JPS61188264A - Travelling device - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention 1] The present invention relates to a traveling device that guides a traveling body by restricting the movement of the traveling body at least in the height direction by a track.

[Technical background of the invention and its problems] An example of this type of device is a conveyance system using a linear induction motor. In this conveyance system, a reaction plate is provided on a traveling body that runs along a track, a plurality of stators are spaced apart along this track, and a magnetic flux that changes with time is applied to the reaction plate passing through the stator. This change causes the reaction plate to generate a constant propulsive force or reverse propulsive force, thereby causing the traveling body to travel or stop.

By the way, in this type of conveyance system, when a plurality of running bodies are run along the track, if one running body is stopped by any of the stators, this running body is moved along the track. There was a problem in that it was not possible to run a plurality of running bodies because other running bodies could not run unless they were further evacuated.

In order to solve this problem, in the past, a retraction section was provided in which the guide rails constituting the track were retracted from the track together with the traveling object at the stop position of the traveling object, and a spare rail was attached to this retraction section. Means for restoring the orbit are also known.

However, this conventional method requires space and a mounting mechanism for the spare rail, making the device larger and
There are disadvantages in that positioning of the spare rail at the retracted portion is complicated, and joints occur in the track, which impedes smooth running of the traveling body.

[Object of the Invention] The present invention has been made in view of the above circumstances, and has an object to easily evacuate a running body from a track with a relatively simple configuration while regulating the movement of the running body in the height direction. can, and
The traveling device is capable of guiding the traveling body smoothly during normal running, and is capable of maintaining the size and weight of the traveling body even though the traveling body itself is retracted. The purpose is to provide a compilation of information.

[Summary of the Invention] I! of the present invention to achieve the above object! The point is that the traveling body is guided and guided by restricting the movement of the traveling body at least in the height direction by a track, and the traveling body is equipped with wheels and locked parts on both sides in the width direction. Of the members regulating the height direction on both sides of the running path of the running body, the locking portion extends toward one surface of the running body through the upper part of the track regulating the upward direction. □6
oh! 111 steps, kaari. 66 features. 6 too. ,be.

Hereinafter, one embodiment of the present invention will be described with reference to the drawings. This embodiment relates to a traveling device using a linear induction motor.

Figure 1 is a schematic perspective view of the running body and track, Figure 2 is the running fT
FIG. 3 is a cross-sectional view taken along the line 1-1 shown in FIG. 2, and FIG. 4 is a diagram illustrating the operating principle of the linear induction motor.

In FIGS. 1 and 2, a running body 1 is a rear crayon plate 3 formed of copper, aluminum, etc. at the lower end of a casing 2 capable of stacking articles, and is a non-metallic plate, and is sensitive to magnetic flux generated from a stator 13, which will be described later. Propulsion or reverse propulsion is given based on the power.

Further, on the i-side surface 2A of the casing 2, wheel groups 5A and 5B are arranged symmetrically on the -a++ surface 2A at the leading end and the rear end, respectively, with respect to the traveling direction A.

The wheel groups 5A and 5B each have a first guide member, which is a guided member, which is disposed vertically with different center positions with respect to the height direction B of the traveling body 1. It consists of second wheels 6, 7, and a third wheel 8, which is a guided member and has a circumferential surface that protrudes beyond the width of the housing 2. The length in the height direction B from the upper end to the lower end of the second wheel 6.7 is the first. The center of rotation of these wheels is determined to be shorter than the sum of the diameters of the second wheels 6 and 7. Further, the length from the running front end side of the first wheel 6 of the wheel group 5A to the running rear end side of the first wheel 6 of the wheel group 5B is Ll, and the length is Ll in the wheel group 5A.

The length between the outer circumferences of the first wheel 6 and the third wheel 8 of 5B is set to 1-2.

Locked portions 9 protruding in the width direction C of the housing 2 are provided at the four corners of the upper end of the housing 2, respectively.

The traveling path 4 of the traveling body 1 is formed by arranging guide rails 10.10, each of which is a track 11 and having a linear cross section, facing each other along the traveling direction A with their open ends facing inward.

