JP6945057B2 - Transport device and transport path - Google Patents

Description

The present disclosure relates to a transport device for moving a carrier that transports articles, and a transport path.

Conventionally, there is a transport device for transporting a carrier for transporting an article along a travel guide (for example, Patent Document 1). The transport device described in Patent Document 1 has a straight transport path and a curved transport path connected to the straight transport path. The curved transport path is a curved transport path that bends to the left with respect to the moving direction of the carrier.

International Publication No. WO2012 / 056838 (Fig. 10)

In the above-mentioned transport device, traveling guides are provided on both sides of the carrier in both the straight transport path and the curved transport path. The carrier travels on a straight or curved transport path while rotating a plurality of rollers in contact with the traveling guide. Therefore, in this transport device, not only a straight transport path but also a traveling guide that supports the carrier from both sides on the curved transport path is required, which may increase the required number of member points.

The present application has been made in view of such a situation, and an object of the present application is to provide a transport device and a transport path capable of reducing the number of members of a curved transport path and, by extension, reducing the cost.

In order to solve the above problems, the present application has a transport path and a coil that generates a propulsive force by utilizing a magnetic force generated by a magnet, and the propulsive force moves the transport path in a moving direction to transport an article. A transport device including a carrier, wherein the transport path has a straight transport path and a curved transport path, and the linear transport path is arranged on the side of the carrier and is plurality of along the moving direction. The first magnet row in which the magnets are linearly arranged and the other side of the carrier with the carrier in between, and a plurality of the magnets are linearly arranged along the moving direction. A third magnet row having a second magnet row, the curved transport path is arranged on the side of the carrier, and a plurality of the magnets are arranged in a curved shape along the moving direction, and the third magnet row. In a fourth magnet row, which is a plurality of the magnets arranged on the other side of the carrier with a carrier in between and arranged along the moving direction, at least a part of the fourth magnet row is discontinuous. It has a discontinuous portion, a first guide portion, and a second guide portion, and has a curved guide that regulates the movement of the carrier toward the third magnet row side, and has the first guide portion. Is arranged at a position opposite to the second guide portion with the third magnet row in between, and the carrier generates a magnetic force between the third magnet row and the coil. Discloses a transport device supported by the first guide portion and the second guide portion arranged with a position where the magnetic force is generated in between. As for the discontinuous portion, at least a part of the fourth magnet row is discontinuous. Therefore, when the entire fourth magnet row is discontinuous, the transport device may not have any magnets in the fourth magnet row. Further, the discontinuous portion is a concept including both a discontinuous portion and a discontinuous portion remaining.
Also, the present application is provided with a transport path, comprising a coil for generating a propulsive force by utilizing a magnetic force generated by the magnet, and a carrier for carrying the moving conveyance path moving direction article by said propulsion force The transport device has a straight transport path and a curved transport path, the straight transport path is arranged on the side of the carrier, and a plurality of the magnets are linearly arranged along the moving direction. A first magnet row arranged in a shape and a second magnet row arranged on the other side of the carrier with the carrier in between, and a plurality of the magnets are linearly arranged along the moving direction. The curved transport path is arranged on the side of the carrier, and the carrier is sandwiched between a third magnet row in which a plurality of the magnets are arranged in a curved line along the moving direction. In the fourth magnet row, which is a plurality of the magnets arranged on the other side of the carrier and arranged along the moving direction, a discontinuity portion in which at least a part of the fourth magnet row is discontinuous. The third magnet row is provided inside the curved transport path, and the magnetic attraction force generated between the magnet and the coil of the third magnet row in the curved transport path is The size becomes greater than or equal to the magnitude of the centrifugal force generated in the carrier toward the outside in the curved transport path, and the curved transport path provides a curve guide that regulates the movement of the carrier toward the third magnet row side. The third magnet train has a position moved inward in the curved transport path in the curved transport path as the distance between the coil of the carrier and the curved guide becomes shorter. Disclose a transport device that is arranged offset to.
Further, the present application includes a transport path and a carrier that has a coil that generates a propulsive force by utilizing a magnetic force generated by a magnet and moves the transport path in a moving direction by the propulsive force to transport an article. In the transport device, the transport path has a straight transport path and a curved transport path, the straight transport path is arranged on the side of the carrier, and a plurality of the magnets are linear along the moving direction. A first magnet row arranged in the above, and a second magnet row arranged on the other side of the carrier with the carrier in between, and a plurality of the magnets arranged linearly along the moving direction. The curved transport path is arranged on the side of the carrier, and the carrier is sandwiched between a third magnet row in which a plurality of the magnets are arranged in a curved shape along the moving direction. In the fourth magnet row, which is a plurality of the magnets arranged on the other side of the carrier and arranged along the moving direction, a discontinuity portion in which at least a part of the fourth magnet row is discontinuous. The fourth magnet row is arranged so that the plurality of magnets arranged in the discontinuity gradually approach the carrier as the magnets are arranged from the front to the front in the moving direction. Disclose the device.
The contents disclosed in the present application can be implemented not only as a transport device but also as a transport path in which a carrier can move.

According to this, it is possible to generate a propulsive force in the coil by utilizing the magnetic force of the third magnet row and move the carrier along the curved transport path. By discontinuing at least a part of the fourth magnet row in the discontinuous portion, the number of magnets in the fourth magnet row provided in the curved transport path and the amount of members holding the magnets can be reduced. As a result, it is possible to reduce the number of members of the curved transport path and, by extension, reduce the cost.

It is a perspective view of the transport device of this embodiment. It is a perspective view which showed the inside of the transport device. It is sectional drawing of the unit fixed part. It is a side view of a carrier. It is a figure which shows the electrical structure of the production system of this embodiment. It is a schematic diagram which shows the outline of a production system. It is a perspective view of the transport device 10A having a curved transport path. It is a perspective view of the transport device 10B having a branch point. It is a schematic diagram of the transport device 10A. It is a schematic diagram for demonstrating the arrangement of a groove roller. It is a schematic diagram for demonstrating the arrangement of the groove roller of another example. It is a schematic diagram for demonstrating the arrangement of the groove roller of another example. It is a schematic diagram of the transport device 10B. It is a schematic diagram of the transfer device 10A of another example. It is a schematic diagram of the transport device 10B of another example.

Hereinafter, an embodiment in which the transfer device of the present application is embodied will be described. FIG. 1 shows a perspective view of the transport device 10 of the present embodiment. FIG. 1 shows a state in which the carrier 13 is arranged on the unit fixing portion 11. The transport device 10 is a device that slides and moves the carrier 13 with respect to the unit fixing portion 11 by driving a linear motor. First, the configuration of the transport device 10 will be described using the transport device 10 having the straight transport path shown in FIG. The transport device 10 having a curved transport path and a branch point will be described later. In the following description, the direction in which the carrier 13 is slid in FIG. 1 is the X direction, the direction perpendicular to the X direction and parallel to the surface on which the unit fixing portion 11 is placed is perpendicular to the Y direction, the X direction, and the Y direction. This direction will be referred to as the Z direction. In this case, the X direction is an example of the moving direction of the present application. The Y direction is an example of the side of the present application.

The transport device 10 is configured by arranging the carrier 13 in the unit fixing portion 11. The number of carriers 13 is not limited to one, and may be two or more. FIG. 2 shows only a part of the inside of the transport device 10 by removing the member on the front side of the transport device 10 in the Y direction. FIG. 3 shows a cross section of the unit fixing portion 11 cut in a plane orthogonal to the X direction.

As shown in FIGS. 1 to 3, the unit fixing portion 11 extends in the X direction. The cross-sectional shape of the unit fixing portion 11 cut in a plane orthogonal to the X direction has a substantially U shape with the upper portion open in the Z direction. The unit fixing portion 11 includes a bottom portion 21, a first side wall 22, and a second side wall 23. The bottom portion 21 extends in the X direction, has an opening at the lower portion, and has a substantially box-shaped shape thin in the vertical direction. A control board 25 for controlling non-contact power supply and the operation of the carrier 13, which will be described later, is provided in the lower portion of the bottom portion 21. The control board 25 is housed in a bottom portion 21 having an open bottom, and is fixed to the lower surface of the bottom portion 21. The control board 25 can communicate with the communication unit 60 (see FIG. 5) provided on the carrier 13. The control board 25, for example, performs wireless communication with the communication unit 60, and transmits / receives data and the like necessary for control with the carrier 13.

The first and second side walls 22 and 23 are provided on the upper surface of the bottom portion 21 and are provided in a standing state along the Z direction. The first and second side walls 22 and 23 extend along the X direction. The second side wall 23 is provided parallel to the first side wall 22. The unit fixing portion 11 constitutes a groove extending in the X direction by the bottom portion 21, the first and second side walls 22, 23. This groove is a transport path through which the carrier 13 moves. The first side wall 22 has a wall portion 22A and a bottom plate portion 22B. Similarly, the second side wall 23 has a wall portion 23A and a bottom plate portion 23B. The wall portions 22A and 23A have a substantially flat plate shape along the Z direction and the X direction, and extend along the X direction. The heights of the wall portions 22A and 23A in the Z direction are the same.

The bottom plate portion 22B extends from the lower end portion of the wall portion 22A in the Z direction toward the inside in the Y direction along the upper surface of the bottom portion 21, that is, toward the facing second side wall 23. Similarly, the bottom plate portion 23B extends from the lower end portion of the wall portion 23A in the Z direction toward the inside in the Y direction along the upper surface of the bottom portion 21, that is, toward the facing first side wall 22. The bottom plate portions 22B and 23B are fixed to the upper surface of the bottom portion 21.

The carrier 13 is housed in a groove surrounded by a bottom portion 21, a first side wall 22, and a second side wall 23. A plurality of permanent magnets 26 are attached as stators to the inner walls of the wall portions 22A and 23A. The plurality of permanent magnets 26 form, for example, a rectangular plate extending in the Z direction, and on the inner walls of the first and second side walls 22 and 23, along the X direction, that is, along the moving direction of the carrier 13. They are arranged at a predetermined pitch 63 (see FIG. 2). Each of the permanent magnets 26 has different polarities (N pole and S pole) in the X direction so that the north pole and the south pole appear alternately on the inner surface facing the carrier 13 in the Y direction. It has become. In other words, the plurality of permanent magnets 26 are arranged so as to have different polarities alternately along the X direction. The plurality of permanent magnets 26 may not be arranged at equal intervals at the same pitch 63 in the X direction. 2 and 3 show a state in which the cover 27 (see FIG. 1) covering the carrier 13 side of the permanent magnet 26 is removed. Further, FIG. 2 shows a state in which the second side wall 23 on the front side in the Y direction is removed.

