JP7155744B2 - running gear - Google Patents

running gear Download PDF

Info

Publication number
JP7155744B2
JP7155744B2 JP2018154572A JP2018154572A JP7155744B2 JP 7155744 B2 JP7155744 B2 JP 7155744B2 JP 2018154572 A JP2018154572 A JP 2018154572A JP 2018154572 A JP2018154572 A JP 2018154572A JP 7155744 B2 JP7155744 B2 JP 7155744B2
Authority
JP
Japan
Prior art keywords
regulated
regulating member
straight
curved
travel
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
JP2018154572A
Other languages
Japanese (ja)
Other versions
JP2020031467A (en
Inventor
政貴 林
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Murata Machinery Ltd
Original Assignee
Murata Machinery Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Murata Machinery Ltd filed Critical Murata Machinery Ltd
Priority to JP2018154572A priority Critical patent/JP7155744B2/en
Publication of JP2020031467A publication Critical patent/JP2020031467A/en
Application granted granted Critical
Publication of JP7155744B2 publication Critical patent/JP7155744B2/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Landscapes

  • Platform Screen Doors And Railroad Systems (AREA)
  • Non-Mechanical Conveyors (AREA)
  • Control Of Vehicles With Linear Motors And Vehicles That Are Magnetically Levitated (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Description

本発明は、リニアモータにより台車を走行路に沿って走行させる走行装置に関する。 TECHNICAL FIELD The present invention relates to a travel device that uses a linear motor to travel a truck along a travel path.

従来、1次リニアモータを利用して、スラットと称される台車を走行させて物品を搬送するスラットコンベヤが開示されている(例えば、特許文献1参照)。 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).

特開平9-183518号公報JP-A-9-183518

昨今では、台車の走行速度を高めて搬送などの効率を向上させる試みが成されている。ところが台車の速度を上げると、台車が走行レールから浮き上がる現象が発生することがある。また、曲線を台車が走行する際は、遠心力により台車の片側が浮き上がる現象が発生することがある。さらに、走行レール上やその近傍に障害物が突発的に現れて接触することにより台車が浮き上がる場合もある。このように台車の少なくとも一部が走行レールから離れると、リニアモータを構成する電機子と磁石列との距離が変化し、電機子と磁石列が接触したり電機子と磁石列とが離れたりすることで台車の推力が低下する。 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.

本発明は、上記課題に鑑みてなされたものであり、走行レールに対して安定して台車を走行させることができる走行装置の提供を目的としている。 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.

本発明の一態様に係る走行装置は、所定の走行路に沿って走行する台車と、前記走行路を画定する走行レールを有する地上側設備とを備える走行装置であって、前記台車は、前記走行レールに接触して回転する車輪と、磁気作用により前記台車の前記走行路に沿う方向の推力を発生させる磁石列と、前記台車の少なくとも一部が鉛直上向きに移動する異常移動を規制するための被規制部材とを備え、前記地上側設備は、前記走行路に沿って配置され、前記磁石列に磁気を作用させる電機子と、前記被規制部材と接触して前記台車の異常移動を所定距離内に規制するために前記走行路に沿って延在する規制部材とを備え、前記所定距離は、前記電機子と前記磁石列との間の距離よりも短い。 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.

これによれば、車輪が走行レールから離れる方向、つまり台車111の少なくとも一部が鉛直上向きに移動する異常移動が発生し、台車の少なくとも一部が浮き上がった際には、地上設備側の規制部材と台車に固定されている被規制部材とが接触することにより、磁石列と電機子とのクリアランス以内に台車の浮き上がりが収まるため、磁石列と電機子とが接触したり、距離が大きく離れることなく所望の推力を維持することが可能となる。 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

また、前記規制部材は、前記走行路が直線である直線区間に対応する範囲において配置されている直線規制部材と、前記走行路が曲線である曲線区間に対応する範囲において前記曲線区間に沿って前記曲線区間の内側に配置されている曲線規制部材とを備え、前記曲線区間における前記走行レールと前記曲線規制部材との水平面における距離は、前記直線区間における前記走行レールと前記直線規制部材との水平面における距離よりも長くてもよい。さらに、前記曲線区間において、曲線の外側には前記曲線規制部材が設けられていなくてもよい。これによれば、走行路の中の曲線区間において台車が走行する際の遠心力により、台車の内側が走行レールから離れる方向に浮き上がる異常移動を効果的に所定距離内に規制することができる。また、曲線区間において走行レールより外側に曲線規制部材が存在しないため、走行装置全体の設置面積を小さくすることができる。 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.