This guide rail 10.10 includes a first guide member 10A disposed on the upper side in the height direction, a second guide member 10B disposed on the lower side, and the first guide member 10.10. The third guide member 10C connects the second guide members 10A and 103 with a distance @h.

The distance [a] formed by the third guide member 100.10G is the third guide member 100.10G protruding from the housing 2 in the width direction.
is slightly longer than the length in the width direction C of the wheels 8, 8, and the separation distance is slightly longer than the length of the wheels 8, 8 in the width direction C. It is slightly longer than the distance from the upper end to the lower end of the second wheel 6.7.

A linear induction motor 12 is installed below the running path 4.
is being pulled. This linear induction motor 12 includes a reaction plate 3 as a mover attached to the housing 2.
and a pair of stators 13, 13, which are stators, and are arranged opposite to each other across the travel path of this reaction play h3.

As shown in FIGS. 3 and 4(a), the stator 13.13 is made by laminating electric iron plates with teeth and grooves punched out therein, and coils are wound around the matching grooves. Note that there is a certain distance Il between the reaction plate 3 and the stator 13.
A gap of l is provided.

Here, the principle of generation of propulsive force or reverse propulsive force by the linear induction motor will be briefly explained with reference to FIGS. 4(a) and 4(b). FIG. 4(a) is a schematic perspective view of a flat plate-like one-sided type linear induction motor as an example, and FIG. 4(b) is a characteristic diagram showing the relationship between magnetic flux bo and eddy current jr. When a two-phase or three-phase alternating current is passed through the coil of the stator 13,
The instantaneous value bo(T) of the magnetic flux density at the gap is given by the peak value B(1), where ba= Ba cos (ωt −πχ/τ),
ω-2πf: Angular frequency of power supply (rad'/S) f: Frequency (Hz) t: Time (S) χ: Distance on the stator surface (m) τ: Pole pitch (m>. Pole pitch τ is This is the length of a half period of the magnetic flux density bg.Also, since the magnetic flux generated from the stator 13 is alternating current, it generates an eddy current in the reaction plate 3, which is the mover, according to Lenz's law. a) Shown in the cross section of the reaction plate 3 shown in the figure.
The marks and x marks represent the direction in which eddy current flows and its magnitude. The instantaneous value jr of this eddy current is jr=Jr 5in(ωt -4tX/'l knee 4)), where Jr is the peak value of the eddy current.
Here, ψ is a phase difference based on the impedance of the reaction plate 3. Since the magnetic flux density bo of the gap forms a moving magnetic field, the product of this magnetic flux density bg and the eddy current jr generates a continuous thrust F according to Lumming's left-hand rule.

Note that this thrust F occurs in either the left or right direction in FIG. 4(a), but the bgxjr in the left region in FIG. 4(b)
is larger than the right area, so the reaction plate 3 will move to the left. Further, in order to apply a reverse propulsion force to the reaction plate 3, an alternating current of opposite phase may be caused to flow through the coils of the stator 9. As a method of varying the magnitude of this thrust F, methods such as varying the AC frequency f or varying the AC amplitude are adopted.

Next, the traveling path 4 of the traveling body 1 to which the propulsion force is applied as described above will be explained. As shown in FIG.
3A to stator 13 are arranged so that propulsive force or reverse propulsive force can be applied to the reaction plate 3 of the traveling body 1 at each position. Further, for example, the first guide member 10A of the guide rail 10 that guides the traveling body 1 above the stator 13B has a notch 100 as shown in FIG. This notch 10
The length L3 of 0 is larger than the length Ll between the wheel groups 5A and 58 of the traveling body 10, and by moving the traveling body 1 upward, the traveling body 1 is attached to the guide rail through the notch 10D. From 10 onwards, you can leave.

