JP4151417B2 - Transport device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a transport device that is a moving body that travels along a power supply line, and more particularly to a transport device that travels by acquiring its own electric power from a power supply line by non-contact power supply or contact power supply.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, in hospitals, warehouses, factories, and the like, a conveyance system that travels a conveyance vehicle along a power supply line and conveys an object (load) by the conveyance vehicle is widely used. For example, such a transport system is used as a transport vehicle for transporting tableware or medical tools in hospitals, etc., used as a transport vehicle for moving materials in warehouses, or a liquid crystal substrate or semiconductor in a factory or the like. It is used as a wafer transfer robot. Hereinafter, such moving bodies such as a transport vehicle and a transport robot may be collectively referred to as a transport device. For example, a travel motor such as a linear motor or a rotary motor is mounted on such a transport device, and the transport device travels along the power supply line by driving the travel motor. In addition, as a power feeding system that feeds power to the traveling motor, a contactless power feeding system that feeds power in a non-contact manner using a feeding transformer, and a contact that moves with the transport vehicle while contacting the trolley wire on the track side, the power is supplied. A trolley power supply method (contact power supply method) for supplying power is widely used. In particular, in the non-contact power supply method, a power supply transformer is provided on the side of the conveying device, and a secondary winding is disposed in the vicinity of the primary power supply line, and induction induction is caused in the secondary winding by the electromagnetic induction action of the transformer. Electric power is generated and contactless power is supplied.
[0003]
That is, the moving body that is the transport device obtains power by non-contact power feeding or trolley power feeding, and each specific example will be described below with reference to the drawings. First, the non-contact power feeding method will be described. FIG. 10 is a cross-sectional structure diagram of a power supply transformer that supplies power to the conveyance device by a non-contact power supply method and its peripheral portion. In FIG. 10, the power supply transformer 50 is written so as to move in the direction of the front and back of the paper. The primary feed line 51 of the reciprocating path is supported by a feed line stay 54 fixed to a track side wall 55a laid along a moving path (track) of a moving body (not shown). Further, a high-frequency current generated by an inverter circuit (not shown) or the like flows through the primary power supply line 51.
[0004]
On the other hand, the feed transformer 50 that travels with the moving body is magnetically coupled to the primary feed line 51 by winding a secondary winding 52 around an E-type magnetic core 53. However, since the secondary side leakage inductance of the secondary winding is large, in order to compensate for this, the secondary winding is connected to a resonance capacitor (not shown) and resonates with the inductance of the feed transformer 50 and this resonance capacitor. A circuit is formed. The resonance frequency of the resonance circuit is set such that the frequency of the high-frequency current flowing through the primary power supply line 51 becomes the resonance frequency. Therefore, the electric power of the primary feeder 51 is transmitted to the secondary winding 52 in a non-contact manner with high conversion efficiency. The electric power transmitted to the secondary winding 52 is rectified by a rectification unit (not shown), then controlled at a constant voltage by a constant voltage unit, and supplied to a linear motor or a rotary motor, thereby causing the mobile body to travel. The electric power controlled to a constant voltage is also supplied to a control circuit such as a CPU for controlling a linear motor or a rotary motor. Accordingly, the feed transformer 50, which is a pickup coil, is moved to the primary feed line 51 side so that the primary feed line 51 is arranged behind the recess of the E-shaped magnetic core 53. It is desirable to maximize the magnetic coupling with the secondary winding 52.
[0005]
Next, an example of a moving body that is driven by supplying electric power to a linear motor or a rotary motor by a non-contact power feeding method will be described. FIG. 11 is a cross-sectional view of an overhead traveling type moving body that drives a linear motor by a non-contact power feeding method. FIG. 12 is a cross-sectional view of a ground traveling type moving body that drives a linear motor by a non-contact power feeding method. Both figures are written so that the moving body moves in the direction of the front and back of the page. In the following description, when simply expressed as a linear motor, it refers to a linear DC motor and a linear induction motor.
[0006]
In FIG. 11, the frame of the track 55 is laid in the direction of the front and back of the page, and the upper surface of the frame is fixed to the ceiling (not shown). When a high-frequency current flows through the primary power supply line 51, electric power is supplied from a secondary winding (not shown) of the power supply transformer 50 to the linear motor 56, and a running force acts between the linear motor 56 and the permanent magnet 61. As a result, the linear motor 56 causes the moving body to travel in the front and back direction on the paper surface together with the power supply transformer 50. At this time, the power supply transformer 50 and the moving body travel on the track 55 by the travel roller 58 and transport the transported object mounted on the transport carriage 59. Further, the guide roller 57 fixed to the moving body guides both sides along the side wall of the track 55 so that the feed transformer 50 and the moving body do not roll during traveling. As a result, the primary power supply line 51 held by the power supply line stay 54 is prevented from being displaced at the back position of the E-shaped groove of the power supply transformer 50.
[0007]
FIG. 12 shows a ground traveling type moving body, and the lower surface of the frame of the track 55 is laid in the direction of the front and back of the page with respect to the ground (not shown). In this case, the power supply transformer 50 and the moving body are caused to travel by the traveling force acting between the linear motor 56 and the permanent magnet 61, and the transported material of the upper transport carriage 59 is transported. Since other operations are the same as those in the case of the overhead traveling type in FIG. 11 and 12, the power supply transformer 50 can also serve as a communication transformer for so-called power line carrier communication that carries a communication signal through a power line. This is directly related to the present invention described below. There is no explanation for it.
[0008]
FIG. 13 is a cross-sectional view of an overhead traveling type moving body that drives a rotary motor by a non-contact power feeding method. FIG. 14 is a cross-sectional view of a ground traveling type moving body that drives a rotary motor by a non-contact power feeding method. In any of the drawings, the operation of supplying electric power from the primary power supply line 51 to the rotary motor 60 via the power supply transformer 50 is the same as in the case of driving the linear motor 56 of FIGS. In the case of the traveling drive of the moving body by the rotary motor 60 of FIGS. 13 and 14, the rotation of the rotary motor 60 is transmitted to the moving body as a traveling force not by a direct drive such as the linear motor 56 but by a gear or the like. Yes. Therefore, other operations are basically the same as those of the linear motor 56 shown in FIGS. 11 and 12, and the description of the operations is omitted.
[0009]
In addition, two power supply transformers attached to the moving body are usually arranged on the front and rear sides of the moving body and on the left and right sides of the moving body, respectively. FIG. 15 is a structural diagram of a moving body showing a mounting state of a feeding transformer in a non-contact power feeding type moving body. As shown in FIG. 15, two power supply transformers 50 a and 50 b are provided on the front and rear sides with respect to the traveling direction of the moving body 62. This is because the traveling power of the moving body 62 is insufficient with one feeding transformer. In addition, in the case of the moving body 62 having a branching mechanism, it is not known whether the primary power supply line 51 is on the left or right side of the moving body 62, and thus a power supply transformer is disposed on the left and right of the moving body 62. Therefore, in the case of the non-contact power supply method, a total of four power supply transformers, that is, power supply transformers 50a and 50b on the right in the traveling direction and power supply transformers 50c and 50d on the left in the traveling direction are provided for one moving body 62. It has been. Of course, when using the power supply transformers 50a and 50b on the right side in the traveling direction, the primary power supply line 51 is arranged on the right side, and when using the power supply transformers 50c and 50d on the left side in the traveling direction, the primary power supply line is arranged on the left side. ing. Since communication is performed by power line superimposition communication, each of the power supply transformers 50a, 50b, 50c, and 50d also serves as a communication transformer. Alternatively, a communication transformer (not shown) is separately provided.
