JPS61188265A - 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] The present invention relates to a traveling device that guides and travels 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 Problems Thereof 1 The conventional traveling device has a first . One wheel 30 was provided on the side surface 2A of the traveling body 1 for 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 10B due to the weight of the traveling body 1, rolls into contact with the first guide member 10A, as shown in FIG. As shown in FIG. 2, a clockwise rotational moment was applied, creating a large resistance to the running of the traveling body 1.

Furthermore, in order to restrict the movement of the traveling body in the height direction, the wheels must be guided in the vertical direction by tracks. Therefore, in order to remove the running body from the track, conventionally the track was removed together with the running body, and a spare track was connected instead to allow other running bodies to run.

However, adding a track switching device or the like increases the size of the device, and the positioning operation when connecting the tracks is complicated, and the track joints sometimes impede the smooth running of the traveling body.

[Objective of the Invention] The present invention has been made in view of the above circumstances, and it is possible to always run smoothly while regulating the movement of the traveling body in the height direction, and also to reduce the size and weight of the traveling body. It is an object of the present invention to provide a traveling device that can contribute to the realization of the above-mentioned technology and that can also easily evacuate a traveling object from a track.

[Summary of the Invention] The outline of the present invention for achieving the above object is to provide a traveling device that guides and travels the traveling body by restricting the movement of the traveling body at least in the height direction by a track, in which the traveling body moves in the horizontal direction. Wheel groups consisting of first and second wheels arranged above and below, with different center positions, are provided on both sides of the traveling body in the width direction, at the leading end and the rear end of the traveling body, respectively. The track is formed by arranging in parallel a first guide member in rolling contact with the upper end side of the first wheel and a second guide member in rolling contact with the lower end side of the second wheel, and The first guide member is cut out over a predetermined area, and 1. The present invention is characterized in that a moving means is provided for retracting the traveling body along the height direction in order to remove the traveling body from the track through the notch of the first guide member.

[Embodiment of the Invention] Hereinafter, an 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 traveling body and the track, Figure 2 is a longitudinal sectional view of the traveling path of the traveling body, Figure 3 is a cross-sectional view showing the 1'-1 cross section shown in Figure 2, □ Figure 4 FIG. 2 is an explanatory diagram of the operating principle of a linear induction motor.

In FIGS. 1 and 2, a traveling body 1 has a reaction plate 3 erected at the lower end of a casing 2 on which articles can be loaded. This reaction plate 3 is a metal plate made of copper, aluminum, etc., and is adapted to be provided with propulsive force or reverse propulsive force based on magnetic flux generated from a stator 13, which will be described later.

Further, on both side surfaces 2A of the housing 2, wheel groups 5A and 5B are provided in a symmetrical arrangement on both side surfaces 2A on the leading end side and rear end side of the vehicle, 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, arranged vertically with different center positions with respect to the height direction B of the traveling body 1. It consists of a second wheel 6.7 and a third wheel 8, which is a guided member whose circumferential surface protrudes beyond the width of the housing 2, and which is a guided member. 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 in the wheel group 5A.

The length between the outer circumferences of the first wheel 6 and the third wheel 8 of 5B is both set to L2.

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, which are tracks 11, each having a cross-sectional shape, 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 B, a second guide member 10B disposed on the lower side, and the first guide member 10.10. A third guide member 10C connects the second guide members 10A and 108 with a distance between them. The separation distance a formed by the third guide member 10C and IOC is slightly longer than the length in the width direction C of the third wheel 8.8 protruding from the housing 2 in the width direction, and
The distance 1ilIh is the first. It is slightly longer than the distance from the upper end to the lower end of the second wheels 6, 7.

A linear induction motor 12 is provided below the running path 4. This linear induction motor 12 has a glue action 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 with the travel path of the reaction plate 3 interposed therebetween.

