面図、第3図は別実施例における一次コイルの設置状態を示す概略平面図、第4図は別実施例における移動体の位置判別手段の説明図である。 The drawings illustrate embodiments of the transport facilities of the linear motor utilized in accordance with the present invention, FIG. 1 is a schematic plan view showing the arrangement of the primary coil, the mobile FIG. 2 showing the positional relationship between the primary coil and the secondary conductor front view of FIG. 3 is a schematic plan view showing the installation state of the primary coil in another embodiment, FIG. 4 is an explanatory view of a position determining means of the moving body in another embodiment. 第5図は従来例の説明図である。 5 is an explanatory diagram of a conventional example. (A)……移動体、(C)……一次コイル、(D)…… (A) ...... mobile, (C) ...... primary coil, (D) ......
二次導体。 Secondary conductor.

Claims (1)

    (57)【特許請求の範囲】 (57) [the claims]
  1. 【請求項1】一次コイル(C)が地上側に設けられ、且つ、二次導体(D)が移動体(A)側に設けられたリニアモータ利用の搬送設備であって、 前記一次コイル(C)は、 前記二次導体(D)に対して、前記移動体(A)の進行方向には同方向となる推力を同時に与えながら、且つ、 1. A primary coil (C) is provided on the ground side, and, a transport facility of the linear motors utilizing the secondary conductor (D) is provided to the mobile (A) side, the primary coil ( C), the relative secondary conductor (D), in the traveling direction of the moving body (a) while giving a thrust to be the same direction at the same time, and,
    前記移動体(A)の横幅方向とは互いに逆方向となる推力を同時に与え、且つ、その逆方向となる推力が左右方向のずれに対して復元力として作用するように、前記移動体(A)の横幅方向に配置された左右一対と、 前記二次導体(D)に対して、前記移動体(A)の進行方向には同方向となる逆推力を同時に与えながら、且つ、前記移動体(A)の横幅方向には互いに逆方向となる推力を同時に与え、且つ、その逆方向となる推力が左右方向のずれに対して復元力として作用するように、前記移動体(A)の横幅方向に配置された左右一対とからなり、平面視で四角形をなす一組の一次コイル(C) Said given mobile thrust in the opposite directions to each other to the lateral width direction of (A) at the same time, and, as the thrust to be the opposite direction acts as a restoring force to the right and left direction of displacement, said mobile (A a pair arranged in the width direction of), the relative secondary conductor (D), in the traveling direction of the moving body (a) while giving a thrust reverser comprising the same direction at the same time, and, the movable body at the same time it gives a thrust in the opposite direction to each other in the lateral direction of (a), and, as the thrust to be the opposite direction acts as a restoring force to the right and left direction of displacement, the lateral width of the moving body (a) consists of a pair that are arranged in a direction, a pair of the primary coil forming a rectangle in plan view (C)
    が、前記進行方向に複数並ぶ状態で設置され、 前記二次導体(D)の前記移動体(A)の横幅方向での存在範囲が、前記移動体(A)が横幅方向における制御目標位置に位置するときに、平面視において、前記左右一対の一次コイル(C)の夫々の前記横幅方向での存在範囲を部分的に覆う範囲となり、且つ、前記移動体(A)の前記制御目標位置からのずれに伴って、前記左右一対の一次コイル(C)のうちの一方を覆う範囲が広くなり、他方を覆う範囲が狭くなるように形成されているリニアモータ利用に搬送設備。 But are installed in a plurality of aligned state to the traveling direction, the presence range in the width direction of the movable body of the secondary conductor (D) (A) is the control target position said mobile (A) is in the lateral width direction when positioned, in plan view, it is in the range covering the existing range in the width direction of each of the right and left of the primary coil (C) partially and, from the control target position of the movable body (a) of with the deviation, the range of one to cover the pair of left and right primary coil (C) is enlarged, the transport equipment to the linear motor utilization range covering the other are formed to be narrower.
JP63236767A 1988-09-21 1988-09-21 Transport equipment of the linear motor use Expired - Fee Related JP2585747B2 (en)

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JP2585747B2 true JP2585747B2 (en) 1997-02-26

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