JPH08140331A - Conveyer installation making use of linear motor - Google Patents

Abstract

PURPOSE: To obtain a conveyer installation which prevents an article from being dropped and which reduces a restriction on the running operation of a moving body by a method wherein a motor driven article processing device which holds an article to be conveyed, a drive circuit, for the article processing device, which drives the article processing device by electric power from a coil for electricity receiving and a control means which controls the article processing device are installed at the moving body. CONSTITUTION: A power supply line 3, to which an AC current is supplied along a guide rail B, generates a magnetic field. A coil 4, for electricity receiving, which generates electric power by the magnetic field generated by the power supply line 3 is installed at a moving body A. An article processing device D which grips and holds an article C and a controller E which controls the drive of a coil 1 and that of the article processing device D are equipped at an article holding part A2. The controller E instructs whether the article C has been mounted on the moving body A or not before a running operation is started. When the article C has been mounted, the article C is gripped and held by the article processing device D before the running operation is started. In addition, in a state that the article C has been mounted, the running operation is stopped at a target station, and the gripping and holding operation of the article C by the article processing device D is released.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention has a driving coil of a linear motor mounted on a moving body, and a thrust generating member for generating a thrust in cooperation with the driving coil is provided on the moving body. A power receiving line that is attached to a guide rail, and has a power supply line that generates a magnetic field when an alternating current is applied along the guide rail, and that generates electric power in the moving body by the magnetic field formed by the power supply line. The present invention relates to a transfer facility using a linear motor, which includes a coil and a traveling control unit that manages driving of the drive coil by electric power from the power receiving coil.

[0002]

2. Description of the Related Art The above-mentioned transport facility using a linear motor transports an article by moving a moving body over a plurality of stations. And since the power can be moved from the ground side to the mobile body side in a non-contact state so that the mobile body can be moved, the disadvantage that dust is generated due to the power supply is eliminated, and it is also effective in the cream room. Even though it can be used, it eliminates the need to install a battery on the moving body, or even when installing it, the frequency of battery replacement can be reduced to avoid the disadvantages of battery installation. There is.

In order to convey articles by a moving body, conventionally,
An article placement unit is provided on the moving body, and an article transfer device for transferring the article between the moving body and the station is provided at each station. Incidentally, the mounting portion S of the article is generally formed in a concave shape into which the bottom of the article C is fitted, as shown in FIG.

[0004]

Conventionally, since the holding force of the articles mounted on the moving body is insufficient, the moving body can be rapidly started or stopped, and further, the vehicle can be swung at high speed. When this is done, there is a risk that the article will fall from the moving body, so the traveling of the moving body is restricted,
Improvement was desired. By the way, in the case where the guide rail is arranged near the ceiling, if the article falls, not only the article may be damaged but also other devices installed on the floor side may be damaged. It was a constraint.

The present invention has been made in view of the above circumstances, and an object thereof is to eliminate the restriction of traveling of a moving body and to improve the transportation efficiency.

[0006]

According to another aspect of the present invention, there is provided a conveyance facility using a linear motor, in which a driving coil of a linear motor is mounted on a moving body, and a thrust force is generated in cooperation with the driving coil to generate a thrust force. The generating member is attached to a guide rail of the moving body, and a power supply line that is supplied with an alternating current to generate a magnetic field is disposed along the guide rail, and the power supply line is formed on the moving body. And a coil drive circuit for driving the drive coil by the electric power from the power receiving coil, and a traveling control means for managing the drive of the drive coil. The first characteristic configuration is that an electric article processing device that holds an article to be conveyed is held in the moving body, and the electric article processing device is driven by electric power from the power receiving coil. And the article processing device driver circuit that lies in that the control means for the articles to manage the drive of the electric type article processing device is provided.

A second characteristic configuration of the present invention specifies a specific configuration suitable for carrying out the first characteristic configuration, and is provided with a battery charged by electric power from the power receiving coil, and the battery thereof is provided. From the above, electric power is supplied to the coil drive circuit and the article processing apparatus drive circuit. A third characteristic configuration of the present invention is to identify a specific configuration suitable for implementation of the first or second characteristic configuration, wherein the traveling control unit is driven by the electric power from the power receiving coil. The control means controls the drive of the power supply coil, and the article control means controls the drive of the electric article processing apparatus by the electric power from the power receiving coil.