Next, the lit mechanism 20, which is an example of a moving means for retracting the traveling body 1 through the notch 100, will be explained. This lift mechanism 20 includes drive pulleys 21.21 provided near the stator 13B and arranged on the outside of the guide rail 10, driven pulleys 22, 22 spaced apart above the drive pulleys 21.21, and It is composed of a timing belt 23.23 stretched around a driving pulley 21.21 and a driven pulley 22.22, and locking parts 24, 24 attached to this timing belt 23.23. The driving pulleys 21.21 are reversibly rotated by a motor (not shown), so that
A locking portion 24 attached to the timing belt 23°23.
24 is designed to move up and down. This locking portion 24.
24 is formed to extend toward the side surface 2A of the traveling body 1 through the upper part of the guide rail 10, and is normally attached to the traveling body 1.
It is set below the locked portion 9 of. Therefore, after the traveling body 1 is stopped by the stator 13B, the drive pulley 2
1.21 is rotated in the forward direction, the locking portion 24.24 moves upward and engages with the locked portion 9 of the traveling body 1, and thereafter locks the traveling body 1 and locks the notch. Running body 1 via 10D
It can be driven to retreat. Further, since the locking portion 24 is formed to extend toward the side surface 2A of the traveling body 1 through the upper part of the guide rail 10, the locked portion 9 provided on the traveling body 1 side is slightly smaller than the side surface 2A. It is sufficient if it stands out,
Due to such a locked portion 9, the traveling body 1 does not become large in size, and can be made smaller and lighter.

The operation of the device configured as above will be explained.

Propulsive force is applied to the running body 1 by passing a two-phase or three-phase alternating current through the coil of the stator 13, as described above, to generate magnetic flux from the stator 13, and based on this magnetic flux, an eddy current is generated in the reaction plate 3. is generated, and the product of this magnetic flux and eddy current generates a continuous propulsive force F according to Fleming's left-hand rule. In this way, a propulsion force is applied to the traveling body 1, and when the traveling body 1 is moved, the traveling body 1 moves to the housing 2.
The wheel groups 5A and 5B attached to the wheels are guided by the cross-shaped guide rails 10.10 and travel along the running path 4 due to inertia. Here, the guide rail 1
0.10 is the third guide member 10G, 1 that restricts the movement of the traveling body 1 in the width direction C with respect to the traveling direction A of the traveling body 1.
0C and which restricts the movement of the traveling body 1 in the height direction B. It has second guide members 10A and 10B, respectively. Furthermore, the traveling body 1 includes a third wheel 8 that contacts the third guide members 100, 100, and a third wheel 8 that contacts the third guide member 100, 100. The first guide members 10A and 10B are in rolling contact with each other. and a second wheel 6.7. Therefore, the traveling body 1 can freely travel only along the traveling direction A, and movement in other directions is restricted. Therefore, even if the track 11 that guides the running body 1 is formed by bending it left and right and up and down, the running body 1 can follow the track 11 without leaving the track 11, and can travel three-dimensionally. Although not shown in FIG. 5, the traveling path is curved only in the plane -F, but it is not limited to this, and may be curved in the vertical vertical direction.

Further, in this embodiment, the movement of the traveling body 1 in the height direction B is restricted by the first wheel 6 in rolling contact with the first guide member 10A and the second wheel 7 in rolling contact with the second guide member 10B. I am going with. Therefore, as shown in FIG. 8, when the traveling body 1 travels in the direction shown, the upper first guide member 1
The first wheel 6 in rolling contact with 0A freely rotates clockwise, and the second wheel 7 in rolling contact with the lower and side second guide member 10B freely rotates counterclockwise, and both guide members 10A rotate freely.
, 10B can be reduced to ensure efficient inertial running.

By the way, as shown in FIGS. 10(A) and 10(B), the first.
It is also conceivable to provide one wheel 30 on the side surface 2A of the traveling body 1 with respect to the second guide members 10A and 10B to restrict movement in the height direction B.

In this case, when the wheel 30, which is rotated counterclockwise by rolling contact with the second guide member 1C)B due to the weight of the traveling body 1, rolls into contact with the first guide member 10A,
As shown in FIG. 10(A), a clockwise rotational moment acts, creating a large resistance to the inertia of the traveling body 1.

Therefore, as in this embodiment, two wheels 6.7 are used, each with a first wheel. Second guide member 10A, 10. The method of making contact with B allows the traveling body 1 to run more smoothly.