Further, a rail portion 28 is provided on the upper portion of each of the first and second side walls 22 and 23 in the Z direction. The rail portion 28 is, for example, a V rail having a slide surface formed in a V shape, and a groove roller 43 of a carrier 13, which will be described later, can be attached to the rail portion 28. In the following description, when the rail portion 28 of the first side wall 22 and the rail portion 28 of the second side wall 23 are to be distinguished from each other, an alphabet is added after the reference numerals. Specifically, the rail portion 28 of the first side wall 22 will be referred to as a rail portion 28A, and the rail portion 28 of the second side wall 23 will be referred to as a rail portion 28B.

A linear scale 29 is attached to the upper surface of the rail portion 28A provided on the upper portion of the first side wall 22. Similarly, a linear scale 29 is attached to the upper surface of the rail portion 28B of the second side wall 23. Further, as shown in FIG. 4, a linear head 40 is attached to the carrier 13 at a position facing each of the linear scales 29 of the unit fixing portion 11 in the Z direction. The linear head 40 moves on the upper part of the linear scale 29 as the carrier 13 moves in the X direction, and the position of the carrier 13 in the X direction is used as position information PI (see FIG. 5) as the power receiving board 50 of the carrier 13 (see FIG. 5). (See FIG. 5). The power receiving board 50 transmits the position information PI to the control board 25 of the unit fixing unit 11 via the communication unit 60.

As will be described later, the transport device 10 eliminates a part of the side wall in the curved transport path or branch path. Therefore, the unit fixing portion 11 is provided with linear scales 29 on both sides in the Y direction so that the position of the carrier 13 can be detected if at least one side wall is present. Further, the carrier 13 is provided with a pair of linear heads 40 corresponding to the linear scale 29. The unit fixing portion 11 may be configured to include a linear scale 29 on one side in the Y direction. In this case, the carrier 13 may be configured to include the linear head 40 on one side in the Y direction, similarly to the linear scale 29. Further, the method of detecting the position by the linear scale 29 and the linear head 40 is not particularly limited. For example, the position detection method may be an optical detection method or a detection method using electromagnetic induction. Further, the method of detecting the position of the carrier 13 is not limited to the linear scale, and for example, a rotary encoder may be used.

Further, a traveling rail 30 extending in the X direction is provided on the upper surface of the bottom portion 21. The traveling rail 30 is provided between the bottom plate portions 22B and 23B in the Y direction. The traveling rail 30 has a rail bottom portion 32 and a pair of rail side portions 34. The rail bottom portion 32 is provided on the upper surface of the bottom portion 21, has a substantially constant width in the Y direction, and is formed in a plate shape extending along the X direction. The pair of rail side portions 34 are formed at both ends of the rail bottom portion 32 in the Y direction. Each of the pair of rail side portions 34 has a plate shape extending upward along the Z direction. The cross-sectional shape of the traveling rail 30 cut by a plane orthogonal to the X direction has a substantially U-shape with an upper opening. Note that FIG. 2 shows a state in which the traveling rail 30 on the front side in the Y direction is removed. Further, in the following description, when the rail side portion 34 on the first side wall 22 (rail portion 28A) side and the rail side portion 34 on the second side wall 23 (rail portion 28B) are separately described, the alphabet is added after the reference numeral. Will be explained with. Specifically, the rail side portion 34 on the first side wall 22 side will be referred to as a rail side portion 34A, and the rail side portion 34 on the second side wall 23 side will be referred to as a rail side portion 34B.

Further, on the bottom plate portions 22B and 23B, a power transmission coil portion 31 that performs non-contact power supply is provided. The power transmission coil unit 31 includes a coil holding unit 33 extending in the X direction and a power transmission coil 35. Note that FIGS. 1 and 2 show a state in which the power transmission coil 35 is removed. The coil holding portion 33 has a substantially plate shape extending in the X direction. The material of the coil holding portion 33 is, for example, a magnetic material such as ferrite or an electromagnetic steel plate. The cross-sectional shape of the coil holding portion 33 cut in a plane orthogonal to the X direction has a substantially E-shape protruding upward. The power transmission coil 35 is wound around a protruding portion at the center of the coil holding portion 33 in the Y direction.

The control board 25 of the unit fixing unit 11 is connected to the power transmission coil 35 and changes the AC voltage supplied to the power transmission coil 35. By changing the AC voltage supplied to the power transmission coil 35, the control board 25 supplies power from the power transmission coil 35 to the power reception coil 49 of the carrier 13, which will be described later, in a non-contact manner. The non-contact power feeding method is not limited to the electromagnetic coupling method using a coil or the electromagnetic induction method, and may be, for example, an electrostatic coupling method using a flat electrode. Further, the power supply to the carrier 13 is not limited to the non-contact power supply, and a contact type power supply method may be used. For example, the pantograph provided on the carrier 13 may be brought into contact with the overhead wire to supply power.

Further, as shown in FIGS. 1 and 2, the carrier 13 includes a main body 41 and a workbench 42. The main body 41 has a box shape that is long in the X and Z directions, and various devices are built in the main body 41. The workbench 42 has a substantially plate shape long in the X direction and is fixed to the upper part of the main body 41. FIG. 4 is a side view of the carrier 13 as viewed from the X direction, and shows a state in which a part of the main body 41 is removed. As shown in FIG. 4, a plurality of groove rollers 43 are attached to the lower surface of the work table 42. The plurality of groove rollers 43 of the present embodiment are attached to each of both sides of the work table 42 in the Y direction (six in total) (see FIG. 2). The three groove rollers 43 on one side are arranged along the X direction. Further, the linear head 40 described above is attached to the lower surface of the work table 42.

Further, a first traveling roller 45 and a second traveling roller 46 are attached to the central portion of the lower surface of the main body portion 41. A plurality of sets of the first traveling rollers 45 are provided in the X direction, with two sets facing each other in the Y direction as one set. Each of the first traveling rollers 45 is rotatable about a rotation axis along the Z direction. Each of the first traveling rollers 45 rotates in contact with the rail side portions 34 (see FIG. 3) facing each other in the Y direction on the traveling rail 30 from the inside.

The second traveling rollers 46 are provided between the first traveling rollers 45 facing each other in the Y direction, and a plurality of the second traveling rollers 46 are provided in the X direction. Each of the second traveling rollers 46 is rotatable about a rotation axis along the Y direction. Each of the second traveling rollers 46 rotates in contact with the upper surface of the rail bottom portion 32 (see FIG. 3) of the traveling rail 30.

The carrier 13 inserts the main body 41 into the groove of the unit fixing portion 11 having a substantially U shape with the work table 42 arranged above the unit fixing portion 11. The main body 41 inserted into the unit fixing portion 11 is provided with a certain gap between the first and second side walls 22 and 23 of the unit fixing portion 11. Each of the plurality of groove rollers 43 is rotatably attached to a rail portion 28 provided above the first and second side walls 22 and 23. Further, each of the first traveling roller 45 and the second traveling roller 46 is arranged in the traveling rail 30 and is in a state where it can rotate in contact with the traveling rail 30. The carrier 13 can be moved in the X direction by rotatably attaching the groove roller 43, the first traveling roller 45, and the second traveling roller 46 to the unit fixing portion 11, and the carrier 13 can move an article (parts, etc.) on the work table 42. Is placed and moved. In the transport device 10 of the present embodiment, for example, as shown in FIG. 6 described later, the carrier 13 is moved on the transport path 90 of the fixed portion 12 formed by connecting a plurality of unit fixed portions 11, and the work process position. At 85 or the like, the carrier 13 is stopped, and operations such as supply and assembly of parts are executed.

Further, the carrier 13 is restricted from moving in a direction different from the moving direction, for example, in the Y direction or the Z direction, by the groove roller 43, the first running roller 45, and the second running roller 46. For example, the carrier 13 engages the groove roller 43 with the rail portion 28A and brings the first traveling roller 45 into contact with the rail side portion 34A, thereby restricting the movement of the carrier 13 toward the first side wall 22 side in the Y direction. Guided in the X direction.

Further, as shown in FIG. 4, a power receiving coil portion 47 for performing non-contact power supply is provided on the lower surface of the main body portion 41. The power receiving coil portion 47 includes a coil holding portion 48 extending in the X direction and a power receiving coil 49. The coil holding portion 48 has a substantially plate shape extending in the X direction. The cross-sectional shape of the coil holding portion 48 cut in a plane orthogonal to the X direction has a substantially E-shape protruding downward. The material of the coil holding portion 48 is, for example, a magnetic material such as ferrite or an electromagnetic steel plate. The power receiving coil 49 is wound around a protruding portion at the center of the coil holding portion 48 in the Y direction. In the state where the carrier 13 is arranged in the unit fixing portion 11, the power receiving coil portion 47 is arranged so as to face the power transmission coil portion 31 with a predetermined interval in the Z direction. As shown in FIG. 6, the carrier 13 moves across the plurality of unit fixing portions 11. Therefore, in order to receive power from at least one of the two unit fixing portions 11 straddling the carrier 13, the carrier 13 has different power receiving coils at both ends (front and rear ends in the moving direction) in the X direction. A unit 47 may be provided.

Further, as shown in FIGS. 2 and 4, a power receiving board 50, a servo amplifier 51, a winding portion 53 which is a mover, and an induction winding portion 55 are built in the main body portion 41. There is. Therefore, the transport device 10 of the present embodiment is a so-called moving coil type linear motor in which the permanent magnet 26 is arranged on the stator (unit fixing portion 11) and the mover (winding portion 53) is arranged on the carrier 13. Consists of. The power receiving board 50 is connected to the power receiving coil 49 of the power receiving coil unit 47, and is supplied with power corresponding to the AC power supplied from the power transmitting coil unit 31 to the power receiving coil unit 47. Further, the power receiving board 50 is connected to the servo amplifier 51 and supplies the power W1 (see FIG. 5) to the servo amplifier 51. The servo amplifier 51 generates a drive current that energizes the winding portion 53 from the electric power W1 supplied from the power receiving board 50.