A fourth characterizing feature of the present invention is the above first and second features.
Alternatively, a specific configuration suitable for carrying out the third characteristic configuration is specified, and the electric article processing apparatus holds an article to be transported placed on an article placing section of the moving body. It is in the point that is configured. A fifth characteristic configuration of the present invention specifies a specific configuration suitable for carrying out the first, second, or third characteristic configuration, in which the electric-type article processing apparatus grips an article to be conveyed. In addition, the article to be conveyed is configured to be transferred between the article transfer station and the moving body.

A sixth characteristic configuration of the present invention is to identify a specific configuration suitable for carrying out the fifth characteristic configuration, in which the electrically operated article processing apparatus includes an article holding section and an article holding section thereof. Is composed of an operation unit for moving up and down and turning the mobile body. 7th of this invention
The characteristic configuration specifies a specific configuration suitable for implementation of the first, second, third, fourth, fifth or sixth characteristic configuration, wherein the moving body is provided with respect to the guide rail. It is in the point of being supported in a hanging state.

An eighth characteristic constitution of the present invention is to specify a preferable concrete constitution for carrying out the above-mentioned first, second, third, fourth, fifth or sixth characteristic constitution. However, it is supported by the guide rail in a mounted state. A ninth characteristic configuration of the present invention is the above first, second,
A specific configuration suitable for implementing the third, fourth, fifth, sixth, seventh or eighth characteristic configuration is specified, and the driving coil is a coil of a linear DC motor. .

[0011]

According to the first characteristic configuration, since the article to be conveyed can be held by the electric article processing apparatus, the moving body can be rapidly started or stopped, and further, at high speed. Even if the vehicle is rotated, the risk of the article to be conveyed falling from the moving body can be eliminated, which reduces the restrictions on the traveling of the moving body. In other words, the moving body can be rapidly started, stopped rapidly, and swung at a high speed while eliminating the fall of the article to be conveyed from the moving body.

According to the second characteristic configuration, the following action is exhibited in addition to the action according to the first characteristic configuration. That is, since the battery is charged by the power from the power receiving coil and the power of the battery is supplied to the coil drive circuit and the article processing device drive circuit, it is likely that the power supply from the power receiving coil is stopped due to a power failure or the like. Even in such a case, the coil drive circuit and the article processing apparatus drive circuit maintain the drive state for the drive coil and the electric article processing apparatus while the power is supplied from the battery.

According to the third characteristic configuration, the first or second
In addition to the operation by the characteristic configuration, the following operation is achieved. That is, the traveling control means for managing the drive of the drive coil and the article control means for managing the drive of the electric article processing apparatus are also operated by the power from the power receiving coil. . Therefore, it is not always necessary to provide a battery for operating the traveling control means and the article control means.

According to the fourth characteristic constitution, the following action is exhibited in addition to the action of the first, second or third characteristic constitution.
That is, since the article processing apparatus holds the article to be conveyed in a state where the article to be conveyed is placed on the article placing portion of the moving body, the article processing apparatus only regulates the movement of the article to be conveyed, It can be prevented from falling from the moving body, and does not require a grip force enough to support the entire weight of the article to be conveyed.

According to the fifth characteristic constitution, the following action is exhibited in addition to the action of the first, second or third characteristic constitution.
That is, since the article processing apparatus that is provided in the moving body and holds the conveyance target article also has a function of transferring the conveyance target article between the article transfer station and the moving body, there may be a plurality of articles. It is not necessary to provide equipment for transferring articles to be transported for each of a large number of transfer stations, or even if they are provided, the configuration can be simplified.

According to the sixth characterizing structure, the following function is obtained in addition to the function of the fifth characterizing structure. That is, since the operation unit vertically moves and swings the article gripper, the article to be conveyed can be positioned at a desired height and can have a desired posture, and the article to be conveyed can be efficiently transferred. Become.

According to the seventh characteristic configuration, the first, second, and
In addition to the action of the third, fourth, fifth or sixth characteristic configuration, the following action is exhibited. That is, by supporting the moving body in a suspended state with respect to the guide rail, the moving body can convey a comparatively heavy article to be conveyed, and even if a large load is applied to the moving body, the article can be stably conveyed.

According to the eighth characteristic configuration, the first, second, and
In addition to the action of the third, fourth, fifth or sixth characteristic configuration, the following action is exhibited. That is, by supporting the moving body in the mounted state with respect to the guide rail, the moving body is positioned above the guide rail, so that the configuration for mounting the article to be conveyed on the moving body is simplified. Is possible.