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 Q between the reaction plate 3 and the stator 13.
A gap 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 planar one-sided type linear induction motor as an example, and FIG. 4(b) is a characteristic diagram showing the relationship between magnetic flux ha 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 ba (T) of the magnetic flux density at the gap is bo=-Bgcos(ωt-πχ/τ) where the peak value is Bq, where ω=2
πf: Angular frequency of power supply (rad/s) f: Frequency (
Hz) t: Time (S) χ: Distance 11t (m) on the stator surface τ: Pole pitch (m). The ball pitch τ is the length of a half period of the magnetic flux density bo. Furthermore, since the magnetic flux generated from the stator 13 is alternating current, it generates an eddy current in the reaction plate 3, which is a movable element, according to Lenz's law. FIG. 4(a) shows the cross section of the reaction plate 3 shown in FIG.
The mark and the X mark represent the direction in which eddy current flows and its magnitude. The instantaneous value jr of this eddy current is jr=Jr 5 in (ωt −ytz/r−φ), where ψ is a phase difference based on the impedance of the reaction plate 3, where Jr is the peak value of the eddy current. 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 Fleming's left hand rule.

Note that this thrust F occurs in both the left and right directions in FIG. 4(a), but 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 for varying the magnitude of this thrust F, methods such as varying the alternating current frequency f or varying the alternating current 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.
The stators 3A to 13F are arranged so that propulsive force or reverse propulsion horns 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 cutout portion 10D as shown in FIG. This notch 1
The length L3 of 0D is larger than the length Ll between the wheel groups 5A and 58 of the traveling body 1, and by moving the traveling body 1 upward, the traveling body 1 is guided through the notch 10D. It can be detached from the rail 10.

Next, the lift mechanism 20, which is an example of a moving means for retracting the traveling body 1 through the notch 10D, will be explained. This lift mechanism 20 includes drive pulleys 21, 21 provided near the stator 13B and arranged outside the guide rail 10, a driven pulley 22.22 arranged apart above the drive pulley 21.21, and the 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 the size and weight of the traveling body 1 can be maintained.

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 thin current generates a continuous propulsive force F according to Fleming's left-hand rule. When the propulsion force is applied to the traveling body 1 in this way, the traveling body '1
The wheel groups 5A and 5B attached to the vehicle 2 are guided by a U-shaped guide rail 10.10 and travel along the travel path 4 due to inertia. Here, the guide rail 10,
Reference numeral 10 denotes third guide members 10C and 10G that restrict movement of the traveling body 1 in the width direction C with respect to the traveling direction A of the traveling body 1.
and 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 is connected to the third guide member 1.
00.10G, the third wheel 8 is in contact with the first wheel 8; The first guide members 10A and 10B are in rolling contact with each other.
．． and a second wheel 6.7. Therefore, the running body 1
can travel freely 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 the travel path shown in FIG. 5 is curved only on a plane, the travel path 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 six directions shown in the figure, the upper first guide member 10
The first wheel 6 in contact with A freely rotates clockwise,
The second wheel 7 that comes into rolling contact with the lower second guide member 10B
rotates freely counterclockwise, and both guide members 10A, 1
Efficient inertial running can be ensured by reducing frictional resistance with 0B.

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 8.

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

Therefore, as in this embodiment, two wheels 6.7 are used, each with a first wheel. A system in which the second guide members 10A and 10B are brought into rolling contact can realize smooth running of the traveling body 1.

In the device of 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
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 108 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 becomes large, 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. 10(A), it is not possible to downsize the traveling body 1 unless the diameter of the wheels is reduced. Note that the wheels of the traveling body 1 require a certain level of strength due to the weight of the traveling body and the centrifugal force during curve travel, and there is a limit to reducing the diameter. For this reason, the system shown in FIG. 11 is inferior to the device of this embodiment in that the traveling unit 15 can be made 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 cutout portions 100 and 10D 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 parts 24, 24 attached to the timing belts 22, 22 also move upward together. At this time, the free end side of the locking portion 24° 24 has locked portions 9, 9. . . , the above-mentioned upward movement causes the locking portions 24.24 to move to 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,
Since it is an IOD, the traveling object 1 can be moved to the track 11 without any trouble.
It can be further evacuated.

In addition, if the evacuation drive is performed upward until another traveling body can run on the track 11 below this evacuated traveling body 1, a plurality of traveling bodies 1 can be arranged on the track 11. It is also possible to run the vehicle with

In addition, such a notch IC of the first guide member 10A)
It is desirable that D be 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. The smooth running of the running body 1 is not hindered.