The winding portions 53 of the present embodiment are provided on both sides of the main body portion 41 in the Y direction, respectively, and are provided at positions facing the permanent magnets 26 in the Y direction. In the winding portion 53 on one side in the Y direction, for example, a coil 53B is wound around each of the three yokes 53A (see FIG. 2). Each of the three coils 53B corresponds to, for example, each phase of U phase, V phase, and W phase. The yoke 53A and the coil 53B of each phase are arranged side by side in the X direction, that is, in the moving direction of the carrier 13A. The servo amplifier 51 energizes each coil 53B with a three-phase alternating current Iac (see FIG. 5) as a drive current. The winding portion 53 generates a magnetic field (induced N pole and S pole) when an alternating current Iac is applied to the coil 53B from the servo amplifier 51, and propulsion force is generated between the winding portion 53 and the permanent magnet 26 of the unit fixing portion 11. (Magnetic attraction force and magnetic repulsion force) are generated. The carrier 13 moves in the X direction due to the propulsive force generated between the winding portion 53 and the permanent magnet 26. In the present embodiment, a double-sided linear motor is composed of permanent magnets 26 and winding portions 53 provided on both sides in the Y direction. The power receiving board 50 controls the magnetic field formed by the coil 53B, that is, the direction and speed at which the carrier 13A is moved, by controlling the three-phase alternating current Iac that energizes the winding portion 53 via the servo amplifier 51. .. The carrier 13 of the present embodiment can move in either the front-rear direction depending on the polarity generated in the coil 53B. That is, the carrier 13 can move to one (front) or the other (rear) in the X direction according to the polarity of the coil 53B.

Here, the transport device 10 of the present embodiment includes a rail portion 28 and a traveling rail 30 as members for guiding the carrier 13. As shown in FIGS. 3 and 4, the rail portion 28 and the traveling rail 30 are arranged at positions sandwiching the permanent magnet 26 in the Z direction (vertical direction). Therefore, for example, when a magnetic force is generated between the permanent magnet 26 of the first side wall 22 and the winding portion 53 on the first side wall 22 side, the carrier 13 moves upward with respect to the position where the magnetic force is generated. The rail portion 28A (groove roller 43) provided and the rail side portion 34A (first traveling roller 45) provided below provide a state of being supported from the outside in the Y direction. As a result, it is possible to prevent the carrier 13 from tilting due to the magnetic force.

Further, the induction winding portion 55 generates a magnetic force between the induction winding portion 55 and the induction magnets 115 and 116 provided in the unit fixing portion 11 (see FIG. 8) of the transport device 10B described later, and changes the moving direction of the carrier 13. It is a magnet to do. The induction winding portion 55 is provided above the winding portion 53 in the Z direction. The height of the induction winding portion 55 is adjusted in the Z direction so as to face the induction magnets 115 and 116 in the Y direction. The servo amplifier 51 generates a drive current Iac2 (see FIG. 5) that energizes the induction winding portion 55 based on the electric power W1 supplied from the power receiving board 50.

Inductive winding portions 55 are provided on both sides of the main body portion 41 in the Y direction, respectively. The induction winding portion 55 includes, for example, a yoke and a coil (not shown) like the winding portion 53. The induction winding unit 55 generates a magnetic field when the drive current Iac2 is energized from the servo amplifier 51, and generates a magnetic force between the induction winding unit 55 and the induction magnets 115 and 116 (see FIG. 8) of the unit fixing unit 11. The moving direction of the carrier 13 is changed by a magnetic force (magnetic attraction force or magnetic repulsion force) generated between the induction winding portion 55 and the induction magnets 115 and 116. The power receiving board 50 changes the polarity of the induction winding portion 55 by controlling the drive current Iac2 that energizes the induction winding portion 55 via the servo amplifier 51. The power receiving substrate 50 changes the direction of the magnetic force generated between the induction winding portions 55 and the induction magnets 115 and 116 by changing the polarity of the induction winding portion 55, and controls the moving direction of the carrier 13.

(About the production system)
Next, a production system configured by using a plurality of the above-described transfer devices 10 of the present embodiment will be described with reference to FIGS. 5 and 6. FIG. 5 shows the electrical configuration of the production system 71 of the present embodiment. FIG. 6 schematically shows an outline of the production system 71. As shown in FIG. 6, in the production system 71, for example, the linear transport device 10 shown in FIG. 1, the transport device 10A having a curved transport path, the transport device 10B having a branch point, and the like are connected to each other to form an annular shape. It constitutes the production line of. In the following description, when the transport device 10A having a curved transport path and the transport device 10B having a branch point are distinguished from the linear transport device 10, "A" and "B" are added after the reference numerals. I will explain them separately with the alphabet of. Further, when various types of transport devices are generically described, they are simply referred to as the transport device 10.

As shown in FIG. 5, the production system 71 includes, for example, a management PC 73 that collectively controls a plurality of transfer devices 10 constituting the production line. The control board 25 of each transfer device 10 controls the operation of the moving or stopped carrier 13 arranged in its own unit fixing unit 11 based on the control signal CT1 of the management PC 73. The control board 25 transmits the control signal CT2 to the power receiving board 50 of each carrier 13 via the communication unit 60. The power receiving board 50 changes the supply destination of the power W1, the magnitude of the power W1, the direction of the current when the power W1 is applied to the coil, and the like based on the control signal CT2 received from the control board 25 of the unit fixing unit 11. Then, the alternating current Iac supplied from the servo amplifier 51 to the coil 53B and the drive current Iac2 supplied to the induction winding portion 55 are controlled. As a result, the management PC 73 can comprehensively control the operations of the plurality of carriers 13 via the control board 25 of each transfer device 10.

For example, as shown in FIG. 6, the management PC 73 moves a plurality of carriers 13 on the annular transport path in the direction of the movement direction 75 in the drawing. Article 79 is placed on the workbench 42 (see FIG. 2) of each carrier 13. A work robot 81 that performs various tasks is arranged in the transport path of the production system 71. The carrier 13 stops at the work process position 85 of each work robot 81. The work robot 81 performs work on the article 79 based on the control of the management PC 73. The management PC 73 controls the movement of each carrier 13 and the work of the work robot 81, and executes assembly using the article 79, processing on the article 79, and the like.

(About the configuration of the curved transport device 10A)
Next, in the production system 71 shown in FIG. 6, the configuration of the transport device 10A having a curved transport path and the transport device 10B having a branch point will be described. FIG. 7 is a perspective view of the transport device 10A, showing a configuration in which the transport device 10A is viewed from above to below in FIG. Further, FIG. 8 is a perspective view of the transport device 10B, showing a configuration in which the transport device 10B is viewed from the lower side to the upper side in FIG. In addition, in FIG. 7 and FIG. 8, some members are omitted in order to avoid complicating the drawings. For example, FIGS. 7 and 8 omit the illustration of the carrier 13, the cover 27, the linear scale 29, the power transmission coil 35, and the like. Further, in FIG. 7, the coil holding portion 33 of the straight transport path is not shown.

Further, in the following description, when the permanent magnet 26 on the first side wall 22 side is described separately from the permanent magnet 26 on the second side wall 23 side, the permanent magnet 26 on the first side wall 22 side is referred to as the first magnet 26A. The permanent magnet 26 on the side of the second side wall 23 will be referred to as a second magnet 26B. Further, as shown in FIG. 6, among the transport paths 90 of the fixed portion 12 in which the plurality of unit fixed portions 11 are connected, the straight transport path is the first transport path 91, and the curved transport path is the second transport path. A transport path branched from the first transport path portion 91 in a direction different from that of the section 92 and the second transport path section 92 will be referred to as a branch path 93. Further, the XYZ directions shown in FIGS. 7 and 8 indicate directions with reference to a straight transport path.

Further, as shown in FIGS. 7 and 8, a portion of the second transport path portion 92 that extends continuously to the first side wall 22 of the first transport path portion 91 is referred to as a first curved side wall 121. The side wall facing the first curved side wall 121 with the carrier 13 sandwiched between them will be referred to as a second curved side wall 123. In the branch road 93, a portion continuously extended to the second side wall 23 of the first transport path portion 91 is referred to as a second branch side wall 126, and faces the second branch side wall 126 with the carrier 13 in between. The side wall will be referred to as a first branch side wall 125 (see FIG. 13). Further, the plurality of first magnets 26A arranged on the inner wall of the first side wall 22 of the first transport path portion 91 are referred to as a first straight magnet row 131, and a plurality of second magnets arranged on the inner wall of the second side wall 23 are referred to. The magnet 26B will be referred to as a second straight magnet array 132. Further, the plurality of first magnets 26A arranged on the inner wall of the first curved side wall 121 are referred to as the first curved magnet row 135, and the plurality of second magnets 26B arranged on the inner wall of the second curved side wall 123 are referred to as the first curved magnet row 135. A two-curve magnet array 136 (see FIG. 9) will be referred to as a description. Further, the plurality of first magnets 26A arranged on the inner wall of the first branch side wall 125 are referred to as the first branch magnet row 138 (see FIG. 13), and the plurality of second magnets arranged on the inner wall of the second branch side wall 126 are arranged. The magnet 26B will be referred to as a second branch magnet array 139.

The second transport path portion 92 shown in FIG. 6 is a curved transport path connected to the straight first transport path portion 91, and has a predetermined angle with a direction along the first transport path portion 91, for example, the X direction. It extends in the direction of the eggplant. In the case of the transport device 10A, the second transport path portion 92 is bent to the left in the moving direction 75 with respect to the direction along the first transport path portion 91.

As shown in FIG. 7, the unit fixing portion 11 of the transport device 10A includes a unit fixing portion 11A having a first transport path portion 91 and a unit fixing portion 11B having a second transport path portion 92. The unit fixing portion 11A having the straight first transport path portion 91 includes both the first side wall 22 and the second side wall 23. The first and second side walls 22 and 23 extend along the X direction in the unit fixing portion 11A. FIG. 9 schematically shows the transport device 10A. In FIG. 9, a permanent magnet 26 is shown on the outside of the first side wall 22 and the second side wall 23 in order to make the explanation easier to understand. Further, in order to show the polarity, the permanent magnet 26 of the N pole is hatched.

As shown in FIG. 9, in the straight first transport path portion 91, the carrier 13 exerts a magnetic attraction force acting between the permanent magnets 26 provided on both sides in the Y direction on the side and the winding portion 53. receive. For example, the carrier 13 is added with a magnetic attraction force F1 generated toward the left in FIG. 9 and a magnetic attraction force F2 generated toward the right. The magnetic attraction force F1 is a magnetic force acting between the first magnet 26A of the first side wall 22 and the winding portion 53. The magnetic attraction force F2 is a magnetic force acting between the second magnet 26B of the second side wall 23 and the winding portion 53. The transport device 10A of the present embodiment is configured such that the magnetic attraction force F1 and the magnetic attraction force F2 are balanced.

