JP7155744B2 - running gear - Google Patents

Description

TECHNICAL FIELD The present invention relates to a travel device that uses a linear motor to travel a truck along a travel path.

BACKGROUND ART Conventionally, a slat conveyor has been disclosed that uses a primary linear motor to run a carriage called a slat to convey articles (see, for example, Patent Document 1).

JP-A-9-183518

In recent years, attempts have been made to improve the efficiency of transportation by increasing the running speed of carts. However, when the speed of the truck is increased, a phenomenon may occur in which the truck is lifted from the running rail. In addition, when the truck travels on a curve, centrifugal force may cause a phenomenon in which one side of the truck is lifted up. Furthermore, there are cases in which an obstacle suddenly appears on or near the running rail and comes into contact with it, causing the carriage to rise. When at least part of the carriage is separated from the travel rail in this way, the distance between the armature and the magnet array that constitutes the linear motor changes, and the armature and the magnet array come into contact with each other or separate from each other. This reduces the thrust of the truck.

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and an object of the present invention is to provide a traveling device capable of causing a carriage to travel stably on a traveling rail.

A traveling device according to an aspect of the present invention is a traveling device comprising a truck that travels along a predetermined traveling path, and a ground-side facility having a traveling rail that defines the traveling path, wherein the truck includes the Wheels that rotate in contact with the running rail, a magnet array that generates a thrust in the direction along the running path of the truck by magnetic action, and at least a part of the truck for regulating abnormal movement that moves vertically upward. The ground equipment includes an armature that is arranged along the travel path and applies magnetism to the magnet array, and an armature that contacts the regulated member to prevent the carriage from moving abnormally. a regulating member extending along the traveling path for regulating within a distance, wherein the predetermined distance is shorter than the distance between the armature and the magnet array.

According to this, when an abnormal movement occurs in which the wheels move away from the running rail, that is, at least a part of the truck 111 moves vertically upward, and at least a part of the truck floats up, the regulating member on the side of the ground equipment and the regulated member fixed to the truck contact, the floating of the truck is contained within the clearance between the magnet row and the armature. It is possible to maintain the desired thrust without

Further, the regulating member includes a straight regulating member arranged in a range corresponding to a straight section in which the traveling path is straight, and a straight regulating member arranged in a range corresponding to a curved section in which the traveling path is curved along the curved section. and a curve regulating member disposed inside the curved section, wherein the distance in the horizontal plane between the running rail and the curve regulating member in the curved section is the distance between the running rail and the straight line regulating member in the straight section. It may be longer than the distance in the horizontal plane. Furthermore, in the curved section, the curved line regulating member may not be provided outside the curved line. According to this, the centrifugal force generated when the truck travels in the curved section of the travel path can effectively restrict the abnormal movement of the inside of the truck in the direction away from the traveling rail within a predetermined distance. In addition, since there is no curve regulating member outside the travel rail in the curved section, the installation area of the travel device as a whole can be reduced.

Further, the member to be regulated is arranged at a position different in height between two linear members to be regulated arranged in a running direction and contacting the linear regulating member, and the members to be regulated are arranged at different heights between the members to be regulated. a curvilinear regulated member that contacts with a member, and relay regulation that contacts the curvilinear regulated member and does not follow the curved section between the curved regulated member and the straight line regulated member in a range corresponding to the curved section. You may provide a member. According to this, it is possible to avoid interference between the truck and the curve regulation member in the curve section.

Further, the restricting member may be formed integrally with the travel rail, and the armature may be fixed to the restricting member in a range corresponding to a straight section in which the travel path is straight.

According to this, since the magnet array, the member to be regulated, and the wheel are fixed to the bogie, the positional relationship among them can be easily and accurately determined, and the armature is fixed to the regulating member integrated with the travel rail. Therefore, their positional relationship can also be easily and accurately determined. Thus, by placing the wheels on the running rail, it is possible to accurately determine the distance between the regulating member and the regulated member and the distance between the armature and the magnet row.

The traveling device of the present invention can suppress the amount of floating of the truck from the traveling rail during traveling, stabilize the gap between the armature and the magnet array, and stabilize the thrust of the truck.