[0010]
Next, an example of a moving body that is driven by supplying electric power to the rotary motor by a trolley power feeding method will be described. FIG. 16 is a cross-sectional view of a ground traveling type moving body that drives a rotary motor by a trolley power feeding method. In FIG. 16, a contactor 64 attached to the moving body is slidable while being in contact with a trolley wire 63 laid along the side wall of a track 55 that is a moving path of the moving body. Since the contactor 64 is in contact with the trolley wire 63 at a predetermined pressure by the pressing force of the pressing mechanism 65 such as a spring, stable electric power is always supplied to the rotary motor 60. The traveling roller 58 travels on the track 55 by the rotational driving of the rotary motor 60 and the deceleration driving by the gear, and transports the transported material of the transporting carriage 59. Further, the guide roller 57 prevents the moving body from rolling, and the trolley wire 63 and the contact 64 are always in contact with each other with a constant area and a constant pressure during traveling. Also in the case of the mobile body of the trolley power feeding method of FIG. 16, in the case of a mobile body having a branching mechanism, it is not known whether the trolley wire 63 is on the left or right of the mobile body, so as shown in the conceptual diagram of FIG. Contacts are arranged on the left and right of the moving body 62.
[0011]
[Patent Document 1]
Japanese Patent Laid-Open No. 8-87435
[0012]
[Problems to be solved by the invention]
However, the conventional transport device using the non-contact power feeding system or the trolley power feeding system as described above. Is There are various problems as described below.
[0013]
First, problems in the case of a moving body using a non-contact power feeding method will be described. In the non-contact power supply method, as described with reference to FIG. 10, the supplied power varies greatly depending on the relative position between the power supply transformer 50 and the primary power supply line 51. This is due to a change in the degree of magnetic coupling between the feed transformer 50 and the primary feed line 51. If the primary feed line 51 is in the back of the recess of the feed transformer 50, the degree of magnetic coupling is increased and the power conversion efficiency is increased, so that the power supply is also increased. However, if the primary feed line 51 is separated from the recess of the feed transformer 50, the degree of magnetic coupling is lowered and the power conversion efficiency is lowered, so that the supplied power is inevitably reduced.
[0014]
When traveling with a non-contact power supply transformer 50 as shown in FIG. 10 attached to the moving body, depending on the track layout of the moving body, it may be necessary to pass not only the straight portion but also the curved portion. FIG. 17 is a conceptual diagram illustrating an example of a relative position between a power supply transformer and a primary power supply line when a conventional moving body travels on a track in a non-contact power supply method. As shown in FIG. 17, when the moving body 62 passes through the linear portion of the track 55, the relationship between the relative positions of the power supply transformer 50b and the primary power supply line 51 on the right side in the drawing is normal. However, where the moving body 62 passes through the curved portion of the track 55, the power supply transformer 50a on the left side in the drawing is moving away from the primary power supply line 51. Therefore, the magnetic coupling degree between the primary power supply line 51 and the power supply transformer 50a is reduced, and the power supplied from the power supply transformer 50a to the moving body 62 is reduced, resulting in a shortage of supply power. That is, the moving body may not pass through the curved portion due to insufficient driving power.
[0015]
FIG. 18 is a conceptual diagram illustrating another example of the relative positions of the power supply transformer and the primary power supply line when a conventional moving body travels on a track in the non-contact power supply method. As shown in FIG. 18, depending on the layout curve of the track 55, the primary feed line 51 may be too close to the feed transformers 50a and 50b, contrary to the case of FIG. The upper feed transformer 50b in the drawing of FIG. 18 and the lower feed transformer 50a in the drawing are too close to the primary feed line 51 in the curved portion, and the transformer edges 50b ′ and 50a ′ of the feed transformers 50b and 50a are primarily fed. There is a risk of contact with the electric wire 51.
[0016]
In order to avoid such a phenomenon, the height of the feed line stay (not shown) is changed so that the primary feed line 51 and the feed transformers 50a and 50b do not physically interfere (that is, contact). Structural changes such as having to occur. Alternatively, it is necessary to change the attachment positions of the power supply transformers 50a and 50b so that the primary power supply line 51 and the power supply transformers 50a and 50b do not physically interfere with each other. However, if the mounting positions of the power supply transformers 50a and 50b are changed in this way, the primary power supply line 51 is far away from the power supply transformers 50a and 50b in both the straight part and the curved part of the track 55. There is a problem that the degree of magnetic coupling between the electric wire 51 and the power supply transformers 50a and 50b decreases and the supplied power decreases.
[0017]
In addition, as described above, in the case of the non-contact power supply method, a resonance circuit is provided on the power supply transformer side, and the resonance point is adjusted to the current frequency of the primary power supply line by the inductance of the power supply transformer and the resonance capacitor. . Therefore, for example, as shown in FIG. 17, when the relative position between the metal track 55 and the feed transformer 50a changes in the curved portion of the track 55, the inductance of the feed transformer 50a also changes. However, since the resonance capacitor has a constant value, the resonance frequency shifts, and power cannot be transmitted from the primary power supply line 51 to the power supply transformer 50a with the maximum conversion efficiency. As a result, the power is supplied from the power supply transformer 50a. Electric power will decrease.
[0018]
The same applies to the case of performing power line superimposition communication using a non-contact power supply type primary power supply line. For example, in FIG. 10, the power supply transformer 50 is also used as a communication transformer (or arranged separately). When moving in a direction away from the power supply line 51, the degree of magnetic coupling between the primary power supply line 51 and the communication transformer (that is, the power supply transformer 50) decreases, and communication quality deteriorates.
[0019]
Next, problems in the case of a moving body using a trolley power supply method will be described. In the case of a trolley power supply type moving body, the degree of contact between the trolley wire and the contact in the curved portion of the track changes compared to the straight portion. In particular, in a curved portion where the trajectory radius of the moving body is a convex curve, the relative distance between the trolley wire and the contact is separated, and therefore it is necessary to bring the contact into contact with the trolley wire with a stronger pressing pressure than the straight portion. However, if such a strong pressing pressure is set, when the relative distance between the trolley wire and the contact becomes close to each other in the straight portion or the curved portion of the concave curve, the contact pressure between the trolley wire and the contact becomes small. It becomes too high and wear of the trolley wire and the contact is accelerated.
[0020]
In order to avoid such a problem, if a mechanism for controlling the pressing pressure of the contactor according to the layout state of the track is provided, the structure of the entire moving body becomes large, or a component for controlling the pressing pressure There are problems such as an increase in points. Furthermore, in order to make the pressing pressure in the curved portion constant, the shape of the trolley wire must be changed between the curved portion and the straight portion, so that the equipment cost of the transport system increases. In addition, when the contact pressure becomes weak or when the contact between the trolley wire and the contact becomes defective due to wear of the contact, a communication signal to be superimposed to carry the power line through the trolley wire is transmitted and received. Problems such as being unable to do so occur.
[0021]
Next, problems when the moving body is driven by a linear DC motor will be described. FIG. 19 is a conceptual diagram showing the relative positions of a linear DC motor and a permanent magnet when traveling on a curved portion of a track in a conventional moving body driven by a linear DC motor. As shown in FIG. 19, in the curved portion of the track 55, the positional relationship between the permanent magnet 61 attached to the track 55 and the linear DC motor 56 on the moving body is shifted. The magnetic efficiency with the motor 56 is lowered. For this reason, the traveling driving force decreases in the curved portion. Since the speed is slow in the curved part, the load is usually heavier in the straight part where the speed is fast. However, in the worst case, in the curved portion, the power required by the moving body is increased compared to the straight portion, and the transport system may be down due to overload because it exceeds the rated supply power. In FIG. 19, when the ground side exciting coil or the ground side plate is attached instead of attaching the permanent magnet 61 to the track 55, the same problem as in the case of the permanent magnet 61 occurs.