For example, each of the first magnets 26A of the first linear magnet row 131 and the second magnets 26B of the second straight magnet row 132 of the present embodiment have the same distance from the carrier 13 in the straight first transport path portion 91. It is configured to be. More specifically, the carrier 13 has a contrasting structure in the Y direction. When the carrier 13 is arranged in the center between the first and second side walls 22 and 23 in the Y direction, the distance between the center 97 and the first magnet 26A in the Y direction of the carrier 13 and the center 97 and the second magnet The distance to 26B is the same. Further, for example, the power receiving board 50 and the servo amplifier 51 (see FIG. 5) of the carrier 13 have the same magnitude of AC current Iac in the winding portions 53 provided on both sides in the Y direction under the control of the management PC 73. To supply. This makes it possible to make the magnetic attraction force F1 the same magnitude as the magnetic attraction force F2. Then, by balancing the magnetic attraction forces F1 and F2, the force acting on the carrier 13 in the Y direction can be offset. The carrier 13 can be placed in a desired position, eg, a central position between the first and second side walls 22 and 23 in the Y direction. Then, the frictional resistance generated between the groove roller 43 and the rail portion 28, the frictional resistance generated between the first traveling roller 45 (see FIG. 4) and the rail side portion 34 (see FIG. 3), and the like are reduced. The carrier 13 can be smoothly moved in the movement direction 75 (in this case, the X direction). Further, since the carrier 13 is not attracted to one of the first and second side walls 22 and 23 in the Y direction to travel, the rigidity required for the first and second side walls 22 and 23 can be reduced.

On the other hand, as shown in FIG. 7, the unit fixing portion 11B having the curved second transport path portion 92 has the first curved side wall 121. The first side wall 22 is connected to the first curved side wall 121 and extends continuously from the first transport path portion 91 to the second transport path portion 92. Further, the unit fixing portion 11B has a second curved side wall 123 that faces the first curved side wall 121 with the carrier 13 interposed therebetween. The second curved side wall 123 has discontinuous portions 95 and 96 which are discontinuous in a part thereof. The unit fixing portion 11B has a discontinuous portion 95 which is a part of the second curved side wall 123 at a portion connected to the second side wall 23 of the unit fixing portion 11A. Further, the second curved side wall 123 has a discontinuous portion 96 which is a part of the tip of the unit fixing portion 11B in the moving direction 75, that is, the tip portion of the second transport path portion 92. In the second curved side wall 123, the wall portion 23A, the bottom plate portion 23B, the second magnet 26B (see FIG. 9) of the second curved magnet row 136, and the like are removed between the discontinuous portion 95 and the discontinuous portion 96. ing. Therefore, the second curved magnet row 136 is discontinuous between the discontinuous portions 95 and 96. The discontinuous portion of the present application is a concept including both a discontinuous portion and a discontinuous portion remaining. Further, a plurality of dropout prevention members 101 are arranged between the discontinuous portions 95 and 96 to prevent the carrier 13 from derailing to the outside of the unit fixing portion 11B.

As shown in FIG. 9, in the carrier 13 of the present embodiment, the groove roller 43 is engaged with the rail portion 28A of the first curved side wall 121 between the discontinuous portions 95 and 96 of the second transport path portion 92. On the other hand, it travels in a state where the groove roller 43 is not engaged with the rail portion 28B of the second curved side wall 123. The carrier 13 is in a state in which the rail portion 28B of the second curved side wall 123 and the groove roller 43 are temporarily disengaged. After the groove roller 43 is disengaged from the rail portion 28B of the discontinuous portion 95, the carrier 13 engages the groove roller 43 again with the rail portion 28B of the discontinuous portion 96 at the tip of the second transport path portion 92. In other words, the side walls (first curved side wall 121) facing the discontinuous portions 95 and 96 are continuous, and the carrier 13 of the present embodiment always has at least one of the two opposing rail portions 28A and 28B. It will be guided by the rail portion 28A of the above.

Further, in the traveling rail 30 of the present embodiment, similarly to the rail portion 28, the rail side portion 34B on the second curved side wall 123 side is provided between the discontinuous portion 95 of the unit fixing portion 11B and the discontinuous portion 96. It has been removed. Therefore, the rail side portion 34B is discontinuous between the discontinuous portions 95 and 96. The carrier 13 rotates the first traveling roller 45 in contact with the rail side portion 34A on the first curved side wall 121 side between the discontinuous portions 95 and 96 of the second transport path portion 92. The rail side portion 34B on the side of the curved side wall 123 is traveled in a state where the first traveling roller 45 is not in contact with the rail side portion 34B. In other words, the carrier 13 of the present embodiment is always guided and traveled by at least one rail side portion 34A of the two opposing rail side portions 34A and 34B. The traveling rail 30 of the unit fixing portion 11B may have a configuration in which the rail side portion 34B is discontinuous only between the discontinuous portions 95 and 96, and the rail side portion 34B extends over the entire area of the second transport path portion 92. It may not be configured. Further, only the rail portion 28B may have a discontinuous configuration, and the rail side portion 34B may have a continuous configuration. That is, the rail side portion 34B may be provided in the second transport path portion 92 as well as in the first transport path portion 91. In this case, the traveling rail 30 is configured to include a pair of rail side portions 34A and 34B facing each other over the entire area of the curved second transport path portion 92.

Therefore, in the carrier 13 of the present embodiment, in the curved second transport path portion 92, the groove roller 43 is engaged only with the rail portion 28A arranged inside the second transport path portion 92, and only the rail side portion 34A The first traveling roller 45 is brought into contact with the vehicle to temporarily travel. In the second transport path portion 92, the carrier 13 exerts a magnetic attraction force F3 acting between the first magnet 26A of the first curved magnet row 135 arranged inside the second transport path portion 92 and the winding portion 53. receive. Further, the carrier 13 receives a centrifugal force F4 generated outward when moving while bending through the curved second transport path portion 92. The transport device 10A of the present embodiment is configured so that the magnitude of the magnetic attraction force F3 is equal to or greater than the centrifugal force F4. For example, the conditions that affect the magnetic attraction force F3 and the centrifugal force F4 in the structure of the unit fixing portion 11B are adjusted so that the magnitude of the magnetic attraction force F3 is equal to or larger than the centrifugal force F4. The conditions that affect here are, for example, the magnetic attraction force acting between the unexcited winding portion 53 and the first magnet 26A, the distance between the winding portion 53 and the first magnet 26A, and the first magnet 26A. The magnitude of the magnetic force of. Alternatively, the influencing conditions are the number of turns of the coil 53B (see FIG. 2) of the winding portion 53, the speed of the carrier 13 when traveling on the second transport path portion 92, and the alternating current Iac supplied to the winding portion 53. The current value of.

According to this, by making the magnetic attraction force F3 larger than the centrifugal force F4, the carrier 13 can be attracted to and moved to the inner first curved side wall 121 and the first curved magnet row 135. Then, in the second transport path portion 92 of the curve, the carrier 13 can be run only on the first curved side wall 121. As a result, the distance between the discontinuous portions 95 and 96 of the second transport path portion 92 can be further expanded, that is, the discontinuous portion can be expanded and the amount of members required as the second curved side wall 123 can be further reduced. , The structure of the transport device 10A can be simplified.

In addition, in order to adjust the centrifugal force F4, the management PC 73 may reduce the speed of the carrier 13 before entering the second transport path portion 92 of the curve. As a result, the carrier 13 can be moved at a higher speed in the straight first transport path portion 91, and decelerated in the curved second transport path portion 92 so that the centrifugal force F4 does not become larger than the magnetic attraction force F3. .. Further, the carrier 13 of the present embodiment runs while the first traveling roller 45 is in contact with the traveling rail 30 (see FIG. 7). Therefore, even if the centrifugal force F4 becomes larger than the magnetic attraction force F3, the carrier 13 attaches the first traveling roller 45 to the outer rail side portion 34B (see FIG. 3) in the curve of the second transport path portion 92. The movement to the outside is restricted by contact. The carrier 13 can strike the second transport path portion 92 while rotating the first traveling roller 45 in contact with the rail side portion 34B. Therefore, the magnetic attraction force F3 may be adjusted to a size that takes into account the regulatory force between the rail side portion 34B and the first traveling roller 45. Specifically, the magnetic attraction force F3 may be set to a magnitude equal to or greater than (centrifugal force F4 + regulatory force).

Further, as shown in FIG. 7, the first magnet 26A is arranged as the first curved magnet row 135 of the second transport path portion 92 in succession from the first straight magnet row 131 of the first transport path portion 91. There is. The first magnet 26A is arranged on the inner wall of the first side wall 22 at a predetermined pitch 63 along the moving direction 75 of the carrier 13. In the transfer device 10A of the present embodiment, the pitch 63B of the plurality of first magnets 26A of the first curved magnet row 135 is narrower than the pitch 63A of the plurality of first magnets 26A of the first straight magnet row 131. .. That is, the pitch 63B of the curved transport path is narrower than the pitch 63A of the straight transport path.

Here, in the curved second transport path portion 92, the distance between the winding portion 53 of the carrier 13 and the first curved magnet row 135 may change according to the curvature of the second transport path portion 92. be. For example, when a plurality of rectangular plate-shaped first magnets 26A are arranged on the first side wall 22 along a straight line, the gap between the adjacent first magnets 26A is the base end of the first magnet 26A fixed to the first side wall 22. Both the portion and the tip portion of the first magnet 26A separated from the first side wall 22 have the same size. On the other hand, when a plurality of rectangular plate-shaped first magnets 26A are arranged on the first curved side wall 121 of the curve, the gap between the adjacent first magnets 26A is the base of the first magnet 26A fixed to the first curved side wall 121. It gradually spreads from the end toward the tip of the first magnet 26A separated from the first curved side wall 121. In other words, when viewed from the carrier 13 that moves the second transport path portion 92 of the curve, the tip and winding of each first magnet 26A of the first curve magnet row 135 arranged inside the second transport path portion 92. The distance from the line portion 53 becomes relatively long as the curvature increases. For example, even if the carrier 13 moves in the second transport path portion 92 at the same speed, the period in which the first magnet 26A appears inside the carrier 13 becomes longer. Therefore, by making the pitch 63B of the first curved magnet row 135 in the second transport path portion 92 narrower than the pitch 63A of the first straight magnet row 131 in the first transport path portion 91, the first transport path portion 91 It is possible to suppress the fluctuation of the distance between the first magnet 26A and the winding portion 53 when entering the second transport path portion 92, and to suppress the fluctuation of the propulsive force. The pitch 63A of the first transport path portion 91 and the pitch 63B of the second transport path portion 92 may have the same pitch. Further, the pitch 63B may be larger than the pitch 63A.