また、前記被規制部材は、前記直線規制部材と接触する走行方向に並んだ二つの直線被規制部材と、前記直線被規制部材の間であって高さの異なる位置に配置され、前記曲線規制部材と接触する曲線被規制部材とを備え、前記曲線区間に対応する範囲における前記曲線規制部材と前記直線規制部材との間に、前記曲線被規制部材と接触し前記曲線区間に沿わない中継規制部材を備えてもよい。これによれば、曲線区間において台車と曲線規制部材との干渉を回避することができる。 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.

また、前記走行路が直線である直線区間に対応する範囲において、前記規制部材は、前記走行レールと一体的に形成され、前記電機子は、前記規制部材に固定されてもよい。 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.

これによれば、台車に磁石列、被規制部材、および車輪が固定されるためこれらの位置関係を簡単かつ正確に決定することができ、走行レールと一体の規制部材に電機子が固定されるため、これらの位置関係も簡単かつ正確に決定することができる。これにより走行レールに車輪が載置されることで、規制部材と被規制部材の間隔と電機子と磁石列との間隔を正確に決定することが可能となる。 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.

本発明の走行装置は、走行中において走行レールから台車が浮上する量を抑制して電機子と磁石列との間隔を安定させ、台車の推力の安定を図ることが可能となる。 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.

図1は、実施の形態における走行装置を備えた搬送システムの斜視図である。FIG. 1 is a perspective view of a transport system provided with a traveling device according to an embodiment. 図2は、実施の形態における走行装置の地上側設備と台車とを走行方向から示す図である。FIG. 2 is a diagram showing ground-side equipment and a carriage of the traveling device in the embodiment from the traveling direction. 図3は、実施の形態における走行装置を示す平面図である。FIG. 3 is a plan view showing the traveling device according to the embodiment.

次に、本発明に係る走行装置の実施の形態について、図面を参照しつつ説明する。なお、以下で説明する実施の形態は、いずれも包括的または具体的な例を示すものである。以下の実施の形態で示される数値、形状、材料、構成要素、構成要素の配置位置及び接続形態、ステップ、ステップの順序などは、一例であり、本発明を限定する主旨ではない。また、以下の実施の形態における構成要素のうち、最上位概念を示す独立請求項に記載されていない構成要素については、任意の構成要素として説明される。 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.

また、図面は、本発明を示すために適宜強調や省略、比率の調整を行った模式的な図となっており、実際の形状や位置関係、比率とは異なる場合がある。 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.

図1は、走行装置を示す斜視図である。図2は、走行装置の地上側設備と台車とを走行方向から示す図である。 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.

これらの図に示すように、本実施の形態にかかる走行装置101は、物品200を保持した状態で走行路(例えば図1中はオーバル形状の走行路の一部を示す)に沿って所定の移載スペース110まで走行し、物品200を移載する搬送システム100を構成している。 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.

搬送システム100は、台車111を有する走行装置101と、台車111に取り付けられる移載機構112と、所定の移載スペース110に物品200を搬入する搬入装置102とを備えるシステムである。 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 .

搬入装置102は、走行路と交差する方向において、移載スペース110内に配置されている台車111に対して物品200を搬入する装置である。搬入装置102の種類は、特に限定されるものでは無く、本実施の形態の場合、ベルトコンベアが採用されている。また、搬入装置102は、物品200の流れの上流の位置において物品200を待機させておき、移載スペース110に台車111が到着する情報に基づき物品200を所定の速度になるまで加速して、移載スペース110内の台車111に物品200を搬入することができるものとなっている。 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 .

走行装置101は、走行路に沿って複数の台車111をリニアモータによって走行させる装置である。走行装置101は、走行路を形成する地上側設備と、走行路に沿って走行する台車111とを備える。地上側設備は、走行路を画定する走行レール117と、走行路に沿って配置される電機子116と、規制部材とを備えている。 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.