[0022]
In the case of driving by a normal linear DC motor, the linear DC motor 56 is driven based on the magnetic pole position detected by using the magnetic pole sensor 66. However, in the prior art, as shown in FIG. 19, the magnetic pole sensor 66 is disposed at the end of the linear DC motor 56 (that is, at the front or rear in the traveling direction of the moving body). Therefore, in the curved portion of the track, as shown in the figure, the magnetic pole detected by the magnetic pole sensor 66 is different from the magnetic pole in the portion where the linear DC motor 56 actually exists. Therefore, problems such as a decrease in magnetic efficiency of the linear DC motor 56 occur in the curved portion of the track.
[0023]
Next, problems when driving with a linear induction motor will be described. Even in the case of using a ground primary type linear induction motor, aluminum or copper attached to the moving body side is used as a primary coil in the curved portion of the orbit as in the case of the linear DC motor shown in FIG. On the other hand, since the magnetic efficiency of the primary coil is deteriorated, the efficiency of the linear induction motor is lowered and the traveling driving force of the moving body is lowered. Note that the same problem occurs when the on-vehicle primary type linear induction motor is used.
[0024]
Next, problems when the moving body is driven by a rotary motor will be described. When a moving body is driven by a rotary motor as shown in FIGS. 13 and 14, a differential mechanism such as a passenger car is required to smoothly travel on a curved portion of the track, and as a result, the entire transport apparatus The structure of will become larger. In particular, in the case of a moving body such as that shown in FIG. 13, the traveling roller 58 will be derailed unless the surface of the track 55 that contacts the traveling roller 58 is wide. Therefore, the width | variety of the track | orbit 55 becomes large and the malfunction that the installation place of a conveyance system will become large arises.
[0025]
FIG. 20 is a conceptual diagram showing a side slip phenomenon of a traveling roller that occurs when traveling on a curved portion of a track in a conventional moving body driven by a rotary motor. As shown in FIG. 20, wear of the traveling roller 58 is accelerated because the traveling roller 58 causes a side slip in the curved portion of the track 55. That is, as shown in the enlarged view of FIG. 20, the skid force is determined by the force vector A in which the moving body 62 is directionally regulated by a guide roller (not shown) and the force vector B by the propulsive force of the rotary motor. C is generated. When wear occurs on the traveling roller 58 due to such a side-slip force, for example, when a semiconductor wafer or the like is transported using a moving body in a clean room, the degree of cleanliness is reduced due to wear debris and the yield of the semiconductor wafer is reduced. . Therefore, various measures must be taken to prevent the running roller 58 from slipping and to suppress dust generation due to wear of the running roller 58 as much as possible.
[0026]
FIG. 21 is a structural diagram of a moving body in which a traveling roller is prevented from slipping in a conventional ground traveling type moving body driven by a rotary motor. FIG. 22 is a structural diagram of a moving body in which a traveling roller is prevented from skidding in a conventional overhead traveling type moving body driven by a rotary motor. That is, in order to prevent the side slip of the traveling roller 58 as described above, as shown in FIGS. 21 and 22, the traveling roller 58 is a free wheel with respect to the track 55, and the rotary motor 60 is arranged at the center of the moving body. A traveling roller 58 is disposed on both sides. By making the moving body have such a configuration, a differential device is not necessary. However, even in such an arrangement of the rotary motor 60 and the traveling roller 58, since the positions of the center of the track and the center of the moving body are slightly shifted, a slight side slip occurs, so a highly accurate clean room conveying apparatus. It cannot be used.
[0027]
FIG. 23 is a conceptual diagram showing a slight side slip phenomenon of the traveling roller that occurs when traveling on the curved portion of the track in a moving body having a conventional side slip preventing structure. That is, as shown in FIGS. 21 and 22, even if the traveling roller 58 is a free wheel with respect to the track 55 and the rotary motor 60 and the traveling roller 58 are arranged at the center of the moving body to form a skid prevention structure, FIG. As shown in FIG. 3, the position of the center of the track 55 and the center of the moving body are slightly shifted, so that the difference between the driving force vector A at the center of the track 55 and the driving force vector B at the center of the moving body is slightly A side slip force vector C is generated.
[0028]
The present invention has been made in view of the above-mentioned problems, and the object of the present invention is to make it possible to flexibly change the position of a component mounted on a moving body so that it is always stable regardless of the track layout. An object of the present invention is to provide a transport apparatus that can obtain electric power.
[0029]
[Means for Solving the Problems]
In order to achieve the above object, the transport device of the present invention receives power from a feeder line in which a moving body is laid along a track. A conveying device configured to travel on the track, wherein the track is provided with side walls on both right and left sides in the traveling direction of the moving body, and the power supply line is installed on at least one of these side walls. And The moving body In The travel mechanism Is provided , The traveling mechanism includes a pair of bogie frames provided on both sides of the moving body in the front-rear direction and the bogie frames provided on both sides of the bogie frame in the direction of travel. A pair of guide rollers for guiding, and a power supply transformer or a contact provided on both sides in the traveling direction of the bogie frame and supplied with power from the power supply line, the bogie frame, Above Moving body Acts to be always perpendicular to the direction of travel Thus, the feed line and the feed transformer or the contact The correspondence positional relationship is maintained. Moreover, in the transport device of the present invention, With bogie frame The bogie mechanism is characterized by acting so as to make the correspondence between the installed parts and the mounted parts constant regardless of the track layout. Furthermore, in the transport device of the present invention, the bogie mechanism acts so as to maintain a corresponding positional relationship so that the installed component and the mounted component do not physically interfere regardless of the track layout. And
[0030]
In other words, according to the transport device of the present invention, since the mounted part of the moving body is placed on the axle of the bogie mechanism, the moving body is fixed to the track side even if the moving body travels on the straight or curved portion of the track. The corresponding positional relationship between the installed parts and the mounted parts on the moving body side is always constant. Therefore, no matter which part of the track travels, the installation component on the track side and the mounting component on the mobile unit do not come into contact with each other, and the physical phenomenon that occurs between the installation component and the mounting component may change. Absent. Therefore, a stable transfer device can be provided.
[0031]
Further, in the transport device of the present invention, power is supplied to the moving body by a non-contact power feeding method in which power is fed from the power feed line through a power transformer in a non-contact manner, the installation component is a power feed line, and the mounted component is It is a feeding transformer. In other words, according to the transport device of the present invention, since the power supply transformer on the moving body is mounted on the bogie mechanism, no matter what part of the track travels, the power supply line on the track side and the power supply transformer on the mobile body side Since the power supply transformer does not come into contact and the physical phenomenon related to power conversion between the power supply line and the power supply transformer does not change, stable power supply from the power supply line to the moving body can be performed.
[0032]
In the transport apparatus of the present invention, the feeder line stay for holding the feeder line along the track has the same shape at all positions on the track regardless of the layout of the track. In other words, according to the transport device of the present invention, the corresponding positional relationship between the feed transformer and the feed line is always constant by the action of the bogie mechanism regardless of whether the track is a curve or a straight line. The wire stay can have the same shape over the entire section of the track. Accordingly, the equipment cost of the transport system can be reduced.