Further, in the first magnet 26A of the present embodiment, as shown in FIG. 9, in the second transport path portion 92, the distance between the winding portion 53 of the carrier 13 and the rail portion 28A or the rail side portion 34A is large. As the length becomes shorter, the second transport path portion 92 is offset and arranged at a position moved inward by a distance of 99. When the carrier 13 moves in the second transport path portion 92, the winding portion 53 and the rail portion are subjected to the magnitude of the magnetic attraction force F3, the inclination of the carrier 13 with respect to the moving direction, the curvature of the second transport path portion 92, and the like. The distance between the 28A and the like may be partially shortened, and the distance between the winding portion 53 and each of the first magnets 26A of the first curved magnet row 135 may be shortened. For example, as shown in FIG. 9, the carrier 13 moving in the second transport path portion 92 is attracted to the side wall 121 side of the first curve by the magnetic attraction force F3. Further, a magnetic repulsive force is generated according to the arrangement of the magnetic poles of the first magnet 26A and the winding portion 53, and the carrier 13 is in an inclined state. A part of the carrier 13 approaches the first curved side wall 121 to a position where the inward movement is restricted by the rail portion 28A of the first curved side wall 121 and the rail side portion 34A of the traveling rail 30 (see FIG. 3). As a result, the distance between a part of the winding portion 53 and the rail portion 28A or the like may be shortened, and the distance between the part of the winding portion 53 and the first magnet 26A may be shortened.

Therefore, as shown in FIG. 9, the first magnet 26A is offset to the position moved inward in the second transport path portion 92, that is, the first magnet 26A is offset in the direction away from the winding portion 53. .. For example, a recess is provided in the inner wall of the wall portion 22A of the first curved side wall 121, and the first magnet 26A is arranged at a position recessed by a distance of 99 to be offset. The first magnet 26A arranged at the recessed position and inside the curve is farther from the winding portion 53 than the first magnet 26A arranged flush with the inner wall of the wall portion 22A. As a result, the distance between the winding portion 53 and the first magnet 26A can be kept constant in both the first transport path portion 91 and the curved second transport path portion 92.

Further, as shown in FIG. 9, each second magnet 26B of the second curved magnet row 136 provided in the discontinuous portion 96 is arranged so as to gradually approach the carrier 13. Specifically, the second magnet 26B arranged in the discontinuous portion 96 is arranged so as to gradually approach the carrier 13 from the front to the front in the moving direction 75 (see FIG. 6). When the winding portion 53 of the carrier 13 passes through the discontinuous portion 95 arranged on the front side in the moving direction 75, the magnetic force between the winding portion 53 and the second magnet 26B of the second curved side wall 123 decreases or disappears. Further, when the winding portion 53 moves to a position facing the discontinuous portion 96 arranged at the tip of the moving direction 75, a magnetic force is generated between the winding portion 53 and the second magnet 26B of the second curved side wall 123. Therefore, each second magnet 26B of the second curved magnet row 136 arranged in the discontinuous portion 96 is arranged so as to gradually approach the carrier 13. For example, in the same manner as the above-described method for adjusting the distance 99, a recess whose depth is adjusted is provided on the inner wall of the second curved side wall 123, and the second magnet 26B is arranged in the recess. As a result, when the discontinuous portion 96 is invaded, the magnetic force generated between the winding portion 53 and the second magnet 26B gradually increases, and the magnetic force is smoothly changed to stabilize the carrier 13. It becomes possible to move it.

Next, the configuration of the groove roller 43 of the carrier 13 will be described. As described above, the carrier 13 of the present embodiment includes a groove roller 43, a first traveling roller 45, and a second traveling roller 46 as a regulating unit that regulates the movement of the carrier 13 in a direction different from the moving direction. .. The groove roller 43, the first traveling roller 45, and the second traveling roller 46 regulate the movement of the carrier 13 in the Y direction and the Z direction. As a result, fluctuations in the relative positions of the winding portion 53 and the permanent magnet 26 are suppressed, fluctuations in the direction and magnitude of the propulsive force are suppressed, and the carrier 13 is more stably moved to the desired movement direction 75. Can be moved.

Further, the groove roller 43 of the carrier 13 is arranged according to the curvature of the second transport path portion 92. FIG. 10 schematically shows the arrangement of the groove rollers 43, and the difference in the distances of the groove rollers 43 is increased so that the positional relationship is clear. In the actual arrangement of the groove rollers 43, a fine distance may be adjusted according to the curvature of the second transport path portion 92. In the following description, of the six groove rollers 43, each of the pair of groove rollers 43 arranged on the front side and the rear side in the moving direction 75 will be referred to as a first rotating body 43A. Further, among the six groove rollers 43, the groove rollers 43 arranged between the pair of the first rotating bodies 43A in the moving direction 75 will be referred to as the second rotating body 43B.

The first rotating body 43A is linearly arranged along the front-rear direction of the carrier 13 so as to come into contact with the rail portion 28 in the straight first transport path portion 91. When the carrier 13 is arranged in the first transport path portion 91, the first rotating body 43A arranged in the front and the first rotating body 43A arranged in the rear are arranged, for example, along the X direction in FIG. Will be done. The first rotating body 43A is arranged along the rail portion 28A of the first side wall 22 and the rail portion 28B of the second side wall 23 in the first transport path portion 91, so that the rail portion 28 in the first transport path portion 91 Contact and rotate.

On the other hand, the second rotating body 43B is arranged at a position slightly inside in the Y direction with respect to the position of the pair of first rotating bodies 43A, for example. As shown in FIG. 10, the position of the second rotating body 43B corresponds to the curvature of the rail portion 28A of the first curved side wall 121 of the second transport path portion 92 and the rail side portion 34A on the first curved side wall 121 side. It is a position. In other words, the second rotating body 43B is offset inward with respect to the other first rotating body 43A by the amount that the rail portion 28A and the like are bent and protrude. In the second transport path portion 92, the second rotating body 43B, which is inside the curve, rotates in contact with the rail portion 28A of the first curved side wall 121. Further, in the second transport path portion 92, the second rotating body 43B, which is outside the curve, does not contact the rail portion 28B, or contacts and rotates according to the inclination of the carrier 13. According to this, for example, in the first transport path portion 91, the first rotating body 43A is engaged with the rail portion 28 (both of the rail portions 28A and 28B), and in the second transport path portion 92, the second rotating body is engaged. The carrier 13 can be driven by engaging one of the 43B and the pair of first rotating bodies 43A with the rail portion 28A of the first curved side wall 121. Therefore, a plurality of groove rollers 43 can always be engaged with the rail portion 28 to stabilize the traveling of the carrier 13.

Further, as shown in FIG. 10, the carrier 13 of the present embodiment has a contrasting configuration in the Y direction. The groove roller 43 is arranged at a position contrasting in the Y direction with respect to a straight line along the X direction passing through the center 97 (see FIG. 9) of the carrier 13 in the Y direction. Therefore, the vehicle can travel in the same manner not only in the counterclockwise direction as shown in FIG. 6 in the moving direction 75, that is, in the left turn, but also in the right turn in the direction opposite to the moving direction 75. When the carrier 13 moves to the right turn, contrary to the left turn shown in FIG. 9, the carrier 13 travels by bringing the groove roller 43 on the opposite side in the Y direction into contact with the rail portion 28 (the rail portion 28B of the right turn). Will be done.

Further, the position of the second rotating body 43B does not have to be fixed at a position offset inward in the Y direction. For example, as shown in FIG. 11, the second rotating body 43B may be configured to be movable in the Y direction. As a result, the second rotating body 43B comes into contact with the rail portion 28A of the first curved side wall 121, moves to a position offset to the outside of the curve, that is, to a position inside the carrier 13 in the Y direction, and rotates. In this case, the second rotating body 43B can change its position and rotate according to the fluctuation of the curvature of the rail portion 28A. Therefore, the position can be changed and rotated according to curves of various curvatures. The number of groove rollers 43 provided on the carrier 13 is not particularly limited. For example, as shown in FIG. 12, the carrier 13 may be configured not to include the second rotating body 43B but to include only the first rotating body 43A.

(About the configuration of the transport device 10B having a branch point)
Next, the transport device 10B having the branch point shown in FIG. 8 will be described. In the following description, the same components as those of the transport device 10A having the second transport path portion 92 of the curve described above are designated by the same reference numerals, and the description thereof will be omitted as appropriate. As shown in FIG. 8, the unit fixing portion 11 of the transport device 10B includes a unit fixing portion 11A having a first transport path portion 91 and a unit fixing portion 11C having a second transport path section 92 and a branch path 93. ing. The unit fixing portion 11A includes a first side wall 22 and a second side wall 23 along the X direction. Similar to the unit fixing portion 11A shown in FIG. 9, the unit fixing portion 11A has a configuration that cancels out the magnetic force (magnetic attraction force F1, F2, etc.) generated between the permanent magnet 26 and the winding portion 53. There is.

The unit fixing portion 11C having the curved second transport path portion 92 has a first curved side wall 121 connected to the first side wall 22 of the unit fixing portion 11A. Further, the unit fixing portion 11C has a second branch side wall 126 at a position opposite to the first curved side wall 121 with a branch portion in between. The second branch side wall 126 is connected to the second side wall 23 of the first transport path portion 91. The second side wall 23 and the second branch side wall 126 extend linearly along the X direction from the first transport path portion 91 to the branch path 93. Further, between the second branch side wall 126 and the first curved side wall 121, the wall portion 23A and the bottom plate portion 23B for partitioning the first transport path portion 91 and the branch path 93 are not provided. Therefore, the second transport path portion 92 has a portion having only the first curved side wall 121 inside the curved transport path and not having the second curved side wall 123 (wall portion 23A or the like) on the outside. Further, the branch path 93 has a first branch side wall 125 (see FIG. 13) at a position opposite to the second branch side wall 126 in the Y direction. The first branch side wall 125 is discontinuous with the first curved side wall 121 and the second curved side wall 123. The portion without the wall portion 23A or the like is a portion that hinders the movement of the carrier 13 that moves from the first transport path portion 91 to the branch path 93, or a side wall of the second curve in the movement of the second transport path portion 92 of the curve described above. This is the part that does not require 123. At the branching portion, the second curved side wall 123 has a discontinuity portion 96 having a part thereof discontinuous. Further, in the branching portion, the first branch side wall 125 has a discontinuous portion 113 (see FIG. 13) having a part thereof discontinuous.