Note that the present invention is not limited to the above 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 the second wheels 7 are driven by - The driving wheel may be one that obtains thrust through friction with the second guide member 10B.

In addition, various methods can be adopted as the means of transportation, not limited to the one shown in the above embodiment, but a method of fishing the moving body 1 from above or a method of pushing up the moving body 1 from below is different from that shown in the above embodiment. This is disadvantageous in that the device becomes larger.

Furthermore, a removable cover member is arranged in the notch 10D of the first guide member 10A, and the notch 10D is provided outside the retracting drive device of the traveling body 1 so that the cover member supplements travel guidance. Good too.

Note that the present invention is not limited to the above circumstances, 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 the second wheels 7 are used as driving wheels. Alternatively, the thrust may be obtained by friction with the second guide member 10B.゛Furthermore, various methods can be adopted as the moving means, not limited to those shown in the above embodiments, but the method shown in the above embodiments may be used for a method of lifting the traveling body 1 from above or a method of pushing up the traveling body 1 from below. 11<1 device□1. Ona. Point;il. a,.

[Effects of the invention] First, the movement in the height direction is restricted. With respect to the fifth guide member, this first. The first guide member is in rolling contact with the second guide member. Since electric wheels are provided on the running body, the running force is not significantly attenuated even if the running body moves in the i-direction. ``Also, determine the center position of both wheels so that the length in the height direction from the upper end to the lower end of the first and second wheels is shorter than the sum of the diameters of both wheels. For example, the height dimension of the running body can be reduced, and the running body can be made smaller and lighter.

Furthermore, in the present invention, a part of the first guide member is cut out and a moving means is provided for retracting the traveling body along the track through this notch, so that the traveling body is restricted from moving in the height direction □. Even the body can be easily returned from the orbit, and it does not interfere with the circular movement during normal driving.

=20-

[Brief explanation of the drawing]

Figure 1 is a schematic @ perspective view of the traveling body and track, Figure 2 is a sectional view of the traveling path of the traveling body, Figure 3 is a cross-sectional view taken along the line I-■ in Figure 2, and Figure 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 showing the notch of the first guide member, and FIG. 7 is a diagram showing the moving means. A schematic explanatory diagram, FIG. 8, shows the first example of the apparatus.
9 is an explanatory diagram showing the contact state of the second wheel.
FIG. 10(A) is an explanatory diagram showing a modified arrangement of the second wheels. (B) is an explanatory diagram showing a conventional example of regulating the movement of a traveling body in the height direction, and FIG. 11 is an explanatory diagram showing another example of the conventional traveling device.・ 1... Traveling body, 5A, 5B... Wheel group, 6... First wheel, 7... Second
wheels, 10A...first guide member, 10B
...Second guide member, 10D...Notch, 11...Trajectory 5P18 Fig. 9 Fig. 20B

Claims (5)

[Claims] (1) In a traveling device that guides the traveling body by restricting the movement of the traveling body at least in the height direction by a track, the traveling body has first and second wheels whose center positions differ in the height direction. A group of wheels are arranged on both sides of the traveling body in the width direction, and are provided at the leading end and the rear end of the traveling body, and the track is located on the upper end side of the first wheel. A first guide member that makes rolling contact and a second guide member that makes rolling contact with the lower end side of the second wheel are arranged in parallel, and the first guide member is cut out over a predetermined area. A traveling device characterized in that a moving device is provided for retracting the traveling body along the height direction so as to remove the traveling body from the track through the notch of the first guide member. (2) The length 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, The traveling device according to claim 1, wherein the center positions of the first and second wheels are determined. (3) The traveling device according to claim 1, wherein the traveling body inertially travels by receiving thrust from thrust applying means distributed along the track. (4) The traveling device according to claim 3, wherein the notch of the first guide member is provided at a position where the traveling body is stopped by receiving the reverse propulsive force from the thrust applying means. . (5) The moving means is for retracting the traveling body to a position where it does not overlap with the traveling area of other traveling bodies running on the track, according to any one of claims 1 to 4. Traveling device.