FIG. 1 is a perspective view of a transport system provided with a traveling device according to an embodiment. FIG. 2 is a diagram showing ground-side equipment and a carriage of the traveling device in the embodiment from the traveling direction. FIG. 3 is a plan view showing the traveling device according to the embodiment.

Next, an embodiment of a traveling device according to the present invention will be described with reference to the drawings. It should be noted that the embodiments described below are all comprehensive or specific examples. Numerical values, shapes, materials, components, arrangement positions and connection forms of components, steps, order of steps, and the like shown in the following embodiments are examples and are not intended to limit the present invention. In addition, among the constituent elements in the following embodiments, constituent elements that are not described in independent claims representing the highest concept will be described as arbitrary constituent elements.

In addition, the drawings are schematic diagrams in which emphasis, omissions, and ratios are appropriately adjusted in order to illustrate the present invention, and may differ from actual shapes, positional relationships, and ratios.

FIG. 1 is a perspective view showing a travel device. FIG. 2 is a diagram showing the ground-side equipment and the truck of the traveling device from the traveling direction.

As shown in these figures, the traveling device 101 according to the present embodiment moves along a traveling path (for example, part of an oval-shaped traveling path is shown in FIG. 1) while holding an article 200 in a predetermined direction. A transport system 100 that travels to a transfer space 110 and transfers articles 200 is configured.

The transport system 100 is a system that includes a travel device 101 having a cart 111 , a transfer mechanism 112 attached to the cart 111 , and a loading device 102 that loads an article 200 into a predetermined transfer space 110 .

The carrying-in device 102 is a device for carrying the article 200 onto the carriage 111 arranged in the transfer space 110 in the direction intersecting the traveling path. The type of carrying-in device 102 is not particularly limited, and in the case of this embodiment, a belt conveyor is adopted. In addition, the carrying-in device 102 keeps the articles 200 on standby at a position upstream of the flow of the articles 200, and accelerates the articles 200 to a predetermined speed based on the information that the cart 111 arrives at the transfer space 110. The article 200 can be carried into the carriage 111 in the transfer space 110 .

The travel device 101 is a device that causes a plurality of carriages 111 to travel along a travel path by means of linear motors. The travel device 101 includes ground-side equipment forming a travel path, and a carriage 111 that travels along the travel path. The ground-side equipment includes a travel rail 117 defining a travel path, an armature 116 arranged along the travel path, and a regulating member.

The carriage 111 travels along the travel path formed by the travel rails 117 . In this embodiment, the carriage 111 does not have a battery or an electric motor, and employs a linear motor that obtains driving force in the traveling direction by magnetic action from the outside. Specifically, the carriage 111 has a magnet train 115 in which a plurality of permanent magnets are arranged, and the magnet train is moved by the magnetic action from armatures 116 that are arranged continuously or discretely along the travel path of the carriage 111 . 115 generates thrust in the traveling direction to cause the carriage 111 to travel along the travel path.

The magnet array 115 is composed of, for example, a plurality of permanent magnets. A plurality of permanent magnets forming the magnet row 115 are arranged side by side in the traveling direction with respect to the carriage 111 . In the case of this embodiment, two carriages 111 are arranged vertically so as to sandwich the armature 116 (see FIG. 2). In other words, the magnet row 115 has a plurality of permanent magnets arranged side by side in the running direction on both sides of the armature 116 . The plurality of permanent magnets arranged on one side of the armature 116 is a Halbach arrangement, and is arranged so that the north pole and the south pole face alternately on the side facing the armature 116, and the permanent magnets arranged on the other side. is a Halbach array in which the alignment of the N and S poles is different from that on one side. Note that the magnet array 115 may be arranged only on one side of the armature 116 .

The truck 111 has a base 119 that serves as a structural foundation. In addition to the magnet array 115 , the transfer mechanism 112 and the transfer mover 113 are attached to the base 119 . In addition, four wheels 118 that roll on running rails 117 are attached to the lower portion of the base 119 of the carriage 111 .