The first transport path portion 91, the branch path 93, and the second transport path portion 92 are branched in three directions at the branch point 111. Therefore, the second transport path portion 92 of the curve of the present embodiment is one transport path included in the two branch paths branching from the first transport path portion 91. Further, the traveling rail 30 of the unit fixing portion 11C is branched at a branch point 111 so as to connect the first transport path portion 91, the branch path 93, and the second transport path portion 92. The coil holding portion 33 provided on the bottom plate portion 23B of the second side wall 23 and the second branch side wall 126 extends along the X direction and is arranged across the first transport path portion 91 and the branch path 93. Has been done. Further, the coil holding portion 33 provided on the bottom plate portion 22B of the first side wall 22 and the first curved side wall 121 bends along the curved second transport path portion 92, and the first transport path portion 91 and the second transport path It is arranged so as to straddle the portion 92.

FIG. 13 schematically shows the transport device 10B. As shown in FIGS. 8 and 13, the second curved side wall 123 of the unit fixing portion 11C has a discontinuous portion formed around the branch point 111. The unit fixing portion 11C has a discontinuous portion 96 formed by eliminating a portion of the second side wall 23 or the second branch side wall 126 near the branch point 111 and a portion connecting the second curved side wall 123. The discontinuous portion 96 is provided in the second transport path portion 92 on the front side in the moving direction 75 (see FIG. 6). The second curved side wall 123 facing the first curved side wall 121 is not provided in the discontinuous portion on the branch point 111 side from the discontinuous portion 96. In the second curved side wall 123, the wall portion 23A, the bottom plate portion 23B, the second magnet 26B of the second curved magnet row 136, and the like are removed at the discontinuous portion. Similar to the second curved magnet row 136 of the discontinuous portion 96 of the unit fixing portion 11B shown in FIG. 9, the second curved magnet row 136 of the discontinuous portion 96 gradually increases from the front to the front in the moving direction 75. It is arranged so as to approach the carrier 13.

Further, the first branch side wall 125 of the unit fixing portion 11C has a discontinuous portion formed around the branch point 111. The unit fixing portion 11C has a discontinuous portion 113 formed by eliminating a portion of the first side wall 22 or the first curved side wall 121 near the branch point 111 and a portion connecting the first branch side wall 125. The discontinuous portion 113 is provided on the branch road 93 on the front side in the moving direction 75. The first branch side wall 125 facing the second branch side wall 126 is not provided in the discontinuous portion on the branch point 111 side from the discontinuity portion 113. In the first branch side wall 125, the wall portion 22A, the bottom plate portion 22B, the first magnet 26A of the first branch magnet row 138, and the like are removed in the discontinuous portion. The first branch magnet row 138 of the discontinuity 113 is arranged so as to gradually approach the carrier 13 from the front to the front of the moving direction 75, similarly to the second curved magnet row 136 of the discontinuity 96. There is. As a result, when the branch path 93 is moved and enters the discontinuous portion 113, the magnetic force generated between the winding portion 53 and the first magnet 26A gradually increases, and the magnetic force is smoothly changed. This makes it possible to move the carrier 13 in a stable manner.

Therefore, the discontinuous portions 96 and 113 of the present embodiment are provided at portions that branch into two branch paths (second transport path portion 92 and branch path 93). According to this, by providing the discontinuous portions 96 and 113 at the branching portion, it is possible to eliminate a part of the second curved side wall 123 and the first branch side wall 125 which may hinder the movement of the carrier 13. .. Then, the carrier 13 can be smoothly moved to the second transport path portion 92 and the branch path 93. When traveling on the discontinuous portion of the second curved side wall 123, the carrier 13 can be traveled by generating a propulsive force by the first curved magnet row 135 of the first curved side wall 121. Further, when traveling on the discontinuous portion of the first branch side wall 125, the carrier 13 can be traveled by generating a propulsive force by the second branch magnet row 139 of the second branch side wall 126.

The transport device 10B of the present embodiment has induction magnets 115 and 116 at a connecting portion between the unit fixing portion 11A and the unit fixing portion 11C. The guide magnets 115 and 116 are magnets for guiding the carrier 13 to the second transport path portion 92 or the branch path 93. The induction magnet 115 is provided above the wall portion 22A of the first side wall 22 and the first curved side wall 121. The induction magnet 115 is an inner wall of the wall portion 22A and is provided above the first magnet 26A. The induction magnet 115 is provided at a position facing the induction winding portion 55 (see FIG. 4) of the carrier 13 in the Y direction. A plurality of induction magnets 115 are provided at a connecting portion between the wall portion 22A of the first side wall 22 and the wall portion 22A of the first curved side wall 121, and a plurality of induction magnets 115 are provided from the first side wall 22 to the first curved side wall 121 at a predetermined pitch. Has been done.

The induction magnet 116 is provided above the wall portion 23A of the second side wall 23 and the second branch side wall 126. The induction magnet 116 is an inner wall of the wall portion 23A and is provided above the second magnet 26B. The induction magnet 116 is provided at a position facing the induction winding portion 55 (see FIG. 4) of the carrier 13 in the Y direction. A plurality of induction magnets 116 are provided at a connecting portion between the wall portion 23A of the second side wall 23 and the wall portion 23A of the second branch side wall 126, and a plurality of guide magnets 116 are provided from the second side wall 23 to the second branch side wall 126 at a predetermined pitch. Has been done.

The arrangement of the induction magnets 115 and 116 described above is an example. For example, the induction magnet 115 may be provided below the first magnet 26A. In this case, the induction winding portion 55 on the induction magnet 115 side (first side wall 22 side) of the carrier 13 may be provided downward in the Z direction in accordance with the position of the induction magnet 115.

The induction magnets 115 and 116 are, for example, rectangular plate-shaped permanent magnets long in the X direction. The induction magnets 115 and 116 are a plurality of magnets having the same polarity. The polarities of the induction magnets 115 and 116 are, for example, the S pole. The carrier 13A shown in FIG. 13 shows the carrier 13 guided to the second transport path portion 92 by the guide magnets 115 and 116 and the guide winding portion 55. Further, the carrier 13B shown in FIG. 13 shows the carrier 13 guided to the branch road 93.

For example, when moving to the second transport path portion 92, the power receiving board 50 (see FIG. 5) changes the polarity of the induction winding portion 55 based on the control of the management PC 73. The drive current Iac2 is changed by the induction winding portion 55 to generate an N pole on the left side and an S pole on the right side in FIG. 13 as shown in FIG. 13 (see carrier 13A). The induction winding portion 55 faces the induction magnet 115 with the opposite polarity (N pole), and generates a magnetic attraction force with the induction magnet 115. Further, the induction winding portion 55 has the same polarity (S pole) facing the induction magnet 116, and generates a magnetic repulsive force with the induction magnet 116. As a result, the carrier 13 is subjected to an external force that is pressed against the first side wall 22 and the first curved side wall 121 side in the transport path sandwiched between the guide magnets 115 and 116, that is, an external force that guides the carrier 13 to the second transport path portion 92. NS. The carrier 13 enters the second transport path portion 92 by applying an external force guided to the second transport path portion 92 while receiving the propulsive force of the winding portion 53 and the permanent magnet 26.

Further, when moving to the branch path 93, the power receiving board 50 changes the polarity of the induction winding portion 55 to the opposite polarity based on the control of the management PC 73. The induction winding portion 55 generates an S pole on the left side and an N pole on the right side in FIG. 13 (see carrier 13B). The induction winding portion 55 generates a magnetic repulsive force with the induction magnet 115. Further, the induction winding portion 55 generates a magnetic attraction force with the induction magnet 116. As a result, the carrier 13 is subjected to an external force that is pressed against the second side wall 23 and the second branch side wall 126 side in the transport path sandwiched between the guide magnets 115 and 116, that is, an external force that guides the carrier 13 to the branch path 93. The carrier 13 enters the branch path 93 by applying an external force guided to the branch path 93 while receiving the propulsive force of the winding portion 53 and the permanent magnet 26. In this way, the carrier 13 can be moved to the second transport path portion 92 or the branch path 93 by the magnetic force generated between the inductive magnets 115 and 116 and the inductive winding portion 55.

Further, as shown in FIGS. 8 and 13, the guide magnets 115 and 116 of the present embodiment are directed toward the portion that branches from the front side that branches into the second transport path portion 92 and the branch path 93 in the moving direction 75 of the carrier 13. Multiple are arranged. The induction magnet 115 is arranged from the front side of the connecting portion between the first side wall 22 and the first curved side wall 121 to the second transport path portion 92. The induction magnets 116 are arranged from the front of the connecting portion between the second side wall 23 and the second branch side wall 126 to the branch path 93. According to this, it is possible to change the moving direction 75 of the carrier 13 in advance toward the second transport path portion 92 or the branch path 93 before entering the branch portion. As a result, the moving direction of the carrier 13 can be changed to a desired direction more reliably.

Incidentally, in the above embodiment, the permanent magnet 26 is an example of a magnet. The rail portion 28 and the rail side portion 34 are examples of guides and curved guides. The groove roller 43, the first traveling roller 45, and the second traveling roller 46 are examples of rotating bodies. The first transport path portion 91 is an example of a straight transport path. The second transport path portion 92 is an example of a curved transport path. The first straight magnet row 131 is an example of the first magnet row. The second straight magnet row 132 is an example of the second magnet row. The first curved magnet row 135 is an example of the third magnet row. The second curved magnet row 136 is an example of the fourth magnet row.

The transport device 10A of the present embodiment has a transport path 90 and a winding portion 53 that generates a propulsive force by utilizing the magnetic force generated by the permanent magnet 26, and moves the transport path 90 in the moving direction 75 by the propulsive force. A carrier 13 for transporting the article 79 is provided. The transport path 90 has a first transport path portion 91 and a second transport path portion 92. The first transport path portion 91 is arranged on the side of the carrier 13, and sandwiches the carrier 13 with the first linear magnet row 131 in which a plurality of first magnets 26A are linearly arranged along the moving direction 75. Has a second linear magnet row 132, which is arranged on the other side of the carrier 13 and in which a plurality of second magnets 26B are linearly arranged along the moving direction 75. The second transport path portion 92 is arranged on the side of the carrier 13, and sandwiches the carrier 13 with the first curved magnet row 135 in which a plurality of first magnets 26A are arranged in a curved line along the moving direction 75. In the second curved magnet row 136, which is a plurality of second magnets 26B arranged on the other side of the carrier 13 and arranged along the moving direction 75, at least a part of the second curved magnet row 136 is discontinuous. It has a discontinuous portion 96 and the like.