[0033]
In the transport apparatus of the present invention, the bogie mechanism is characterized in that the power supplied by the power feeding transformer to the moving body is maintained constant regardless of the track layout. In other words, according to the transport device of the present invention, the corresponding positional relationship between the power supply transformer and the power supply line can always be made constant by the bogie mechanism, so that the magnetic coupling degree between the power supply transformer and the power supply line becomes constant and stable power can be obtained. Can be supplied.
[0034]
Further, in the transport device of the present invention, the core shape of the power supply transformer is E-shaped, and the power supply line is disposed behind the E-shaped recess of the power supply transformer so as to maximize the power conversion efficiency of the power supply transformer. It is characterized by being. That is, according to the transport device of the present invention, the corresponding positional relationship between the power supply transformer and the power supply line does not change, and therefore, the power supply transformer and the power supply line can be magnetically coupled so as to obtain the maximum conversion efficiency.
[0035]
Further, in the transport device of the present invention, the secondary winding of the power supply transformer forms a resonance circuit together with the resonance capacitor, and the bogie mechanism has a constant inductance of the power supply transformer regardless of the track layout. It is characterized by acting so as to maintain the resonance frequency at a constant value. In other words, according to the carrier device of the present invention, the resonance circuit creates a resonance frequency that resonates at the frequency of the high-frequency current flowing through the feed line, and the feed transformer performs power conversion with high efficiency by the resonance frequency. At this time, since the corresponding positional relationship between the feed transformer and the track on the side wall of the track is not deviated by the bogie mechanism, the inductance of the feed transformer is always constant. Therefore, since the resonance frequency does not change, the feed transformer can always perform power conversion with high efficiency.
[0036]
In the transport apparatus of the present invention, the mobile body performs communication using a power line superimposed signal using a communication transformer, and the mounted component includes the communication transformer. Furthermore, in the transport device of the present invention, the bogie mechanism acts to make the magnetic coupling degree between the communication transformer and the feeder line constant regardless of the track layout. That is, according to the transport device of the present invention, since the communication transformer is mounted on the bogie mechanism, the corresponding positional relationship between the communication transformer and the feeder line is always constant regardless of whether the track is straight or curved. It is. Therefore, since the magnetic coupling degree does not change, the communication quality level can always be kept constant.
[0037]
In the transfer device of the present invention, power is supplied to the moving body by a contact power supply method in which power is supplied from the power supply line through a contactor by contact current collection, the installation component is a power supply line, and the mounted component Is a contact. Furthermore, in the transport device of the present invention, the bogie mechanism is characterized in that the contact pressure between the contact and the power supply line is made constant regardless of the track layout. That is, according to the transport device of the present invention, since the contact on the moving body is mounted on the bogie mechanism, no matter which part of the track travels, the power supply line on the track side and the mobile side Corresponding positional relationship with the contactor does not change. Therefore, since the contact pressure between the power supply line and the contact is always constant, stable power supply from the power supply line to the moving body can be performed.
[0038]
In the transport apparatus of the present invention, the feeder line is a trolley wire having the same shape in all parts of the track regardless of the layout of the track. That is, according to the transport device of the present invention, regardless of whether the trajectory is a curve or a straight line, the corresponding positional relationship between the contactor and the feeder line is always constant and the contact pressure between the two is stable by the action of the bogie mechanism. Therefore, the shape of the trolley wire that is the feeder line can be made the same shape over the entire section of the track. Accordingly, the equipment cost of the transport system can be reduced.
[0039]
Moreover, in the conveyance apparatus of this invention, a mobile body communicates by a power line superimposed signal using a contactor, It is characterized by the above-mentioned. In other words, according to the transfer device of the present invention, since the contact is mounted on the bogie mechanism, the corresponding positional relationship between the contact and the power supply line is always constant regardless of whether the track is a straight line or a curve. It is. Therefore, since a communication signal can be transmitted satisfactorily between the contact and the feeder line, a constant communication quality level can always be maintained regardless of whether the track is a straight line or a curved line.
[0040]
In the transport apparatus of the present invention, the moving body is driven by a motor, and the mounted component includes a motor. Further, in the transport apparatus of the present invention, the bogie mechanism acts so as not to lower the driving efficiency of the motor regardless of the track layout. The motor is any one of a rotary motor, a linear induction motor, and a linear DC motor.
[0041]
In other words, according to the transport device of the present invention, since the motor for driving the moving body is mounted on the bogie mechanism, the corresponding positional relationship between the motor and the traveling roller regardless of the shape of the track layout. Can be kept constant, so that the driving efficiency and transmission efficiency of the motor can be kept constant.
[0042]
In the transport apparatus of the present invention, when the motor is a linear direct current motor, at least one of a magnetic pole sensor or an encoder is arranged at substantially the center of the moving body. Furthermore, in the transport apparatus of the present invention, at least one of the magnetic pole sensor and the encoder is disposed on the bogie mechanism. Further, the motor is a linear induction motor, and an encoder is arranged at substantially the center of the moving body. Further, the encoder is arranged on the bogie mechanism. The encoder is disposed on a bogie link mechanism that moves in conjunction with an axle of the travel mechanism. In addition, when a linear DC motor is divided into two or more in a transport device having two or more bogie shafts, at least one of the magnetic pole sensor or the encoder moves in conjunction with the axle of the hoggy mechanism. It is arranged on the mechanism.
[0043]
That is, according to the transport device of the present invention, when the linear DC motor is divided into two or more by a transport device having two or more bogie axes, at least one of the magnetic pole sensor and the encoder is the center of the moving body. (In other words, it is placed in the middle of the orbit). At this time, in the magnetic pole sensor, the magnetic pole detected by the magnetic pole sensor and the magnetic pole in the portion where the linear DC motor actually exists are substantially the same in the curved portion of the track, so that it is possible to prevent the motor efficiency from being lowered in the curved portion of the track. it can. In addition, the position detected by the encoder and the position of the center of the track are substantially the same in the curved portion of the track, and it is possible to prevent the running efficiency of the linear DC motor from being reduced in the curved portion of the track.
[0044]
Furthermore, when the linear DC motor is divided into two or more parts and arranged in a transport device having two or more bogie axes, at least one of the magnetic pole sensor or the encoder is arranged in the link mechanism portion on the bogie frame of the bogie structure. As a result, the magnetic pole sensor or encoder passes through the center of the track, so that it is possible to detect the magnetic pole position more accurately and to prevent a reduction in motor efficiency.
[0045]
On the other hand, when a linear DC motor is divided into two or more in a transport apparatus having two or more bogie axes, and there is one or more bogie axes not equipped with a linear DC motor, this bogie By placing at least one of the magnetic pole sensor or encoder on the link center on the bogie frame of the bogie structure on the axis center, the magnetic pole sensor or encoder passes completely through the center of the track, so that a more accurate magnetic pole The position can be detected, and further reduction in motor efficiency can be prevented. The encoder has the same effect even when a linear induction motor is used.
[0046]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, an embodiment of a transfer device according to the present invention will be described in detail with reference to the drawings. A feature of the conveying device in the present invention is that the guide roller portion of the moving body has a bogie structure, and parts related to the relative positions of the moving body side and the track side are arranged on the axle of the bogie structure. As a result, the relative positional relationship between the moving-body-side component and the orbit-side component is substantially constant in both the linear portion and the curved portion of the track. Therefore, regardless of whether the track layout is straight or curved, in the non-contact power feeding method, the positional relationship between the primary power supply line and the power supply transformer is constant, so the power supply transformer always moves stable power. Can be supplied to the body drive mechanism. In the trolley power supply system, the contact pressure between the trolley wire and the contact is always constant, so that the trolley wire and the contact are not excessively worn, and stable power is supplied from the contact to the moving body drive mechanism. Can be supplied.