台車111は、走行レール117によって形成される走行路に沿って走行する。台車111を走行させるための駆動源は、本実施の形態の場合、台車111がバッテリーや電動モータを備えず、外部からの磁気作用によって走行方向の駆動力を得るリニアモータが採用されている。具体的に台車111は、複数の永久磁石が配列された磁石列115を備え、台車111の走行路に沿って連続的に、または離散的に配置される電機子116からの磁気作用により磁石列115が走行方向の推力を発生させて台車111を走行路に沿って走行させている。 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.

磁石列115は、例えば、複数の永久磁石により構成される。磁石列115を構成する複数の永久磁石は、台車111に対し走行方向に並んで配置される。本実施の形態の場合台車111は、電機子116を挟むように上下に二つ配置される(図2参照)。つまり、磁石列115は、電機子116の両側において、複数の永久磁石が走行方向に並んで配置されている。電機子116の一方側に並ぶ複数の永久磁石はハルバッハ配列であり、電機子116に対向する側にN極と、S極とが交互に向いているように配置され、他方側に並ぶ永久磁石は、N極とS極との並びが一方側と異なるように配置されたハルバッハ配列である。なお、磁石列115は、電機子116の一方側にのみ配置されるものでもよい。 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 .

台車111は、構造的基礎となる基台119を備える。基台119には、磁石列115の他、移載機構112と、移載用可動子113とが取り付けられている。また、台車111の基台119の下部には、走行レール117上に載置されて転がる四つの車輪118が取り付けられている。 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 .

また本実施の形態の場合、基台119には、車輪118が走行レール117から離れる方向の台車111の異常移動を規制するための被規制部材として、直線被規制部材131(図2参照)と、曲線被規制部材132(図1、図2参照)とが取り付けられている。被規制部材は後述の規制部材に接触することで、基台119を介して台車111の走行レール117からの浮き上がりを抑制する機能を備えている。 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.

本実施の形態の場合、直線被規制部材131は、台車111の走行方向に並んで二つ配置され、平行に配置される走行レール117に対応して幅方向にも並んで二つ配置されている。直線被規制部材131は、矩形の基台119の四隅から下方突出状にそれぞれ配置されている。直線被規制部材131は、基台119から下方突出状に取り付けられた支柱と、台車111の幅方向において内方に突出するように支柱の下端部に軸支されたローラとを備えており、通常走行時には規制部材とは接触することなく、台車111が走行レール117から浮き上がった場合、ローラの上端が規制部材と接触するものとなっている。なお、直線被規制部材131は、ローラを備えることに限定されるものではなく、規制部材と低摩擦で摺動するものでもよい。 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.

曲線被規制部材132は、台車111の走行方向において、直線被規制部材131の間に一つ配置され、また直線被規制部材131とは高さの異なる位置に配置されている。本実施の形態の場合、曲線被規制部材132は、幅方向における基台119の端部であって、曲線区間を通過する際の内側であり、走行方向におけるほぼ中央部に配置されている。曲線被規制部材132は、基台119から上方突出状に取り付けられたブラケットと、台車111の幅方向において外方に突出するようにブラケットに軸支されたローラとを備えており、通常走行時には規制部材とは接触することなく、曲線区間において台車111が走行レール117から浮き上がった場合、ローラの上端が規制部材と接触するものとなっている。なお、曲線被規制部材132は、ローラを備えることに限定されるものではなく、規制部材と低摩擦で摺動するものでもよい。 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.

移載機構112は、台車111に設けられ、走行路中に設定される移載スペース110において搬入装置102から物品200を受け取って物品を台車111内の所定の場所まで移動させ、また、移載スペース110において台車111が搬送した物品200を搬出装置(図示せず)まで移動させる機構である。移載機構112の種類は、特に限定されるものではないが、本実施の形態の場合、移載機構112は、台車111の走行方向と直交する方向に物品を移動させることができるいわゆるベルトコンベアである。移載機構112は、物品200を載置した状態で移動させる無端環状部材121と、無端環状部材121を所定の軌道に沿って循環させる一対のローラ122と、移載用可動子113から片方のローラ122に駆動力を伝達する伝達部材123とを備えている。 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 .

なお、移載機構112は上記に限定されるものでは無く、例えば無端環状部材121を備えない、ローラコンベヤなどでもかまわない。 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.