According to the ninth characteristic configuration, the first, second, and
In addition to the action of the third, fourth, fifth, sixth, seventh or eighth characteristic configuration, the following action is exhibited. That is, by using a linear DC motor that is easy to position the moving body as the linear motor, for example, when compared with a linear induction motor that is difficult to position with the linear motor alone, when stopping the moving body at the article transfer station, It is possible to extremely suppress the vibration like relaxation oscillation around the stop target point immediately before the stop.

[0020]

According to the first characteristic configuration, an electric article gripping device driven by the power of the power receiving coil grips an article to be conveyed, thereby avoiding a disadvantage caused by mounting a battery. However, by eliminating the fall of the article to be conveyed from the moving body, the moving body can be rapidly started or stopped, and further, it can be swung at high speed to improve the transportation efficiency. Since the improvement can be achieved, it has been possible to obtain a transfer facility using a linear motor which can be more conveniently used.

According to the second characteristic configuration, even when the power supply from the power receiving coil is stopped, while the power is supplied from the battery, the coil drive circuit and the article processing apparatus drive circuit are Since the driving state for the electric-type article processing apparatus is maintained, the operation of the coil drive circuit and the article processing apparatus drive circuit is stopped when the power supply from the power receiving coil is stopped. The restoration process at the time of restoration of the power supply becomes complicated, but such complexity can be avoided, and the configuration of the transport facility using the linear motor can be simplified as a whole.

According to the third characteristic configuration, since it is not always necessary to provide a battery for operating the traveling control means and the article control means, it is possible to simplify the structure and reduce the weight of the moving body. This makes it possible to simplify the structure of the transport facility using the linear motor as a whole.

According to the fourth characteristic configuration, the article processing apparatus does not require a gripping force enough to support the entire weight of the article to be conveyed. Therefore, while the article processing apparatus has a simple configuration,
The effects of the first, second, or third characteristic configurations can be obtained.

According to the fifth characteristic configuration, it is not necessary to provide a facility for transferring the article to be transported at each transfer station, which is often present in a plurality, or even if it is provided, the configuration can be changed. It is possible to simplify,
It is possible to achieve the effect of the first, second, or third characteristic configuration while simplifying the configuration of the entire transfer facility.

According to the sixth characteristic configuration, in addition to the effect of the fifth characteristic configuration, the article processing apparatus can efficiently transfer the article to be conveyed, and the operation efficiency of the conveyance facility can be improved. .

According to the seventh characteristic configuration, the first, second, and
In addition to the effect of the third, fourth, fifth or sixth characteristic configuration,
Even when a large load is applied to the moving body, the object to be conveyed can be stably transferred, and the processing capacity of the transfer facility can be improved.

According to the eighth characteristic configuration, the first, second, and
In addition to the effect of the third, fourth, fifth or sixth characteristic configuration,
It is possible to simplify the configuration for mounting the article to be transported on the moving body, and thus the configuration of the transport facility can be further simplified.

According to the ninth characteristic configuration, the first, second, and
In addition to the effect of the third, fourth, fifth, sixth, seventh, or eighth characteristic configuration, when the moving body is stopped at the article transfer station, the relaxation vibration around the stop target point immediately before the stop Vibration can be extremely suppressed, and the moving body can be stopped accurately, so that the transfer work efficiency of the transfer facility can be further improved.

[0029]

Embodiments of the present invention will be described below with reference to the drawings. [First Embodiment] First, the first embodiment will be described. FIG.
As shown in FIG. 2, a moving body A driven by a linear DC motor and a guide rail B for guiding the moving body A are provided, and a coil 1 that is a driving coil for the linear DC motor is provided.
However, a magnet 2 of a linear DC motor, which is mounted on the moving body A and is a thrust generation member for generating a thrust in cooperation with the coil 1, is mounted on the guide rail B.

A feeder line 3 for generating a magnetic field by being supplied with an alternating current is arranged along the guide rail B, and is arranged on the moving body A.
A power receiving coil 4 that generates electric power by a magnetic field formed by a power supply line is provided, and the electric power generated from the power receiving coil 4 allows the moving body A to travel and carry articles as described later. It is designed to be driven.