In this embodiment, the length in the height direction from the upper end of the first wheel 6 to the lower end of the second wheel 7 is the length of both axles 6, 7.
Both axles 6. should be shorter than the sum of their diameters.
The rotation center position of 7 is determined. For this reason, as shown in FIG. The facing distance between the second guide members 10A and 10B can be shortened, and as a result, both axles 6.
7 attached to the side surface 2A can be miniaturized. Therefore, it is possible to reduce the size and weight of a traveling body particularly used for inertial traveling, and it is possible to design an efficient traveling device.

In this way, the device of this embodiment can contribute to downsizing of the traveling body 1, but as shown in FIG. Even if the second wheels 6 and 7 are provided on the traveling body 1, at least
There is no resistance force that reduces running force as in the case shown in .

However, in this case, the first. Second guide member 10A
, 10B, the facing distance 1 m h t becomes larger, and
The effect of reducing the size of the traveling body 1 cannot be obtained.

In addition to the wheel arrangement method described above, there is a method shown in FIG. 11 that restricts the movement of the traveling body 1 in the height direction. This is done with the guide member 31 in between and this guide member 31
Two wheels 32A and 32B are provided on both sides of the wheel, respectively.

Although this method does not have the drawbacks of the method shown in FIG. Due to its own weight and centrifugal force when traveling around curves, a certain level of yield strength is required, and there is a limit to reducing the diameter.For this reason, the system shown in Fig. 11 is more effective than the device of this embodiment. It is inferior in terms of making the running body smaller and lighter.

Next, the operation when the traveling body 1 is evacuated from the track 11 will be explained.

When the traveling body 1 is to be evacuated from the track 11, the traveling body 1 is stopped on the stator 13B provided with the moving means 20. The first guide member 1 of the guide rail 10°10 that stops and maintains the traveling body 1 above the stator 13B.
0A and 10A are cut out, and a cutout portion 10D and IOD are provided. Then, a motor (not shown) is driven to drive the drive pulleys 21, 21 in forward rotation. Then,
The timing belts 22, 22 on the side closer to the track 11 move upward, and the locking portions 24.24 attached to the timing belts 22.22 also move upward together. At this time, the free end side of the locking part 24 24 is a locked part 9 , 9 , which is formed in advance to protrude from the traveling body 1 . . . , the above-mentioned upward movement causes the locking portions 24.24 to be set below the locked portions 9, 9. ..., and after engagement, the traveling body 1 is supported by the locking portions 24.24 from both sides and moves upward integrally with the locking portions 24.24.

At this time, the first guide members 10A and IOA in the middle of the ascending path of the wheel groups 5A and 5B are cut out to form cutout portions 10D,
Because it is 10'D, the traveling body 1 can be moved to the track 1 without any trouble.
1 can be evacuated.

Furthermore, if the evacuation drive is performed in the -L direction until other traveling bodies can run on the track 11 below this evacuated traveling body 1, a plurality of traveling bodies 1 can be moved onto the track 11. It is also possible to set it up and run it.

Incidentally, the notch 10r of the first guide member 10A like this
) is preferably provided in a portion where the track 11 is horizontally arranged and straight. In this way, horizontal,
The traveling body 1 traveling on the straight track 11 is guided by its own weight as the second wheel 7 rolls into contact with the second guide member 10B, and the first wheel 6 and the second guide member 10A
The possibility of contact with is reduced. Therefore, the notch 10
The first wheel does not collide with the end face of D, and the smooth running of the traveling body 1 is not hindered. Further, since no external force such as centrifugal force is applied, there is no fear that the traveling body 1 will jump out from the notch 10D. Furthermore, since there is no necessity to provide a joint in the track at the part where the traveling body 1 is to be retracted, smoother traveling can be achieved than in the conventional device.

As described above, the device of this embodiment has a relatively simple configuration and can easily evacuate the traveling body 1 from the track 11 with a simple operation.Moreover, by arranging the evacuating drive device, it is possible to easily evacuate the traveling body 1 from the track 11 during normal traveling. This does not impede the smooth running of the running body 1. In addition, since the traveling body 1 is locked and retracted from both sides of the track 11 as in this embodiment, it is also possible to use other evacuation methods, such as a method of lifting the traveling body 1 from above, or a method of lifting the traveling body 1 from below. Compared to the push-up method, the structure of the moving means is simpler and smaller.