走行レール117は、台車111が走行する走行路を形成するための部材である。走行レール117の形状などは特に限定されるものではないが、本実施の形態の場合、長尺状の部材である。走行レール117は、例えば、アルミニウム、アルミニウム合金などの金属により構成される。なお、走行レール117は、その他の金属、樹脂により構成してもよい。本実施の形態では、図1に一部省略して示しているが、走行レール117は、例えばトラック状の走行路を形成しており、走行路が直線の直線区間と走行路が円弧状の曲線である曲線区間とを備えている。本実施の形態の場合、曲線区間は半円弧形状であり、曲線区間に配置される走行レール117も、半円弧形状に湾曲し、曲線区間の内側と外側に平行に配置されている。 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.

電機子116は、走行路の全体にわたって配置される。電機子116は、具体的には、所定の走行路に沿って設けられた長尺の板部材に並んで配置される複数のコイルである。つまり、実質的には、複数のコイルが電機子116として機能する。電機子116を構成する複数のコイルは、図示しないコントローラにより個別に制御されることで、それぞれが独立して磁界を発生する。このように、電機子116は、コントローラにより個別に制御されることで、複数台の台車111が各々独立に制御されて走行レール117上を走行することができる。 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 .

規制部材は、直線被規制部材131、または曲線被規制部材132と接触して台車111が浮き上がる異常移動を所定距離(所定高さ)内に規制するために走行路に沿って延在する部材である。本実施の形態の場合、規制部材は、走行路が直線である直線区間に対応する範囲において配置されている直線規制部材141と、走行路が曲線である曲線区間に対応する範囲において曲線区間に沿って曲線区間の内側に配置されている曲線規制部材142とを備えている。 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.

台車111の異常移動を所定距離内に規制するために、台車111が通常走行する際における規制部材と被規制部材との間隔(クリアランス)は、図2に示すように電機子116と磁石列115との間の距離よりも短い。本実施の形態の場合、通常走行時おける直線規制部材141と直線被規制部材131との第一間隔D1、および曲線規制部材142と曲線被規制部材132との第二間隔D2は、電機子116と下側の磁石列115との距離D3よりも短い。また本実施の形態の場合、第一間隔D1と第二間隔D2とは同じとなるように調整されている。 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.

これにより、走行時に台車111が浮き上がると、被規制部材と規制部材とが接触して台車111の異常移動が第一間隔D1、または第二間隔D2以下に規制され、電機子116と下側の磁石列115とが接触することを防止できる。また、上側の磁石列115と電機子116とが離れすぎないため、所定範囲内の推力を維持しながら台車111を走行させることが可能となる。 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.

本実施の形態の場合、直線規制部材141は、直線区間において平行に2本配置される走行レール117の内側にそれぞれ配置されており、走行レール117の上方において外側に向かって突出する突条を備えており、直線区間のいずれの位置において台車111が異常移動した場合でも、直線被規制部材131と接触することができるものとなっている。また、平行に配置される2本の走行レール117の両側に直線規制部材141が配置されることで、台車111が幅方向のいずれに向かって傾いても異常移動を規制することができ、走行方向における前側、または後側が浮上する異常移動も規制することができるものとなっている。 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.

また、直線規制部材141は、直線区間における走行レールと一体的に形成されている。ここで一体的とは、押し出し加工、引き抜き加工、折り曲げ加工、切削加工などの接続工程を伴わない加工法を用いて直線規制部材141と走行レール117とを一体として形成する場合のほか、走行レール117に直線規制部材141を溶接などにより直接接続する場合、走行レール117に直線規制部材141をボルトなどの締結部材などにより直接接続する場合などを含むものである。 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.

さらに、電機子116は、走行レール117と一体となった直線規制部材141に固定されている。これにより、車輪118と接触する走行レール117の走行面と、直線被規制部材131と接触する直線規制部材141の位置、および電機子116の位置関係とを簡単かつ正確に決定することができる。一方、台車111の基台119に固定されている車輪118、磁石列115、直線被規制部材131も位置関係が正確に決定されているため、走行レール117の走行面に車輪118を載置した状態において、直線被規制部材131と直線規制部材141との第一間隔D1、および電機子116と磁石列115との第二間隔D2がそれぞれ正確に決定される。従って、通常走行時は、直線被規制部材131と直線規制部材141とは接触することなく台車111の走行に影響を与えることがない。一方台車111が異常移動した場合は、電機子116と磁石列115が干渉したり、遠く離れることなく所望の推力を得続けることが可能となる。 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.