Further, in the case of the present embodiment, the base 119 includes a linear regulated member 131 (see FIG. 2) as a regulated member for regulating abnormal movement of the carriage 111 in the direction in which the wheel 118 moves away from the running rail 117. , and a curvilinear regulated member 132 (see FIGS. 1 and 2). The member to be regulated has a function of suppressing lifting of the truck 111 from the running rail 117 via the base 119 by coming into contact with a regulating member which will be described later.

In the case of this embodiment, two linear regulated members 131 are arranged side by side in the running direction of the carriage 111, and two are also arranged side by side in the width direction corresponding to the running rails 117 arranged in parallel. there is The linear regulated members 131 are arranged so as to protrude downward from the four corners of the rectangular base 119 . The linear regulated member 131 includes a support that protrudes downward from the base 119, and a roller that is pivotally supported on the lower end of the support so as to protrude inward in the width direction of the carriage 111. When the carriage 111 is lifted from the travel rail 117, the upper end of the roller contacts the regulating member without contacting the regulating member during normal running. Note that the linear regulated member 131 is not limited to being provided with a roller, and may be one that slides on the regulating member with low friction.

The curvilinear regulated member 132 is arranged between the linear regulated members 131 in the running direction of the carriage 111 , and is arranged at a position different in height from the linear regulated member 131 . In the case of the present embodiment, the curvilinear regulated member 132 is disposed at the end of the base 119 in the width direction, inside when passing through the curved section, and substantially in the center in the running direction. The curvilinear regulated member 132 includes a bracket attached to project upward from the base 119, and a roller pivotally supported by the bracket so as to project outward in the width direction of the carriage 111. When the truck 111 lifts off the running rail 117 in the curved section without contacting the regulating member, the upper ends of the rollers come into contact with the regulating member. Note that the curvilinear regulated member 132 is not limited to being provided with a roller, and may be one that slides on the regulating member with low friction.

The transfer mechanism 112 is provided on the carriage 111, receives the article 200 from the carrying-in device 102 in the transfer space 110 set in the travel path, moves the article to a predetermined place in the carriage 111, and transfers the article. It is a mechanism for moving the article 200 conveyed by the carriage 111 in the space 110 to an unloading device (not shown). The type of the transfer mechanism 112 is not particularly limited. is. The transfer mechanism 112 includes an endless annular member 121 for moving the article 200 placed thereon, a pair of rollers 122 for circulating the endless annular member 121 along a predetermined track, and a transmission member 123 that transmits driving force to the roller 122 .

Note that the transfer mechanism 112 is not limited to the above. For example, a roller conveyor without the endless annular member 121 may be used.

The running rail 117 is a member for forming a running path along which the carriage 111 runs. The shape of running rail 117 is not particularly limited, but in the case of the present embodiment, it is an elongated member. The running rail 117 is made of metal such as aluminum or an aluminum alloy. Note that the running rail 117 may be made of other metals or resins. In the present embodiment, although partially omitted in FIG. 1, the running rail 117 forms, for example, a track-shaped running path. and a curve segment that is a curve. In the case of this embodiment, the curved section has a semicircular arc shape, and the running rail 117 arranged in the curved section is also curved in a semicircular arc shape and arranged parallel to the inner and outer sides of the curved section.

Armatures 116 are arranged throughout the travel path. Specifically, the armature 116 is a plurality of coils arranged side by side on a long plate member provided along a predetermined running path. In other words, multiple coils substantially function as the armature 116 . A plurality of coils forming the armature 116 are individually controlled by a controller (not shown) to independently generate a magnetic field. In this manner, the armatures 116 are individually controlled by the controller, so that the plurality of trucks 111 can be independently controlled to travel on the travel rails 117 .

The regulating member is a member that extends along the travel path in order to regulate the abnormal movement of the carriage 111 to within a predetermined distance (predetermined height) in contact with the straight regulated member 131 or the curved regulated member 132 and lift up. be. In the case of this embodiment, the regulating members are the straight regulating member 141 arranged in the range corresponding to the straight section where the traveling road is straight, and the curved section in the range corresponding to the curved traveling road. and a curve regulating member 142 disposed inside the curve section along the curve.