[0047]
Hereinafter, each embodiment of the transfer apparatus according to the present invention will be described in detail. FIG. 1 is a comparative explanatory view of a guide roller portion in a conventional transport device and a guide roller portion in a transport device of the present invention, where (a) shows a conventional configuration and (b) shows a configuration of the present invention. . In FIG. 1A, in the conventional moving body 1 ′, the bogie frame 2 ′ is fixed to the moving body 1 ′. Therefore, when the moving body 1 ′ travels on the circular track 3, the guide roller 4 The rail width must be increased in order to pass through, and the backlash is large because the guide roller 4 ′ does not hit both sides of the track during traveling. On the other hand, in FIG.1 (b), in the mobile body 1 of this invention, since the bogie frame 2 has the bogie structure with respect to the mobile body 1, the rail of the same width as a linear part can be used, and it is not loose. There are few.
[0048]
The bogie structure is a structure in which the bogie center and the center of the bogie frame 2 are always positioned at right angles to the surface of the track 3. Therefore, if a power supply transformer and a contact are arranged at the position of the bogie frame 2 having the bogie structure, the power supply transformer and the contact on the mobile object side can be moved regardless of whether the mobile body 1 travels on the curved portion or the straight portion of the track 3. The relative position relationship between the child and the primary power supply line or trolley line on the track side is substantially constant.
[0049]
First, an embodiment of the transfer device of the present invention in a non-contact power feeding method will be described. FIG. 2 is an explanatory diagram showing the relationship of the relative positions between the power supply transformer and the primary power supply line in the case of the non-contact power supply type transport apparatus according to the present invention. In FIG. 2, a power supply transformer 5a is arranged on a bogie frame 2a having a bogie structure, and similarly, a power supply transformer 5b is arranged on a bogie frame 2b having a bogie structure. In such a structure, the relative positions of the feed transformers 5a and 5b and the primary feed line 6 are parallel to the feed transformers 5a and 5b even in the curved portion of the track 3, The relative positions of the two in the straight line portion of the track 3 are almost the same. As a result, the power supplied to the feed transformers 5a and 5b is substantially constant both in the straight line portion and the curved portion of the track 3.
[0050]
That is, by disposing the feed transformers 5a and 5b on the bogie frames 2a and 2b having the bogie structure as shown in FIG. 2, the primary feed line 51 and the feed transformers 50a and 50b as shown in the conventional structure of FIG. There is no physical access or contact with the parts. Therefore, compared with the conventional conveyance apparatus, the conveyance apparatus of this invention can arrange | position a primary feeder to the back of the recessed part of a feed transformer as much as possible, and can make magnetic coupling dense. As a result, the power supplied to the power supply transformer can be increased.
[0051]
In FIG. 2, the relative position between the magnetic body on the side wall of the track 3 and the feed transformers 5 a and 5 b is substantially constant in the straight line portion and the curved portion, and therefore the inductance of the feed transformers 5 a and 5 b in any portion of the track 3. The value of is almost constant. Therefore, even if the resonant capacitor connected to the secondary windings of the feed transformers 5a and 5b has a fixed value, the resonance frequency is always constant, so that the feed transformer 5a regardless of the straight line portion or the curved portion of the track 3. , 5b is almost constant. Furthermore, since the same shape of feeder line stay (not shown) can be used in the straight line portion and the curved portion of the track 3, the cost of the transfer device can be reduced.
[0052]
Next, an embodiment of the transfer device of the present invention in the trolley power supply system will be described. Also in the case of the trolley power feeding type transfer device, as shown in FIG. 1B, the contact is disposed on the bogie frame 2 having a bogie structure. In such a structure of the trolley feeding system, the relative position between the contact and the trolley wire on the track side is substantially the same in the linear portion and the curved portion of the track as in the case of the non-contact power feeding transformer shown in FIG. Become. Thereby, in the linear part and the curved part of the track, the contactor presses the trolley wire with the same pressing pressure, so that there is almost no difference in the pressing pressure of the contactor due to the difference in the track layout as in the conventional conveying device. Therefore, since excessive pressing pressure by the contact is eliminated, wear of the contact and the trolley wire can be suppressed. In addition, since the trolley wire having the same shape can be used in the linear portion and the curved portion of the track, the cost of the transport system can be reduced.
[0053]
Next, an embodiment of the transport device according to the present invention when driven by a linear DC motor will be described. In the case of this embodiment, as shown in FIG. 1B, a linear DC motor is disposed on a bogie frame 2 having a bogie structure. At this time, the conventional linear DC motor is divided into two or more and arranged on the bogie frame 2 having the bogie structure. FIG. 3 is a conceptual diagram showing the relative positions of the linear DC motor and the permanent magnet when the moving body travels on the curved portion of the track in the transport apparatus of the present invention driven by the linear DC motor. As shown in FIG. 3, the permanent magnet 7 and the linear DC motors 8a and 8b are divided by dividing the linear DC motor into two linear DC motors 8a and 8b and placing the linear DC motor on the bogie axle. Is substantially constant in the straight and curved portions of the track 3. Therefore, it is possible to prevent a decrease in motor efficiency of the linear DC motors 8a and 8b in the curved portion, and as a result, it is possible to stabilize the traveling thrust of the transport device.
[0054]
Further, as shown in FIG. 3, the magnetic pole sensor 9 can be disposed at the center of the conveying device (that is, the central position of the row of the permanent magnets 7 in the portion facing the linear DC motors 8a and 8b). 9 and the magnetic pole of the portion where the linear DC motor actually exists are substantially the same, so that the motor efficiency of the linear DC motor in the curved portion of the track 3 can be prevented. Furthermore, since the encoder can be arranged at the center of the conveying device (that is, the position where the magnetic pole sensor 9 is located), the position detection by the encoder and the position of the central portion of the track 3 are almost the same. It is possible to prevent a reduction in motor efficiency of the linear DC motor in the curved line portion 3.
[0055]
Next, an embodiment of the transport device according to the present invention when driven by a linear induction motor will be described. Also in this embodiment, as shown in FIG.1 (b), a linear induction motor is arrange | positioned on the bogie frame 2 of a bogie structure. At this time, the conventional linear induction motor is divided into two or more and arranged on the bogie frame 2 having the bogie structure. Even when the ground primary type linear induction motor is used, the relative position between the aluminum or copper attached to the moving body and the ground primary coil is similar to the linear DC motors 8a and 8b as shown in FIG. Since it becomes substantially the same in the linear part and curved part of the track | orbit 3, the fall of the motor efficiency of a linear induction motor can be prevented. The same applies to the case where the on-vehicle primary type linear induction motor is used, and a reduction in motor efficiency of the linear induction motor can be prevented. Furthermore, since the encoder can be arranged at the center of the conveying device, the position detection by the encoder and the position of the central portion of the track 3 are substantially the same, so the motor efficiency of the linear DC motor in the curved portion of the track 3 Can be prevented.
[0056]
Next, an embodiment of the transport device according to the present invention when driven by a rotary motor will be described. FIG. 4 is a conceptual diagram of an embodiment showing a driving force and a traveling direction of a bogie-structured conveyance device according to the present invention driven by a rotary motor. Also in the case of the embodiment driven by the rotary motor, the rotary motor is arranged on the bogie frame 2 having the bogie structure as shown in FIG. In the structure of the transport device using the rotary motor as shown in FIGS. 13 and 14, as shown in FIG. 4, the driving force direction of the traveling roller 10 and the traveling direction of the moving body 1 are in the curved portion of the track 3. As shown in the vector A, they almost coincide with each other, so that the skid of the traveling roller 10 hardly occurs.