本実施の形態の場合、曲線規制部材142は、図3に示すように、曲線区間において平行に2本配置される湾曲状の走行レール117の内側に配置された板状の部材であり、上面視において、曲線規制部材142の走行レール117に近い縁部は、走行レール117の湾曲に沿って湾曲している。本実施の形態の場合、曲線区間における走行レール117は円弧状であり、曲線規制部材142の縁部も円弧状となっている。また本実施の形態において走行レール117の外側には曲線規制部材142は配置されていない。これは、台車111が曲線区間を走行する際は、遠心力により幅方向の内側が浮上する異常移動が発生する可能性が高いためである。 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.

また、曲線区間における曲線規制部材142と走行レール117とのXY平面における距離は、直線区間における走行レール117と直線規制部材141とのXY平面における距離よりも長く設定されている。これにより、曲線区間において配置される電機子116と曲線規制部材142との干渉を回避することが可能となる。 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.

さらに本実施の形態の場合、走行路の曲線区間に対応する範囲において、曲線規制部材142と直線規制部材141との間に、曲線被規制部材132と接触し曲線区間における走行レール117の湾曲に沿わない中継規制部材143が配置されている。本実施の形態の場合、中継規制部材143は、曲線規制部材142と一体の板状である。上面視において、中継規制部材143の縁部は、曲線規制部材142の縁部に接続され、走行レール117の湾曲に沿うことなく、曲線規制部材142の曲率よりもゆるい曲率、または直線形状となっている。 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.

これにより、台車111の一部が直線区間に残存している際の台車111の挙動と、台車111の全てが曲線区間に位置している際の台車111の挙動との違いによる規制部材と台車111との干渉を回避して、台車111をスムーズに方向転換させることが可能となる。 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

以上のように、本実施の形態における走行装置では、台車111の走行中において走行レール117から台車111が浮上する異常移動が発生した場合でも、規制部材と被規制部材との接触により異常移動を所定の範囲に抑制することが可能となる。これにより、電機子116と磁石列115との間隔を所定範囲内に維持することができ、所望の推力を発生させ続けることが可能となり、台車111の高速走行を実現できる。特に、荷物を搭載していない台車111を高速に曲線区間を通過させることができ、走行装置101を利用した搬送装置の搬送効率などを向上させることが可能となる。 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.

なお、本発明は、上記実施の形態に限定されるものではない。例えば、本明細書において記載した構成要素を任意に組み合わせて、また、構成要素のいくつかを除外して実現される別の実施の形態を本発明の実施の形態としてもよい。また、上記実施の形態に対して本発明の主旨、すなわち、請求の範囲に記載される文言が示す意味を逸脱しない範囲で当業者が思いつく各種変形を施して得られる変形例も本発明に含まれる。 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

例えば、曲線区間において、走行レール117の外側にも浮き上がり防止機構として曲線規制部材142を配置し、台車111の外側にも曲線被規制部材132を取り付けても構わない。 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 .

また、台車111は、直線被規制部材131と曲線被規制部材132の区別のない被規制部材を単数、または複数個備えてもよい。この場合、直線規制部材141、および曲線規制部材142と走行レール117とは同じ位置関係になり連続して配置される。 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.

本発明は、物流拠点、自動倉庫、工場など、物品を高速で搬送する設備などに利用可能である。 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 搬送システム
101 走行装置
102 搬入装置
110 移載スペース
111 台車
112 移載機構
113 移載用可動子
115 磁石列
116 電機子
117 走行レール
118 車輪
119 基台
121 無端環状部材
122 ローラ
123 伝達部材
131 直線被規制部材
132 曲線被規制部材
141 直線規制部材
142 曲線規制部材
143 中継規制部材
200 物品
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)