In order to limit the abnormal movement of the truck 111 within a predetermined distance, the clearance between the regulating member and the member to be regulated when the truck 111 normally travels is determined as shown in FIG. shorter than the distance between In the case of the present embodiment, the first distance D1 between the linear regulating member 141 and the linear regulated member 131 and the second distance D2 between the curved regulating member 142 and the curved regulated member 132 during normal running are the armature 116 and the lower magnet array 115 than the distance D3. Further, in the case of the present embodiment, the first interval D1 and the second interval D2 are adjusted to be the same.

As a result, when the carriage 111 floats up during travel, the member to be regulated and the regulating member come into contact with each other, and the abnormal movement of the carriage 111 is restricted to the first distance D1 or the second distance D2 or less. Contact with the magnet row 115 can be prevented. Further, since the upper magnet row 115 and the armature 116 are not too far apart, it is possible to make the carriage 111 travel while maintaining the thrust force within a predetermined range.

In the case of the present embodiment, the linear regulation member 141 is arranged inside each of the two parallel running rails 117 in the straight section, and has a protrusion projecting outward above the running rail 117. It is provided so that even if the carriage 111 abnormally moves at any position in the straight section, it can come into contact with the linear regulated member 131 . In addition, by arranging the straight line regulating members 141 on both sides of the two running rails 117 arranged in parallel, abnormal movement can be regulated even if the carriage 111 is tilted in any direction in the width direction. Abnormal movement in which the front side or the rear side in the direction floats can also be regulated.

In addition, the straight regulating member 141 is formed integrally with the running rail in the straight section. Here, "integrally" means that the linear regulation member 141 and the running rail 117 are integrally formed using a processing method that does not involve a connecting process such as extrusion, drawing, bending, cutting, etc. This includes a case where the straight line regulating member 141 is directly connected to the rail 117 by welding or the like, and a case where the straight line regulating member 141 is directly connected to the running rail 117 by a fastening member such as a bolt.

Furthermore, the armature 116 is fixed to a linear regulation member 141 integrated with the travel rail 117 . This makes it possible to easily and accurately determine the positional relationship between the running surface of the running rail 117 in contact with the wheel 118, the position of the linear regulating member 141 in contact with the linear regulated member 131, and the armature 116. On the other hand, since the positional relationship of the wheels 118 fixed to the base 119 of the truck 111, the magnet array 115, and the linear regulated member 131 is also determined accurately, the wheels 118 are placed on the running surface of the running rail 117. In this state, the first distance D1 between the linear regulated member 131 and the linear regulating member 141 and the second distance D2 between the armature 116 and the magnet row 115 are determined accurately. Therefore, during normal running, the straight regulated member 131 and the straight regulating member 141 do not come into contact with each other and do not affect the running of the carriage 111 . On the other hand, when the carriage 111 moves abnormally, the armature 116 and the magnet array 115 do not interfere with each other or are far apart, and a desired thrust can be continuously obtained.

In the case of the present embodiment, as shown in FIG. 3, the curve regulating member 142 is a plate-like member arranged inside two curved running rails 117 that are arranged in parallel in the curved section. As seen, the edge portion of the curve regulating member 142 near the running rail 117 is curved along the curve of the running rail 117 . In the case of the present embodiment, the running rail 117 in the curved section is arcuate, and the edge of the curve regulating member 142 is also arcuate. Further, in the present embodiment, the curvilinear regulation member 142 is not arranged outside the running rail 117 . This is because when the carriage 111 travels in a curved section, there is a high possibility that the centrifugal force causes an abnormal movement in which the inner side in the width direction floats.

Also, the distance in the XY plane between the curve regulation member 142 and the running rail 117 in the curved section is set longer than the distance in the XY plane between the running rail 117 and the straight line regulation member 141 in the straight section. This makes it possible to avoid interference between the armature 116 and the curve regulating member 142 arranged in the curved section.

Furthermore, in the case of the present embodiment, in the range corresponding to the curved section of the running path, between the curved line regulating member 142 and the straight line regulating member 141, there is contact with the curvilinear regulated member 132 and the curving of the running rail 117 in the curved section. A relay restricting member 143 that does not follow is arranged. In the case of the present embodiment, the relay restricting member 143 has a plate shape integrated with the curvilinear restricting member 142 . When viewed from the top, the edge of the relay regulating member 143 is connected to the edge of the curve regulating member 142 and does not follow the curve of the running rail 117 and has a gentler curvature than the curvature of the curve regulating member 142 or a linear shape. ing.