The respective parts will be described below. Mobile unit A
Is a main body portion A1 which is stored in the guide rail B and is supported by the guide rail B in a mounted state, and an article holding portion which is located above the guide rail B in a protruding state and mainly related to holding articles. And part A2. The main body portion A1 and the article holding portion A2 are connected to each other by a connecting frame 5 in a vertical posture located at a central portion in the lateral direction of the moving body in a front view. A pair of left and right running wheels 6 that are rotatable around an axis along the lateral direction of the moving body and a pair of running wheels 6 that rotate around the axis along the up-down direction are provided on the main body portion A1 in correspondence with both ends of the longitudinal direction of the moving body. It is equipped with a pair of left and right rolling wheels 7 for steady rest.

The article holding section A2 holds an article placement section 8 and an electric article processing apparatus D for holding an article C to be conveyed (hereinafter abbreviated as article C) placed on the article placement section 8. When,
A controller E that manages driving of the coil 1 and the article processing apparatus D and the power receiving coil 4 described above are provided.

As shown in FIG. 2, the guide rail B is mainly composed of a pair of left and right rail members 10 made of a non-magnetic material such as aluminum.
Both ends of 1 are bolted to the pair of left and right rail members 10, the left and right pair of rail members 10 are integrally assembled, and the magnet 2 is disposed between the pair of left and right rail members 10. The support frame 12 is assembled to the bottom of the guide rail B at intervals in the rail longitudinal direction, and both ends of the support frame 12 are supported by the suspension frame 13 with respect to the ceiling. That is, the guide rail B is suspended from and supported by the ceiling portion, and the entire transportation facility is of a ceiling transportation type.

On the guide rail B, a guide portion 10a in a horizontal posture in which the traveling wheel 6 of the moving body A comes into contact, and a rolling wheel 7 for steadying the vehicle.
A guide portion 10b in a vertical posture is formed so as to come into contact with each other. In addition, on the upper part of the guide rail B, a pair of left and right cover bodies 14
Are fixed by bolts, and between the cover bodies 14,
Groove 1 through which the vertical connecting frame 5 of the moving body A penetrates
5 is formed.

An elongated support bracket 16 made of a non-magnetic material is attached to one lateral side of the guide rail B. The support bracket 16 is formed to have a bifurcated vertical cross section, and the power supply line 3 is supported by the bifurcated portion along the rail longitudinal direction. In addition, the power supply line 3 has its both ends connected to the AC power supply unit 18,
It has a loop shape, and a pair of power supply line portions extending from the power supply portion 18 are supported by the above-mentioned bifurcated portion so as to be vertically aligned.

As shown in FIG. 3, the power receiving coil 4 is arranged between the pair of power supply line portions described above in a posture along the horizontal direction. Adding explanation, power receiving coil 4
Is a magnetic material 4a having an E-shaped vertical cross section and the magnetic material 4a.
The coil 4b is wound around the central protruding portion of a, and is supported by the moving body A as described above using the mounting bracket 19 made of a non-magnetic material. 20 in the figure
Is a cover that covers the outer peripheral portion of the power receiving coil 4, is formed of a non-magnetic material, and is continuously provided from the article holding portion A2 of the moving body A.

The power generated by the power receiving coil 4 is as shown in FIG.
As shown in FIG. The power supply circuit 21 includes a rectifying circuit and a voltage stabilizing circuit, and rectifies and adjusts the voltage of the power from the power receiving coil 4 to drive the coil 1 to drive the coil 1 and the article processing apparatus D. It is adapted to be supplied to the driven article processing apparatus drive circuit K2 and the controller E.

The controller E is a communication device 23 that communicates by optical communication with a communication device 22 provided in the station ST for transferring articles, a sensor (not shown) for detecting a position with respect to the station ST, and other preceding movements. Various types of sensors, such as a sensor for detecting the distance to the body A, are provided. The control means 100 for traveling that manages the drive of the coil 1 and the control for articles that manages the drive of the article processing apparatus D are provided. It functions as the means 101. As shown in FIGS. 6 and 8, the communication device 23 of the controller E communicates in a state where the mobile unit A stops at the station ST and faces the communication device 23 of the station ST.

To explain the operation of the controller E, the controller E basically determines the next target station ST based on the command information commanded from the communication device 22 provided in the currently stopped station ST. It will be repeated to run and stop. Then, prior to the start of traveling, whether or not the article C is mounted on the moving body A is instructed from the above-described communication device 22, and when the article C is mounted, the article processing apparatus D before starting the traveling. The article C will be gripped. Further, when the article C is mounted and travels to the target station ST and stops, the grip of the article C by the article processing device D is released.