所定の走行路に沿って走行する台車と、前記走行路を画定する走行レールを有する地上側設備とを備える走行装置であって、
前記台車は、
前記走行レールに接触して回転する車輪と、
磁気作用により前記台車の前記走行路に沿う方向の推力を発生させる磁石列と、
前記台車の少なくとも一部が鉛直上向きに移動する異常移動を規制するための被規制部材とを備え、
前記地上側設備は、
前記走行路に沿って配置され、前記磁石列に磁気を作用させる電機子と、
前記被規制部材と接触して前記台車の前記異常移動を所定距離内に規制するために前記走行路に沿って延在する規制部材とを備え、
前記所定距離は、前記電機子と前記磁石列との間の距離よりも短く、
前記規制部材は、
前記走行路が直線である直線区間に対応する範囲において配置されている直線規制部材と、
前記走行路が曲線である曲線区間に対応する範囲において前記曲線区間に沿って前記曲線区間の内側に配置されている曲線規制部材とを備え、
前記曲線区間における前記走行レールと前記曲線規制部材との水平面における距離は、前記直線区間における前記走行レールと前記直線規制部材との水平面における距離よりも長い
走行装置。
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.
前記曲線区間において、曲線の外側には前記曲線規制部材が設けられていない
請求項に記載の走行装置。
2. The travel device according to claim 1 , wherein the curve restricting member is not provided outside the curve in the curve section.
前記被規制部材は、
前記直線規制部材と接触する走行方向に並んだ二つの直線被規制部材と、
前記直線被規制部材の間であって高さの異なる位置に配置され、前記曲線規制部材と接触する曲線被規制部材とを備え、
前記曲線区間に対応する範囲における前記曲線規制部材と前記直線規制部材との間に、前記曲線被規制部材と接触し前記曲線区間に沿わない中継規制部材を備える
請求項または請求項に記載の走行装置。
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.
前記走行路が直線である直線区間に対応する範囲において、前記規制部材は、前記走行レールと一体的に形成され、前記電機子は、前記規制部材に固定される
請求項1からのいずれか一項に記載の走行装置。
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.
JP2018154572A 2018-08-21 2018-08-21 running gear Active JP7155744B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2018154572A JP7155744B2 (en) 2018-08-21 2018-08-21 running gear

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2018154572A JP7155744B2 (en) 2018-08-21 2018-08-21 running gear

Publications (2)

Publication Number Publication Date
JP2020031467A JP2020031467A (en) 2020-02-27
JP7155744B2 true JP7155744B2 (en) 2022-10-19

Family

ID=69622968

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2018154572A Active JP7155744B2 (en) 2018-08-21 2018-08-21 running gear

Country Status (1)

Country Link
JP (1) JP7155744B2 (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112078376B (en) * 2020-08-10 2021-09-24 江西理工大学 Permanent magnetic-levitation train bending-passing guide control method and system

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2018123003A (en) 2017-01-27 2018-08-09 村田機械株式会社 Article conveying device

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0672539A (en) * 1992-08-28 1994-03-15 Daifuku Co Ltd Cargo transport device

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2018123003A (en) 2017-01-27 2018-08-09 村田機械株式会社 Article conveying device

Also Published As

Publication number Publication date
JP2020031467A (en) 2020-02-27

Similar Documents

Publication Publication Date Title
US5551350A (en) Transporting system driven by linear motor having inductive power supply
JP6202199B2 (en) Transport system and transport method
JP5310784B2 (en) Tracked cart system
KR101049222B1 (en) Magnetic levitation conveying device using vertical linear motor
EP2938566B1 (en) Turning system for belt transport system
KR101419356B1 (en) Carrier and overhead hoist system including the same
JP6677187B2 (en) Goods transport equipment
KR20120059456A (en) Workpiece conveying equipment
JP7155744B2 (en) running gear
JP3453076B2 (en) Carrier type transport device
JP4240758B2 (en) Transport equipment
KR101208660B1 (en) Magnetic levitation conveyance system having enhaced curve driving performance
JP2020033152A (en) Traveling device
KR20130115138A (en) Transfer device
CN112429480A (en) Material handling system
US3705001A (en) Transition ramp for high speed roller track conveyors
JP2006174605A (en) Unmanned transport truck
KR101090403B1 (en) automated guided vehicle system
KR102536552B1 (en) Vertical Transport Systems
JP7379912B2 (en) Conveyance system
JP2012232825A (en) Roll body carrying device
WO2021039538A1 (en) Guide mechanism for conveyance cart, and sorting conveyor
JP2007119196A (en) Traverser for changing course of conveyance carrier
JP6468244B2 (en) Conveying device using a traveling body for transportation
JP4540551B2 (en) Dolly equipment

Legal Events

Date Code Title Description
A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20210625

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20220524

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20220720

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20220906

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20220919

R150 Certificate of patent or registration of utility model

Ref document number: 7155744

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150