According to this, the first transport path portion 91, which is a straight transport path, has a first straight magnet row 131 and a second straight magnet row arranged on both sides in the Y direction (an example of the side) with respect to the carrier 13. It has 132. Further, in the second transport path portion 92 which is a curved transport path, the first curved magnet row 135 is arranged on one side in the Y direction with respect to the carrier 13. A propulsive force is generated in the winding portion 53 by utilizing the magnetic force generated by the first curved magnet row 135, and the carrier 13 can be moved along the second transport path portion 92 of the curve. The second transport path portion 92 has a discontinuous portion 96 in the second curved magnet row 136 arranged on the side opposite to the first curved magnet row 135 with the carrier 13 in between. By discontinuing at least a part of the second curved magnet row 136, the discontinuous portion 96 discontinues the number of the second magnets 26B of the second curved magnet row 136 provided in the second transport path portion 92 and the second magnet 26B. The amount of the second curved side wall 123 that holds the above can be reduced. As a result, it is possible to reduce the number of members of the curved transport path and, by extension, reduce the cost.

Further, in the transport device of the conventional document, it is necessary to make the carrier structure asymmetrical according to the shape of the curved transport path, for example, the structure asymmetrical in the Y direction in the present embodiment. On the other hand, in the transport device 10 of the present embodiment, the structure of the carrier 13 can be a target structure in the Y direction. Further, by changing the bending direction of the second transport path portion 92, the carrier 13 can be bent to the left or right with respect to the moving direction 75.

The present application is not limited to the above-described embodiment, and can be implemented in various embodiments with various modifications and improvements based on the knowledge of those skilled in the art.
For example, in the above embodiment, as shown in FIG. 9, discontinuities 95 and 96 are provided on the second curved side wall 123 arranged outside the second curved side wall 92, but the inner first curved side wall Discontinuous portions 95 and 96 may be provided in 121. FIG. 14 shows a transport device 10A in which discontinuous portions 95 and 96 are provided on the first curved side wall 121 inside the second transport path portion 92. Even with such a configuration, various effects similar to those of the above-described embodiment can be obtained. Specifically, for example, the carrier 13 can travel on the discontinuous portion of the second transport path portion 92 only by the second curved side wall 123 provided on one side of the carrier 13. In this case, the second curved side wall 123 is subjected to a combined force of the magnetic attraction force F3 and the centrifugal force F4. Therefore, the rigidity of the second curved side wall 123 may be higher than that of the first curved side wall 121 of FIG. In other words, when the discontinuous portions 95 and 96 are provided on the outer side shown in FIG. 9, the rigidity required for the first curved side wall 121 is smaller than the rigidity required for the second curved side wall 123 in FIG. can.

Further, in the transport device 10A shown in FIG. 14, unlike the transport device 10 shown in FIG. 9, the gap between the adjacent second magnets 26B of the second curved magnet row 136 arranged outside the curve is larger than that of the straight portion. There is a risk that it will become narrower. Therefore, the pitch 63B of the second curved magnet row 136 may be wider than the pitch 63A of the second straight magnet row 132. Further, for example, when the carrier 13 may travel closer to the side wall surface 123 of the second curve, the second magnet 26B of the second curve magnet row 136 is moved from the carrier 13 in the same manner as the distance 99 shown in FIG. It may be provided at an offset position away from each other.

Further, as shown in FIG. 15, the transport device 10B having the branch point 111 has a configuration in which the first and second side walls 22 and 23 (rail portions 28A and 28B) have a longer distance 119 between them in the Y direction. You can do it. As shown in FIG. 15, the unit fixing portions 11A and 11C increase the distance 119 before and after the transport path 90 (see FIG. 6) including the branch point 111 to increase the width of the first transport path section 91 and the branch path 93. It has an expanded structure. Note that FIG. 15 emphasizes the difference in distance 119 in order to make it easier to understand the spread of the first transport path portion 91 and the branch path 93. In the above embodiment, the carrier 13 is in contact with the first traveling roller 45 (see FIG. 4) and the traveling rail 30 (see FIG. 3), and is restricted from moving in the Y direction. On the other hand, in the case shown in FIG. 15, for example, the width of the rail bottom portion 32 in the Y direction is widened, and the carrier 13 is movable in the Y direction between the first traveling roller 45 and the rail side portion 34 of the traveling rail 30. A gap may be provided so that it can be provided. In this case, the distance 119 can be adjusted within the movable range of the carrier 13 in the Y direction. Further, the induction magnets 115 and 116 shown in FIG. 15 are arranged in the moving direction 75 from the widened portion of the distance 119 toward the branch path 93 and the like along the X direction. The guide magnets 115 and 116 may be provided only in front of the connecting portion between the first side wall 22 and the first curved side wall 121, that is, in front of the branch point 111.

For example, when the carrier 13 is moved to the second transport path portion 92, the induction winding portion 55 generates an N pole on the left side and an S pole on the right side in FIG. 15 (see carrier 13A). The carrier 13 has a first side wall in a portion where the width of the first transport path portion 91 is widened by the magnetic attraction force of the induction winding portion 55 and the induction magnet 115 and the magnetic repulsion force of the induction winding portion 55 and the induction magnet 116. Move to the 22 side. The carrier 13 enters the second transport path portion 92 while approaching the first side wall 22 side. In FIG. 15, the rail portion 28B of the second side wall 23 and the groove roller 43 are separated from each other, but the rail portion 28B of the second side wall 23 and the groove roller 43 may be engaged with each other.

Similarly, when the carrier 13 is moved to the branch path 93, the induction winding portion 55 generates an S pole on the left side and an N pole on the right side in FIG. 15 (see carrier 13B). The carrier 13 has a second side wall at a portion where the width of the first transport path portion 91 is widened by the magnetic repulsive force of the induction winding portion 55 and the induction magnet 115 and the magnetic attraction force of the induction winding portion 55 and the induction magnet 116. Move to the 23 side. The carrier 13 enters the branch road 93 while approaching the second side wall 23 side. In this way, the carrier 13 can be brought closer to the first side wall 22 (rail portion 28A) or the second side wall 23 (rail portion 28B) and moved to the second transport path portion 92 or the branch path 93. Therefore, by utilizing the magnetic forces of the inductive magnets 115 and 116 and the inductive winding portion 55, the carrier 13 is moved to the first side wall 22 or the second side wall 23 before entering the branch point 111, thereby carrying the second carrier. The carrier 13 can be easily moved to the road portion 92 or the branch road 93.

Further, in the above embodiment, the carrier 13 may be configured to include at least one of a groove roller 43, a first traveling roller 45, and a second traveling roller 46. For example, the transport device 10 may be configured to include only one of the rail portion 28 and the traveling rail 30 as a guide for restricting the movement of the carrier 13 in the Y direction. For example, the carrier 13 may be configured to include only the first traveling roller 45 without the groove roller 43 and the second traveling roller 46. Further, the unit fixing portion 11 may be configured not to include the rail portion 28 but to include only the traveling rail 30. Further, for example, if the carrier 13 can be supported only by the groove roller 43 by deepening the groove of the groove roller 43 and deeply inserting the rail portion 28 into the groove roller 43, the carrier 13 may be configured to include only the groove roller 43. good.
Further, the groove roller 43 may be a roller having no groove. Further, the first traveling roller 45 and the second traveling roller 46 may be rollers having a groove. In this case, the traveling rail 30 may be provided with a rail that engages with the first traveling roller 45 or the like.
Further, in the straight first transport path portion 91, the unit fixing portion 11A may be configured to include only the first side wall 22.
Further, the first transport path portion 91 is not limited to a straight transport path, but may be a curved transport path. The second transport path portion 92 is not limited to the curved transport path, but may be a straight transport path. For example, the transport path 90 may include a transport path in which a part of the straight path is bent at a predetermined angle (bent in a dogleg shape or the like), or may include a branch path branched into a Y shape.
Further, the unit fixing portion 11 may be configured not to include the induction magnets 115 and 116. In this case, the carrier 13 does not have to include the induction winding portion 55.

Further, in the above embodiment, a part of the second curved side wall 123 is discontinuous, and the discontinuous portion 96 is provided. On the other hand, the transport device 10A may have a configuration in which all of the second curved side wall 123s are eliminated. In this case, the portion where the second curved side wall 123 is completely eliminated corresponds to the discontinuous portion of the present application.
Similarly, in the above embodiment, a part of the first branch side wall 125 is discontinuous, and the discontinuous portion 113 is provided. On the other hand, the transport device 10B may have a configuration in which all of the first branch side walls 125 are eliminated. In this case, the portion where the first branch side wall 125 is completely eliminated corresponds to the discontinuous portion of the present application.
Further, the first magnet 26A of the first curved magnet row 135 does not have to be arranged at a position offset by a distance of 99.
Further, each second magnet 26B of the second curved magnet row 136 provided in the discontinuous portion 96 and each first magnet 26A of the first branch magnet row 138 provided on the first branch side wall 125 are gradually attached to the carrier 13. It is not necessary to arrange them so that they are close to each other.
Further, the transport devices 10A and 10B may have a configuration in which the magnetic attraction force F1 and the magnetic attraction force F2 are not balanced.
Further, in the above embodiment, the management PC 73 controls the carrier, but the present invention is not limited to this. For example, the control board 25 of the transfer device 10 may control the carrier 13 on its own transfer device 10 (unit fixing unit 11). Alternatively, the carriers 13 may communicate with each other and the carriers 13 themselves may operate autonomously.

(Additional Note) Further, although the embodiment in which the transport device and the transport path according to the present application are embodied has been described above, the transport device and the transport path can also have the following configurations, and in that case, the following effects are obtained. Play.
For example, the first configuration is as follows.
(Appendix 1) The transport path has a branch point that branches into a plurality of branch paths, the curved transport path is included in the plurality of branch paths, and the discontinuous portion branches into the plurality of branch paths. Conveyor device provided in the part to be used. According to this, by providing the discontinuous portion in the branch portion, it is possible to eliminate the member which may hinder the movement of the carrier. This makes it possible to move the carrier to a curved transport path or another branch path.

The second configuration is as follows.
(Appendix 2) The transport path has an induction magnet that guides the carrier to any of the plurality of branch paths, and the carrier generates a magnetic force between the carrier and the guide magnet of the transport path. The transport device according to Appendix 1, further comprising an induction coil that changes the moving direction in a direction of entering any of the plurality of branch paths. According to this, the carrier can be moved to a curved transport path or another branch path by the magnetic force generated between the induction magnet and the induction coil.

The third configuration is as follows.
(Supplementary note 3) The transport device according to Supplementary note 2, wherein a plurality of the induction magnets are arranged from before branching to the plurality of branch paths in the moving direction toward a branching portion. According to this, it is possible to change the moving direction of the carrier toward any of a plurality of branch paths before entering the branch point.