The electric article processing apparatus D for gripping the article placing section 8 and the article C placed on the article placing section 8 will be described, taking the case where the article C is a cube as an example. To do. As shown in the plan view of FIG.
It is composed of a pair of base frames 8A installed at front and back with a space, and a pair of left and right locking bodies 8B provided in left and right of each of the base frames 8A. The article C is placed and held in a state where the corner portions are locked and held by the locking bodies 8B. Incidentally, at the station ST, as shown in FIG. 6, a transfer device provided with an article support portion 24 that can be raised and lowered and retracted in the lateral direction of the moving body is arranged.
While the article support section 24 moves back and forth between the pair of base frames 8A,
The article C is transferred between the moving body A and the station ST.

As shown in FIG. 7, the electric article processing apparatus D includes a pair of front and rear gripping tools 25 swinging in the front-rear direction of the moving body with the lower end side as a fulcrum, and an article gripping tool with the gripping tools 25 standing upright. An electric motor 26 is provided as a main part for switching between the working posture and the lying grip-release posture. And
A rotating body 27 that is rotated in the forward and reverse directions by an electric motor 26 and a pair of gripping tools 25 are interlockingly connected by a linking rod 28. In addition, each of the pair of grippers 25 includes a pair of left and right arms 25a and a wire rod portion 25b that is arranged over the tip portions of the arms 25a and has a U-shape in plan view as shown in FIG. , Basically, arm 2
5a regulates the back-and-forth movement of the article C, both ends of the wire rod portion 25b regulate the lateral movement of the article C, and further, the arm 25a.
The tip-like hooked portion of the above-mentioned restricts the rise of the article C.

[Second Embodiment] Next, a second embodiment will be described. As shown in FIG. 9, the moving body A is guided by the guide rail B.
It is supported in a drooping state. I won't go into detail,
It is the same that the moving body A is supported on the guide rail B by the traveling wheel 6 and the steady rolling wheel 7. further,
The coil 1 of the linear DC motor is attached to the moving body A,
The magnet 2 of the linear DC motor is attached to the guide rail B, and the feeder line 3 for generating a magnetic field by passing an alternating current is arranged along the guide rail B. The feeder line is formed on the moving body A. The electric power receiving coil 4 for generating electric power by the magnetic field is provided, and the moving body A is equipped with the electric article processing apparatus D and the controller E for controlling the drive of the coil 1 and the article processing apparatus D. The same as the above-mentioned embodiment.

In the second embodiment, the engaging piece 30 is provided on the upper part of the article C, and the article processing apparatus D is correspondingly provided therewith.
Is composed of an article gripping portion 31 for locking and gripping the locking piece 30, and an operation portion 32 for vertically moving and rotating the article gripping portion 31 with respect to the moving body A. That is, in the second embodiment, it is preferable that the station ST is located below the guide rail B, and the article processing apparatus D is used as a station ST for gripping an article and transferring the article. The article C is configured to be transferred to and from the moving body A.

Other Embodiments In the above embodiment, the power supply circuit 21 includes the power receiving coil 4
The coil drive circuit K by rectifying and adjusting the voltage from the power from
1, the power supply circuit 21 is provided with a battery V charged by the power from the power receiving coil 4, and the power receiving coil 4 is powered by the power receiving coil 4 for some reason such as power failure. The configuration may be such that the power of the battery V is supplied to the coil drive circuit K1, the article processing device drive circuit K2, and the controller E when the power is no longer supplied. Also, the electric power of the battery V is supplied to the controller E.
It may be configured to supply only to.

In the embodiment shown in the block diagrams of FIGS. 4 and 10, the controller E receives power from the power receiving coil 4, but functions as the traveling control means 100 and the article control means 101. Controller E
A battery that supplies power only to the power receiving coil 4 may be provided independently of the power supply system from the power receiving coil 4.

In the above embodiment, the thrust for moving the moving body is generated by the linear DC motor.
It is also possible to provide another type of linear motor such as a linear induction motor and move the moving body by the generated thrust.