[0057]
FIG. 5 is a conceptual diagram of another embodiment showing the propulsive force and traveling direction of a moving body having a bogie structure according to the present invention driven by a rotary motor. That is, in the structure of the transport apparatus using the rotary motor as shown in FIGS. 21 and 22, for example, the bogie frame having the bogie structure is used as two axes, and one or both of them are driven by the rotary motor. In the case of the traveling roller 10 ′, as shown in FIG. 5, in the curved portion of the track 3, the propulsive force direction of the traveling roller 10 ′ and the traveling direction of the moving body 1 coincide with each other as a vector A. No 10 'skidding will occur.
[0058]
The embodiment described above is an example for explaining the present invention, and the present invention is not limited to the above-described embodiment, and various modifications can be made within the scope of the gist of the invention. That is, in each of the embodiments described above, the bogie structure has two axles. However, if the number of axles is three or more, the effect of the invention is further increased. Therefore, the embodiment having three or more axles is a modification of the present invention. Will be described.
[0059]
First, a modification in the case of driving with a linear motor and a rotary motor will be described. In this case, the linear motor may be any of a primary primary linear induction motor, an on-vehicle primary linear induction motor, or a linear DC motor. FIG. 6 is a conceptual diagram showing a link mechanism between a magnetic pole sensor and a bogie frame having a bogie structure as a modification of the transport apparatus of the present invention using a linear direct current motor. Even if the magnetic pole sensor 9 is arranged at the center (center) of the moving body 1, the curved portion of the track is slightly shifted from the center of the track. Therefore, as a countermeasure, as shown in FIG. 6, a bogie shaft link mechanism 11 that moves by linking with a bogie frame having a bogie structure is provided at the mounting portion of the magnetic pole sensor 9 so that the magnetic pole sensor 9 is always located at the track center 3a. Use a bogie structure. By adopting such a modified bogie structure, the magnetic pole sensor 9 is always at the position of the track center 3a, so that there is no possibility that the magnetic pole sensor 9 is displaced from the track center 3a even in the curved portion of the track 3.
[0060]
In the case of the linear direct current motor and the linear induction motor, even if the encoder is arranged at the center (center) of the moving body, the curved portion of the track is slightly shifted from the center of the track. Therefore, as a countermeasure, as shown in FIG. 6, an encoder is attached at the position of the magnetic pole sensor 9, and a bogie shaft link mechanism 11 that moves in linkage with a bogie frame having a bogie structure is provided at the attachment portion. The bogie structure is located at 3a. By adopting such a modified bogie structure, the encoder is always at the position of the track center 3a, so that there is no possibility that the encoder is displaced from the track center 3a even in the curved portion of the track 3.
[0061]
The linear motor and the rotary motor can be divided by the number of bogie shafts, and a plurality of linear motors or rotary motors can be arranged on one bogie shaft. By doing in this way, the conveyance apparatus with which the relative position of a feed transformer and a contactor, and a primary feed line and a trolley line was stabilized rather than the conventional conveyance apparatus is realizable. FIG. 7 is a conceptual diagram showing a configuration in which two linear DC motors are arranged in a bogie structure in the transport apparatus of the present invention. As shown in FIG. 7, the linear DC motor 8a is arranged in the bogie structure 12a, and the linear DC motor 8b is arranged in the bogie structure 12b. If it is arranged on the axis of the bogie structure, more efficient power feeding efficiency can be obtained than the conventional conveying device. In FIG. 7, the same effect as the case where the permanent magnet 7 is attached can be obtained when the ground side excitation coil is attached instead of the permanent magnet 7 or the ground side plate is attached to the track 3.
[0062]
Next, a modified example in the case of driving by a non-contact power feeding method and a trolley power feeding method will be described. In the above embodiment, the case where two power supply transformers are provided before and after the moving body has been described. However, the number of power supply transformers can be increased by the number of bogie shafts. When the load on the moving body is large, the number of power supply transformers can be increased on the bogie shaft in this way. FIG. 8 is a conceptual diagram in which a plurality of power supply transformers and the like are disposed on the bogie axis in the track direction in the transport apparatus of the present invention, (a) is an example of the arrangement of two power supply transformers, and (b) is a power supply transformer. An arrangement example of communication transformers is shown. FIG. 9 is a conceptual diagram in which a plurality of power supply transformers and the like are arranged on the bogie axis in the width direction of the track in the transport apparatus of the present invention, and (a) is an arrangement example of two power supply transformers, (b) ) Shows an arrangement example of two feeding transformers and two communication transformers.
[0063]
As shown in FIG. 8A, even if two feeding transformers 5a and 5b are arranged on one axis of the bogie structure 12 configured in the traveling direction of the moving body (that is, the direction of the track 3), The relative positions of the primary power supply line 6 and the power supply transformers 5a and 5b are more stable than those of the conventional transport device. Further, as shown in FIG. 8B, one feeding transformer 5 and one communication transformer on one axis of the bogie structure 12 configured in the traveling direction of the moving body (that is, the direction of the track 3). The relative positions of the primary power supply line 6, the power supply transformer 5, and the communication transformer 13 are more stable than those of the conventional transport device.
[0064]
That is, if the power line superimposing communication transformer 13 is also arranged in one bogie frame of the bogie structure 12 similarly to the power supply transformer 5, the communication transformer 13 and the primary power supply line 6 in the straight line portion and the curved portion of the track 3. Therefore, the magnetic coupling degree does not decrease in the curved portion, and there is no possibility that the communication quality is deteriorated. As for the arrangement of the transformer, as shown in FIG. 8B, the effect of stabilizing the relative position can be obtained even if the feeding transformer 5 and the communication transformer 13 are arranged together. The same applies to the case of the trolley power supply method, and the same effect can be obtained by attaching a plurality of contacts to one bogie frame of the bogie structure 12.
[0065]
Further, as shown in FIG. 9A, even if two feeding transformers 5a and 5b are arranged on the bogie frame of the bogie structure 12 in the width direction of the track, as shown in FIG. Even if the two power supply transformers 5a and 5b and the two communication transformers 13a and 13b are arranged in the bogie frame of the widthwise bogie structure 12, the primary power supply line 6, the power supply transformers 5a and 5b, and the communication transformer 13a, The relative position of 13b is stable as compared with the conventional transport device.
[0066]
In each of the above embodiments, the relative position between the power supply transformer and the primary power supply line and the relative position between the contactor and the trolley line are improved. However, other than this, for example, a communication transformer such as power line superposition communication Or for antennas and other devices whose relative position to the primary power supply line is related to communication quality, the relative position can be stabilized by placing these components on the axis of the bogie structure of the moving body. Thus, good communication quality can be maintained.
[0067]
【The invention's effect】
As described above, according to the transport device of the present invention, The trajectory is provided with side walls on both the left and right sides in the traveling direction of the moving body, and the feeder is installed on at least one of these side walls, The moving body is provided with a traveling mechanism, The traveling mechanism includes a pair of bogie frames provided on both sides of the moving body in the front-rear direction and the bogie frames provided on both sides of the bogie frame in the direction of travel. A pair of guide rollers for guiding, and a power supply transformer or a contact that is provided on both sides in the traveling direction of the bogie frame and is supplied with power from the power supply line, the bogie frame comprising: The above Moving body Acts to be always perpendicular to the direction of travel Thus, the feed line and the feed transformer or the contact The correspondence positional relationship is maintained. As a result, even when the moving body travels along the straight and curved portions of the track, the relative positions of the parts on the moving body side and the track side are substantially constant. Therefore, regardless of the shape of the track layout, stable power can always be supplied from the feed transformer to the moving body. There is no risk of physical interference such as contact.