The fourth configuration is as follows.
(Appendix 4) The linear transport path has a first guide in which the first magnet row is arranged and a second guide in which the second magnet row is arranged, and the first guide and the second guide are arranged. The transport device according to Appendix 1 to 3, wherein the guides are arranged in front of the branch point with a long distance between them. According to this, the distance between the first guide and the second guide increases before the branch point. As a result, the magnetic force of the induction magnet and the induction coil is used to move the carrier to either of the plurality of branch paths by moving the carrier to the first guide or the second guide before entering the branch point. It can be made easy.

The fifth configuration is as follows.
(Appendix 5) The curved transport path has a curved guide that regulates the movement of the carrier toward the third magnet row side, and the curved guide includes a first guide portion (rail portion 28A) and a second guide. The first guide portion has a portion (rail side portion 34A), and the first guide portion is arranged at a position opposite to the second guide portion with the third magnet row in between, and the carrier is the first. When a magnetic force is generated between the three magnet trains and the coil, it is supported by the first guide portion and the second guide portion arranged with the position where the magnetic force is generated sandwiched between them. Conveyor device. According to this, the carrier can be supported at a plurality of places by the first guide portion and the second guide portion provided with the position where the magnetic force is generated sandwiched between them, and the inclination of the carrier can be suppressed. Further, if a discontinuous portion is provided and the carrier is supported only by the curved guide on one side, the carrier can be supported more stably against the magnetic force.

10 Conveyor, 13 Carrier, 26 Permanent magnet, 28 Rail part (guide, curve guide), 34 Rail side part (guide, curve guide), 43 Groove roller (regulation part), 43A 1st rotating body, 43B 2nd rotation Body, 45 1st traveling roller (regulatory part), 46 2nd traveling roller (regulatory part), 53 winding part (coil), 63 pitch, 75 moving direction, 79 articles, 90 transport path, 91 1st transport path section (Straight transport path), 92 Second transport path (curve transport path), 95, 96, 113 Discontinuity, 131 First straight magnet row (first magnet row), 132 Second straight magnet row (second magnet) Row), 135 1st curved magnet row (3rd magnet row), 136 2nd curved magnet row (4th magnet row), F1 to F3 magnetic attraction force, F4 centrifugal force.

Claims (10)

Transport path and
A carrier that has a coil that generates a propulsive force by utilizing the magnetic force generated by a magnet, moves in the moving direction by the propulsive force, and conveys an article.
It is a transport device equipped with
The transport path has a straight transport path and a curved transport path.
The straight transport path is
A first magnet row arranged on the side of the carrier and in which a plurality of the magnets are linearly arranged along the moving direction,
A second magnet row arranged on the other side of the carrier with the carrier in between, and a plurality of the magnets linearly arranged along the moving direction.
Have,
The curved transport path is
A third magnet row arranged on the side of the carrier and having a plurality of the magnets arranged in a curved line along the moving direction.
In the fourth magnet row, which is a plurality of the magnets arranged on the other side of the carrier with the carrier in between and arranged along the moving direction, at least a part of the fourth magnet row is not included. Discontinuous part to be continuous and
A curved guide having a first guide portion and a second guide portion and restricting the movement of the carrier toward the third magnet row side.
Have,
The first guide unit is
It is arranged at a position opposite to the second guide portion with the third magnet row sandwiched between them.
The carrier
When a magnetic force is generated between the third magnet row and the coil, it is supported by the first guide portion and the second guide portion arranged with the position where the magnetic force is generated sandwiched between them. Transport device. Transport path and
A carrier that has a coil that generates a propulsive force by utilizing the magnetic force generated by a magnet, moves in the moving direction by the propulsive force, and conveys an article.
It is a transport device equipped with
The transport path has a straight transport path and a curved transport path.
The straight transport path is
A first magnet row arranged on the side of the carrier and in which a plurality of the magnets are linearly arranged along the moving direction,
A second magnet row arranged on the other side of the carrier with the carrier in between, and a plurality of the magnets linearly arranged along the moving direction.
Have,
The curved transport path is
A third magnet row arranged on the side of the carrier and having a plurality of the magnets arranged in a curved line along the moving direction.
In the fourth magnet row, which is a plurality of the magnets arranged on the other side of the carrier with the carrier in between and arranged along the moving direction, at least a part of the fourth magnet row is not included. Discontinuous part to be continuous and
Have,
The third magnet row is
Provided inside the curved transport path
In the curved transport path, the magnitude of the magnetic attraction generated between the magnet and the coil in the third magnet row is the magnitude of the centrifugal force generated in the carrier toward the outside in the curved transport path. That's all,
The curved transport path is
It has a curve guide that regulates the movement of the carrier toward the third magnet row.
The third magnet row is
In the curved transport path, the transport device is offset to a position moved inward in the curved transport path as the distance between the coil of the carrier and the curved guide becomes shorter. .. The plurality of magnets in the first magnet row and the plurality of magnets in the third magnet row are
Arranged at predetermined intervals along the moving direction, the pitches of the plurality of magnets in the third magnet row in the curved transport path are the pitches of the plurality of magnets in the first magnet row in the linear transport path. The transport device according to claim 2, which is narrower than the above. Transport path and
A carrier that has a coil that generates a propulsive force by utilizing the magnetic force generated by a magnet, moves in the moving direction by the propulsive force, and conveys an article.
It is a transport device equipped with
The transport path has a straight transport path and a curved transport path.
The straight transport path is
A first magnet row arranged on the side of the carrier and in which a plurality of the magnets are linearly arranged along the moving direction,
A second magnet row arranged on the other side of the carrier with the carrier in between, and a plurality of the magnets linearly arranged along the moving direction.
Have,
The curved transport path is
A third magnet row arranged on the side of the carrier and having a plurality of the magnets arranged in a curved line along the moving direction.
In the fourth magnet row, which is a plurality of the magnets arranged on the other side of the carrier with the carrier in between and arranged along the moving direction, at least a part of the fourth magnet row is not included. Discontinuous part to be continuous and
Have,
The fourth magnet row is
A transport device in which a plurality of the magnets arranged in the discontinuous portion are arranged so as to gradually approach the carrier as the magnets are arranged from the front side in the moving direction to the front side. The carrier
The transport device according to any one of claims 1 to 4 , further comprising a regulating unit that regulates the movement of the carrier in a direction different from the moving direction. The transport path is
It has a guide that regulates the movement of the carrier in contact with the regulation unit.
The regulatory department
It has a plurality of rotating bodies that rotate in contact with the guide of the transport path, and has a plurality of rotating bodies.
The plurality of rotating bodies
A first rotating body that is arranged along the straight transport path and rotates in contact with the guide in the straight transport path.
A second rotating body that is arranged according to the curvature of the curved transport path and rotates in contact with the guide in the curved transport path.
The transport device according to claim 5. In the linear transport path, the magnetic attraction force generated between the magnet and the coil in the first magnet row is balanced with the magnetic attraction force generated between the magnet and the coil in the second magnet row. , The transport device according to any one of claims 1 to 6. A carrier that has a coil that generates a propulsive force by utilizing the magnetic force generated by a magnet, moves in the moving direction by the propulsive force, and transports an article is a traveling transport path.
Straight transport path and
Curved transport path and
Have,
The straight transport path is
A first magnet row arranged on the side of the carrier and in which a plurality of the magnets are linearly arranged along the moving direction,
A second magnet row arranged on the other side of the carrier with the carrier in between, and a plurality of the magnets linearly arranged along the moving direction.
Have,
The curved transport path is
A third magnet row arranged on the side of the carrier and having a plurality of the magnets arranged in a curved line along the moving direction.
In the fourth magnet row, which is a plurality of the magnets arranged on the other side of the carrier with the carrier in between and arranged along the moving direction, at least a part of the fourth magnet row is not included. Discontinuous part to be continuous and
A curved guide having a first guide portion and a second guide portion and restricting the movement of the carrier toward the third magnet row side.
Have,
The first guide unit is
It is arranged at a position opposite to the second guide portion with the third magnet row sandwiched between them.
The carrier
When a magnetic force is generated between the third magnet row and the coil, it is supported by the first guide portion and the second guide portion arranged with the position where the magnetic force is generated sandwiched between them. The transport path. A carrier that has a coil that generates a propulsive force by utilizing the magnetic force generated by a magnet, moves in the moving direction by the propulsive force, and transports an article is a traveling transport path.
Straight transport path and
Curved transport path and
Have,
The straight transport path is
A first magnet row arranged on the side of the carrier and in which a plurality of the magnets are linearly arranged along the moving direction,
A second magnet row arranged on the other side of the carrier with the carrier in between, and a plurality of the magnets linearly arranged along the moving direction.
Have,
The curved transport path is
A third magnet row arranged on the side of the carrier and having a plurality of the magnets arranged in a curved line along the moving direction.
In the fourth magnet row, which is a plurality of the magnets arranged on the other side of the carrier with the carrier in between and arranged along the moving direction, at least a part of the fourth magnet row is not included. Discontinuous part to be continuous and
Have,
The third magnet row is
Provided inside the curved transport path
In the curved transport path, the magnitude of the magnetic attraction generated between the magnet and the coil in the third magnet row is the magnitude of the centrifugal force generated in the carrier toward the outside in the curved transport path. That's all,
The curved transport path is
It has a curve guide that regulates the movement of the carrier toward the third magnet row.
The third magnet row is
In the curved transport path, the transport path is offset to a position moved inward in the curved transport path as the distance between the coil of the carrier and the curved guide becomes shorter. .. A carrier that has a coil that generates a propulsive force by utilizing the magnetic force generated by a magnet, moves in the moving direction by the propulsive force, and transports an article is a traveling transport path.
Straight transport path and
Curved transport path and
Have,
The straight transport path is
A first magnet row arranged on the side of the carrier and in which a plurality of the magnets are linearly arranged along the moving direction,
A second magnet row arranged on the other side of the carrier with the carrier in between, and a plurality of the magnets linearly arranged along the moving direction.
Have,
The curved transport path is
A third magnet row arranged on the side of the carrier and having a plurality of the magnets arranged in a curved line along the moving direction.
In the fourth magnet row, which is a plurality of the magnets arranged on the other side of the carrier with the carrier in between and arranged along the moving direction, at least a part of the fourth magnet row is not included. Discontinuous part to be continuous and
Have,
The fourth magnet row is
A transport path in which a plurality of the magnets arranged in the discontinuous portion are arranged so as to gradually approach the carrier as the magnets are arranged from the front side in the moving direction to the front side.

Images