As a result, the behavior of the truck 111 when a part of the truck 111 remains in the straight section and the behavior of the truck 111 when the whole truck 111 is positioned in the curved section are controlled by the regulating member and the truck. Avoiding interference with 111, it is possible to smoothly change the direction of the carriage 111. - 特許庁

As described above, in the traveling apparatus of the present embodiment, even if an abnormal movement occurs in which the truck 111 rises from the traveling rails 117 while the truck 111 is traveling, the abnormal movement is prevented by the contact between the regulating member and the member to be regulated. It is possible to suppress it within a predetermined range. As a result, the interval between the armature 116 and the magnet array 115 can be maintained within a predetermined range, and a desired thrust force can be continuously generated, so that the carriage 111 can travel at high speed. In particular, the truck 111 on which no load is mounted can be passed through the curved section at high speed, and the transportation efficiency of the transportation device using the travel device 101 can be improved.

It should be noted that the present invention is not limited to the above embodiments. For example, another embodiment realized by arbitrarily combining the constituent elements described in this specification or omitting some of the constituent elements may be an embodiment of the present invention. The present invention also includes modifications obtained by making various modifications to the above-described embodiment within the scope of the gist of the present invention, that is, the meaning of the words described in the claims, which a person skilled in the art can think of. be

For example, in a curved section, the curved line regulating member 142 may be arranged as a lifting prevention mechanism on the outer side of the running rail 117 and the curved line regulated member 132 may be attached on the outer side of the carriage 111 .

Further, the carriage 111 may be provided with a single or a plurality of regulated members that do not distinguish between the linear regulated members 131 and the curved regulated members 132 . In this case, the straight line regulating member 141 and the curved line regulating member 142 and the running rail 117 have the same positional relationship and are arranged continuously.

INDUSTRIAL APPLICABILITY The present invention can be used in facilities for transporting articles at high speed, such as distribution bases, automatic warehouses, and factories.

100 Transport system 101 Travel device 102 Carrying device 110 Transfer space 111 Cart 112 Transfer mechanism 113 Transfer mover 115 Magnet train 116 Armature 117 Travel rail 118 Wheel 119 Base 121 Endless annular member 122 Roller 123 Transmission member 131 Straight line Regulated member 132 Curved regulated member 141 Straight regulating member 142 Curved regulating member 143 Relay regulating member 200 Article

Claims (4)

A traveling device comprising a carriage that travels along a predetermined travel path, and a ground-side facility having travel rails that define the travel path,
The truck is
a wheel that rotates in contact with the running rail;
a magnet array that generates a thrust in a direction along the travel path of the truck by magnetic action;
a regulated member for regulating abnormal movement in which at least part of the carriage moves vertically upward;
The ground side equipment is
an armature that is arranged along the travel path and applies magnetism to the magnet row;
a regulating member that contacts the regulated member and extends along the travel path for regulating the abnormal movement of the truck within a predetermined distance;
The predetermined distance is shorter than the distance between the armature and the magnet row,
The regulation member is
a straight line regulating member disposed in a range corresponding to a straight section in which the travel path is straight;
a curve regulating member disposed inside the curved section along the curved section in a range corresponding to the curved section in which the travel path is curved;
A horizontal distance between the running rail and the curve regulating member in the curved section is longer than a horizontal distance between the running rail and the straight regulating member in the straight section.
running device. 2. The travel device according to claim 1 , wherein the curve restricting member is not provided outside the curve in the curve section. The regulated member is
two linear regulated members aligned in the traveling direction and in contact with the linear regulating member;
a curvilinear regulated member disposed between the straight regulated members at different heights and in contact with the curved regulated member;
3. The relay regulating member according to claim 1 or 2 , wherein a relay regulating member that contacts the curved regulated member and does not follow the curved section is provided between the curved regulating member and the straight regulating member in a range corresponding to the curved section. running gear. 4. The restricting member is formed integrally with the travel rail , and the armature is fixed to the restricting member in a range corresponding to a straight section in which the travel path is straight. 1. Traveling device according to item 1.

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