[0068]
Further, in the case of the non-contact power feeding method, by arranging a non-contact power feeding transformer on a bogie frame having a bogie structure, it is possible to use a feeder line stay having the same shape in the linear portion and the curved portion of the track. It is possible to reduce the cost of the transport device and to prevent component attachment mistakes during manufacturing. Furthermore, since the relative position between the feed transformer and the primary feed line is substantially constant in the straight line portion and the curved portion of the track, the degree of magnetic coupling between the feed transformer and the primary feed line in the straight portion and the curved portion. The difference is eliminated, and as a result, the power supplied to the moving body does not change in the straight line portion and the curved portion, so that it is possible to realize a transport device with stable power supply.
[0069]
Further, in the conventional transfer device, the primary power supply line cannot be inserted deep into the recess of the power supply transformer due to physical interference between components during traveling. However, according to the transport device of the present invention, the relative position between the power supply transformer and the primary power supply line is substantially constant in the linear portion and the curved portion of the track, so that the primary power supply line is located deep in the recess of the power supply transformer. Even if arranged, mutual physical interference disappears. Therefore, in the transfer device of the present invention, the amount of power supplied can be increased by a power supply transformer having a higher degree of magnetic coupling than the conventional transfer device.
[0070]
In addition, the relative positions of the feed transformer, the primary feed line, and the track side wall are substantially constant in the straight and curved portions of the track, so that the magnetic characteristics due to the material of the feed transformer and the track side wall are constant, and as a result The self-inductance of the power supply transformer can be made constant. Therefore, the resonance frequency of the resonance circuit formed by the inductance of the power supply transformer and the fixed capacitor resonance capacitor in the power supply unit on the moving body side is substantially constant in the straight line portion and the curve portion of the track. Therefore, since the power conversion efficiency in the straight line portion and the curved portion of the track is constant, the power supplied to the power supply transformer can be made substantially constant.
[0071]
Further, in the conventional transport device, the communication transformer is separated from the primary power supply line in the curved portion, and thus the degree of magnetic coupling between the communication transformer and the primary power supply line is lowered, and the communication quality is deteriorated. However, in the transfer device of the present invention, the communication transformer in the power line superimposing communication system is arranged on the axle of the bogie structure, so that the relative position between the communication transformer and the primary power supply line or the communication dedicated line is the linear portion of the track and Since the curve portion is substantially constant, there is no difference in the degree of magnetic coupling between the straight line portion and the curve portion. Therefore, the communication quality is not lowered in the curved portion of the track, and the communication quality level can be kept constant regardless of the track layout.
[0072]
Further, in the trolley power feeding method, by arranging the contact on the axle of the bogie structure, the relative position between the contact and the track-side trolley line becomes constant in the linear portion and the curved portion of the track. Therefore, the contactor can press the trolley wire with a constant pressing pressure in the straight and curved portions of the track. Therefore, no matter what the shape of the track is, the contact is not pressed against the trolley wire with unnecessary pressing pressure, so that the wear of the contact and the trolley wire can be suppressed. In addition, since the trolley wire having the same shape can be used in the linear portion and the curved portion of the track, the cost of the transport system can be reduced.
[0073]
In addition, when the transport device is driven by a linear DC motor, the relative position between the permanent magnet and the linear DC motor can be changed between the linear portion and the curved portion of the track by arranging the linear DC motor on the bogie axle. Since it becomes substantially constant, it is possible to prevent a decrease in traveling efficiency of the linear DC motor in the curved portion. Further, in a transfer device having two or more axles with a bogie structure, when the linear DC motor is divided into two or more and arranged on the axles of each bogie structure, the magnetic pole sensor is positioned at the center of the moving body (that is, In the center of the track). For this reason, the magnetic pole detected by the magnetic pole sensor and the magnetic pole in the portion where the linear DC motor actually exists are substantially the same in the linear portion and the curved portion of the track. Decline can be prevented. Furthermore, by arranging the magnetic pole sensor in the link mechanism portion on the axle of the bogie structure, the magnetic pole sensor can detect the magnetic pole more accurately.
[0074]
In addition, when the linear DC motor is divided into two or more in a conveying device having two or more bogie axes, the encoder can be arranged at the center of the conveying device (that is, the center of the track) Also in the curved part of the track, the position detection by the encoder and the position of the central part of the track are almost the same, and it is possible to prevent the running efficiency of the linear DC motor in the curved part of the track. Further, by arranging the encoder in the link mechanism portion on the bogie frame having the bogie structure, the encoder can detect the magnetic pole more accurately.
[0075]
In addition, when the transport device is driven by a linear induction motor, the linear induction motor is arranged on a bogie frame having a bogie structure so that it can be attached to the moving body even when a primary linear induction motor is used. Since the relative position between a certain aluminum or copper and the primary coil on the ground is substantially the same in the linear portion and the curved portion of the track, it is possible to prevent a decrease in traveling efficiency of the linear induction motor. Further, even when the on-vehicle primary type linear induction motor is used, the relative position between the aluminum or copper attached to the ground side and the on-vehicle primary coil is substantially the same in the linear portion and the curved portion of the track. Therefore, it is possible to prevent a decrease in traveling efficiency of the linear induction motor.
[0076]
In the case of driving with a rotary motor, the propulsive force direction of the traveling roller and the moving body traveling direction substantially coincide with each other by arranging the rotary motor on a bogie frame having a bogie structure. Almost disappear. Further, when the bogie shaft is made into two shafts, if one or both of them are travel rollers driven by a rotary motor, side slip can be eliminated. Therefore, dust due to wear of the running roller is not generated, and a transfer robot for transferring a semiconductor wafer or the like in a clean room or the like can be realized.
[Brief description of the drawings]
FIG. 1 is a comparative explanatory view of a guide roller portion in a conventional conveying device and a guide roller portion in a conveying device of the present invention, where (a) shows a conventional configuration and (b) shows a configuration of the present invention.
FIG. 2 is an explanatory diagram showing a relative position relationship between a power supply transformer and a primary power supply line in the case of a non-contact power supply type conveyance device according to the present invention.
FIG. 3 is a conceptual diagram showing a relative position of a linear DC motor and a permanent magnet when a moving body travels on a curved portion of a track in the transport device of the present invention driven by a linear DC motor.
FIG. 4 is a conceptual diagram of an embodiment showing a driving force and a traveling direction of a bogie-structured conveyance device according to the present invention driven by a rotary motor.
FIG. 5 is a conceptual diagram of another embodiment showing the propulsive force and the traveling direction of the bogie-structured conveying device of the present invention driven by a rotary motor.
FIG. 6 is a conceptual diagram showing a link mechanism between a magnetic pole sensor and a bogie-structured axle as a modified example of the transport device of the present invention.
FIG. 7 is a conceptual diagram showing a configuration in which two linear DC motors are arranged in a bogie structure in the transport device of the present invention.
FIGS. 8A and 8B are conceptual diagrams in which a plurality of power supply transformers and the like are arranged on the orbital bogie axis in the transport apparatus of the present invention, FIG. 8A is an example of arrangement of two power supply transformers, and FIG. 8B is a power supply transformer. An arrangement example of communication transformers is shown.
FIG. 9 is a conceptual diagram in which a plurality of power supply transformers and the like are arranged on the bogie axis in the width direction of the track in the transport device of the present invention, (a) is an arrangement example of two power supply transformers, and (b) is An arrangement example of two power supply transformers and two communication transformers is shown.