In the first embodiment, the article processing apparatus D
Has a configuration in which the driving force of the electric motor 26 is transmitted via the linkage rod 28 and the pair of front and rear grippers 25 is swung to switch between the article gripping action posture and the grip release posture. Is driven by different electric motors, or the gripper 25 is moved back and forth in parallel to switch between the article gripping working posture and the gripping releasing posture.
Various changes are possible.

In the second embodiment, the article gripper 31
Although the article C is configured to be transferred by moving up and down and turning the article, the article gripping unit 3 is provided in the article processing apparatus D.
A multi-joint manipulator including 1 may be provided to grip and transfer the article C.

It should be noted that reference numerals are given in the claims for convenience of comparison with the drawings, but the present invention is not limited to the configurations of the accompanying drawings by the entry.

[Brief description of drawings]

FIG. 1 is a partial sectional view according to a first embodiment of the present invention.

FIG. 2 is a sectional view of a main part according to the first embodiment of the present invention.

FIG. 3 is a cross-sectional view of a main part according to the first embodiment of the present invention.

FIG. 4 is a block diagram according to the first embodiment of the present invention.

FIG. 5 is a plan view of a main part according to the first embodiment of the present invention.

FIG. 6 is a diagram for explaining the transfer of articles to be conveyed according to the first embodiment of the present invention.

FIG. 7 is a side view of a main part according to the first embodiment of the present invention.

FIG. 8 is a schematic plan view according to the first embodiment of the present invention.

FIG. 9 is a schematic plan view according to a second embodiment of the present invention.

FIG. 10 is a block diagram according to another embodiment of the present invention.

FIG. 11 is an explanatory view of the prior art of the present invention.

[Explanation of reference numerals] 1 driving coil 2 thrust generating member 3 power supply wire 4 power receiving coil 8 article placing section 31 article gripping section 32 operating section 100 control means for running 101 control means for article A moving body B guide Rail D Article processing device K1 Coil drive circuit K2 Article processing device drive circuit ST Article transfer station

Claims (9)

[Claims] 1. A linear motor drive coil (1) comprises:
A thrust generating member (2) mounted on the moving body (A) and for generating a thrust in cooperation with the driving coil (1).
Is attached to a guide rail (B) of the moving body (A), and a power supply line (3) that is supplied with an alternating current to generate a magnetic field is arranged along the guide rail (B). In (A), a power receiving coil (4) that generates power by a magnetic field formed by the power supply line (3), and the driving coil (1) is driven by power from the power receiving coil (4). Coil driving circuit (K1) for controlling, and a traveling control means (1) for managing the driving of the driving coil (1)
00) and a transfer facility using a linear motor, wherein an electric article processing device (D) for holding an article to be transferred in the moving body (A).
And an article processing device drive circuit (K2) for driving the electric article processing device (D) by electric power from the power receiving coil (4), and driving of the electric article processing device (D). A transport facility using a linear motor, which is provided with a control means (101) for managing articles. 2. A battery (V) charged by electric power from the power receiving coil (4) is provided, and the coil drive circuit (K1) is connected to the battery (V).
2. The transport facility using a linear motor according to claim 1, wherein power is supplied to the article processing apparatus drive circuit (K2). 3. The traveling control means (100) manages driving of the drive coil (1) by electric power from the power receiving coil (4), and the article control means (101) is , The electric power from the power receiving coil (4) is configured to manage the drive of the electric article processing device (D).
Alternatively, the transport facility using the linear motor described in 2. 4. The electric article processing apparatus (D) is configured to hold an article to be conveyed placed on an article placing section (8) of the moving body (A). Transport equipment using the linear motor according to 1, 2, or 3. 5. The electric article processing device (D) grips an article to be conveyed, and conveys the article to be conveyed between an article transfer station (ST) and the moving body (A). The transport facility using a linear motor according to claim 1, 2 or 3, which is configured to be transferred. 6. The electric article processing apparatus (D) includes an article gripping portion (31) and an operation section (for moving the article gripping portion (31) up and down and rotating with respect to the moving body (A). Three
The transport facility using a linear motor according to claim 5, which is comprised of 2) and. 7. The moving body (A) is supported in a suspended state with respect to the guide rail (B).
Transport equipment using a linear motor as described in 2, 3, 4, 5 or 6. 8. The moving body (A) is supported in a mounted state with respect to the guide rail (B).
Transport equipment using a linear motor as described in 2, 3, 4, 5 or 6. 9. The driving coil (1) is a coil of a linear DC motor.
Transport equipment using a linear motor as described in 7 or 8.