Note that the present invention is not limited to the above-mentioned embodiments, and various modifications can be made within the scope of the gist of the present invention.

The driving method of the traveling body 1 is not limited to one using various linear motors, and in addition to other methods that provide thrust from the outside, the traveling body 1 itself has an internal drive source and drives the second wheels 7. The wheels may obtain thrust through friction with the second guide member 10B.

Furthermore, a removable cover member is arranged in the notch 1°D of the first guide member 10A, and when the traveling body 1 is driven to retreat, the notch 1oD is used as a cover member to guide travel. You may try to supplement it.

[Effects of the Invention] According to the present invention described in detail above, the first guide member, which is the guide member above the wheel, is partially cut out, and the traveling body is driven to retreat from the track through the cutout. Since the means is provided, even if the traveling body is restricted from moving in the height direction, the track can be easily evacuated. Moreover,
Although the traveling body itself is configured to be retracted, the traveling body is small.

Able to maintain light weight. In addition, the orbit itself is connected,
Since there is no need for separation, etc., it is possible to contribute to miniaturization of the device, and the smooth running of the traveling body is not hindered by the joints of the tracks during connection.

[Brief explanation of the drawing]

Fig. 1 is a schematic perspective view of the traveling body and the track, Fig. 2 is a sectional view of the running path of the running body, Fig. 3 is a cross-sectional view showing the section I-■ in Fig. 2, Fig. 4 (a), (b) is an explanatory diagram of the operating principle of the linear induction motor, FIG. 5 is a schematic explanatory diagram of the track, FIG. 6 is a schematic perspective view of the first guide member without showing the notch, and FIG. 71ii
i1 is a schematic explanatory diagram of the moving means, and FIG. FIG. 91 is an explanatory diagram showing the rolling contact state of the second wheel. Explanatory diagram showing a modified arrangement of the second wheel, Fig. 10 (A)
. (B) is an explanatory diagram showing another example of regulating the movement of a traveling body in the height direction, and FIG. 11 is an explanatory diagram showing an example of a conventional traveling device. 1...1 running body, 5A, 5B...wheel group, 6...first wheel, 7...
・Second wheel, 9...Locked part, 1OA...First guide member, 10B...Second guide member, 100...Notch part,
DESCRIPTION OF SYMBOLS 11... Track, 20... Moving means, 24... Locking part, 30... Wheel. Agent: Attorney Masayoshi Misawa Figure 8 Figure 9

Claims (5)

[Claims] (1) A traveling body that guides the traveling body by restricting its movement in at least the height direction by a track, and is equipped with wheels and locked parts on both sides in the width direction; A track which is spaced apart from each other in parallel on both sides of the running path of the traveling body, and in which a member regulating the upward direction of the wheel is cut out over a predetermined region among the members regulating the height direction of the wheel; A locking part that is formed to extend toward the side surface of the running body through the upper part of the track and that locks the locked part of the stopped running body is moved along the height direction, and the cutout part is moved along the height direction. A traveling device comprising a moving means for retracting a traveling body from a track via a means for retracting a traveling body from a track. (2) The wheels of the traveling body include wheel groups in which first and second wheels having different center positions in the height direction are arranged above and below, respectively, on the leading end side and the trailing end side of the traveling body. A traveling device according to claim 1. (3) The length of the first wheel in the height direction from the upper end of the first wheel to the lower end of the second wheel is shorter than the sum of the diameters of the first and second wheels. 1. 2nd
The traveling device according to claim 1, wherein the center position of the wheel is determined. (4) The traveling device according to claim 1 or 3, wherein the traveling body inertially travels by receiving thrust from thrust applying means distributed along the track. (5) The traveling device according to claim 4, wherein the notch is provided at a position where the traveling body is stopped by receiving the reverse propulsive force from the thrust applying means.