FIG. 10 is a cross-sectional structure diagram of a power supply transformer that supplies power to the transport device by a non-contact power supply method and its peripheral portion.
FIG. 11 is a cross-sectional view of an overhead traveling type moving body that drives a linear motor by a non-contact power feeding method.
FIG. 12 is a cross-sectional view of a ground traveling type moving body that drives a linear motor by a non-contact power feeding method.
FIG. 13 is a cross-sectional view of an overhead traveling type moving body that drives a rotary motor by a non-contact power feeding method.
FIG. 14 is a cross-sectional view of a ground traveling type moving body that drives a rotary motor by a non-contact power feeding method.
FIG. 15 is a structural diagram of a moving body showing a mounting state of a feeding transformer in a non-contact power feeding type moving body.
FIG. 16 is a cross-sectional view of a ground traveling type moving body that drives a rotary motor by a trolley power feeding method.
FIG. 17 is a conceptual diagram illustrating an example of a relative position between a power supply transformer and a primary power supply line when a conventional moving body travels on a track in a non-contact power supply method.
FIG. 18 is a conceptual diagram showing another example of the relative positions of the power supply transformer and the primary power supply line when a conventional moving body travels on a track in the non-contact power supply method.
FIG. 19 is a conceptual diagram showing the relative positions of a linear DC motor and a permanent magnet when traveling on a curved portion of a track in a conventional moving body driven by a linear DC motor.
FIG. 20 is a conceptual diagram illustrating a side slip phenomenon of a traveling roller that occurs when traveling on a curved portion of a track in a conventional moving body driven by a rotary motor.
FIG. 21 is a structural diagram of a moving body in which a traveling roller is prevented from skidding in a conventional ground traveling type moving body driven by a rotary motor.
FIG. 22 is a structural diagram of a moving body in which a traveling roller is prevented from skidding in a conventional overhead traveling type moving body driven by a rotary motor.
FIG. 23 is a conceptual diagram showing a slight side slip phenomenon of a traveling roller that occurs when traveling on a curved portion of a track in a moving body having a conventional side slip preventing structure.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1,1 '... Moving body, 2, 2'2a, 2b ... Bogie frame, 3 ... Track, 3a ... Track center 4, 4', 4a, 4b ... Guide roller, 5a, 5b ... Feeding transformer, 6 ... 1 Next feeding line, 7 ... Permanent magnet, 8a, 8b ... Linear DC motor, 9 ... Magnetic pole sensor, 10, 10 '... Traveling roller, 11 ... Bogie shaft link mechanism, 12, 12a, 12b ... Bogie structure, 13, 13a, 13b: Communication transformer, 50, 50a, 50b, 50c, 50d ... Feeding transformer, 50a ', 50b' ... Transformer edge, 51 ... Primary feeding line, 52 ... Secondary winding, 53 ... Magnetic core, 54 ... Feeding Wire stay, 55 ... track, 55a ... track side wall, 56 ... linear motor, 57, 57a, 57b ... guide roller, 58 ... running roller, 59 ... conveying carriage, 60 ... rotary motor, 61 ... permanent magnet, 62 ... moving body, 3 ... trolley wire, 64 ... contact, 65 ... pressing mechanism, 66 ... magnetic sensor.

Claims (23)

A mobile device configured to receive electric power from a power supply line laid along a track and travel along the track,
The trajectory is provided with side walls on both the left and right sides in the traveling direction of the moving body, and the feeder is installed on at least one of these side walls,
The moving body is provided with a traveling mechanism,
The traveling mechanism includes a pair of bogie frames provided on both sides of the moving body in the front-rear direction and the bogie frames provided on both sides of the bogie frame in the direction of travel. A pair of guide rollers for guiding, and a power supply transformer or a contact provided on each side in the traveling direction of the bogie frame and supplied with power from the power supply line,
The bogie frame acts so as to be always positioned at right angles to the traveling direction of the moving body , thereby maintaining the corresponding positional relationship between the power supply line and the power supply transformer or the contact. Conveying device. The traveling mechanism acts so as to make the corresponding positional relationship between the installed components installed on the track and the mounted components mounted on the movable body constant regardless of the layout of the track. The transport apparatus according to claim 1. The traveling mechanism, regardless of the layout of the track, the installation part and said mounting part you characterized in that acts to maintain the corresponding positional relationship so as not to physically interfere 請 Motomeko 2. The transfer apparatus according to 2. Power feeding to the moving body is performed by a non-contact power feeding method in which power is fed in a non-contact manner from the power feeding line via a power feeding transformer
The installation part is the feed line, and the conveying apparatus according to claim 2 or claim 3 wherein the mounting component is characterized in that said power supply transformer. 5. The transport device according to claim 4, wherein the feeder line stay for holding the feeder line along the track has the same shape at all positions on the track regardless of the layout of the track. . The said traveling mechanism acts so that the electric power which the said electric power feeding transformer supplies to the said mobile body may be maintained constant irrespective of the layout of the said track | orbit. Conveying device. The core shape of the power supply transformer is E-shaped, and the power supply line is disposed at the back of the E-shaped recess of the power supply transformer so as to maximize the power conversion efficiency of the power supply transformer. The transport apparatus according to any one of claims 4 to 6. The secondary winding of the power transformer forms a resonance circuit together with a resonance capacitor,
The said traveling mechanism acts so as to maintain the resonance frequency of the resonance circuit at a constant value by keeping the inductance of the power supply transformer constant regardless of the layout of the track. Item 8. The transfer device according to any one of Items 7 to 8. The mobile unit performs communication using a power line superimposed signal using a communication transformer,
The transport device according to claim 4, wherein the mounted component includes the communication transformer. The transport device according to claim 9, wherein the traveling mechanism acts so as to make the degree of magnetic coupling between the communication transformer and the feeder line constant regardless of the layout of the track. Power feeding to the moving body is performed by a contact power feeding method in which power is fed by contact current collection from the power supply line through a contact,
The installation part is the feed line, and the conveying apparatus according to claim 2 or claim 3 wherein the mounting component is characterized in that said contactor. The transport device according to claim 11, wherein the traveling mechanism acts so as to make a contact pressure between the contact and the power supply line constant regardless of a layout of the track. The transport apparatus according to claim 11 or 12, wherein the feeder line is a trolley wire having the same shape in all parts of the track regardless of the layout of the track. The transfer device according to claim 11, wherein the moving body performs communication using a power line superimposed signal using the contact. The transport device according to claim 4, wherein the moving body is driven by a motor, and the mounted component includes the motor. The transport apparatus according to claim 15, wherein the bogie mechanism acts so as not to lower the driving efficiency of the motor regardless of the layout of the track. The conveying device according to claim 15 or 16, wherein the motor is any one of a rotary motor, a linear induction motor, and a linear DC motor. 18. The transport device according to claim 17, wherein when the motor is a linear direct current motor, at least one of a magnetic pole sensor and an encoder is disposed substantially at the center of the moving body. The transport device according to claim 18, wherein at least one of the magnetic pole sensor and the encoder is disposed on the bogie mechanism. 20. The transport device according to claim 18, wherein at least one of the magnetic pole sensor and the encoder is disposed on a bogie link mechanism that moves in conjunction with an axle of the traveling mechanism. The transport apparatus according to claim 17, wherein the motor is a linear induction motor, and an encoder is disposed substantially at the center of the movable body. The transport device according to claim 21, wherein the encoder is disposed on the bogie mechanism. The transport device according to claim 21 or 22, wherein the encoder is disposed on a bogie link mechanism that moves in conjunction with an axle of the travel mechanism.

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