JPS61188266A - 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 defamation of the invention and its problem 1] The conventional traveling device, as shown in FIGS. 9(A>, (B)), One wheel 30 is provided on the side surface 2A to restrict movement in the height direction B. In this case, the weight of the traveling body 1 causes it to rotate counterclockwise by coming into contact with the second guide member 1013. When the wheel 30 that is rotated comes into contact with the first guide member 10A, a clockwise rotational moment acts as shown in FIG. .

[Object of the Invention] The present invention has been made in view of the above circumstances, and allows smooth running at all times without restricting the movement of the traveling body in the height direction. The purpose of this invention is to provide a traveling device that can contribute to the realization of smaller and lighter vehicles.

[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 a traveling body by restricting the movement of the traveling body at least in the height direction by a track, the traveling body having a height. The first one has a different center position in the horizontal direction. A wheel group in which second wheels are arranged vertically is provided on both sides of the traveling body in the width direction, at the leading end and the rear end of the traveling body, and the track is arranged on the first and second wheels. The present invention is characterized in that a first guide member that rolls into contact with the upper end side of the first wheel and a second guide member that rolls into contact with the lower end side of the second wheel are arranged in parallel.

[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.

Fig. 1 is a schematic perspective view of the running body and track, Fig. 2 is a vertical cross-sectional view of the running path of the running body, Fig. 3 is a cross-sectional view taken along the line 1-1 shown in Fig. 2, and Fig. 4 is a linear diagram. FIG. 2 is an explanatory diagram of the operating principle of an 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.

Furthermore, 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, respectively, with respect to the traveling direction.

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 and has a circumferential surface that protrudes beyond the width of the housing 2. 2nd = 3- The length of the height direction from the upper end to the lower end of the wheel 6.7 is the 1st. 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 [1], 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 10G connects the second guide members 10A and 10B with a distance between them. The separated side 1a formed by the third guide members 10C, 10C 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 separated side #h is the first. 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 provided below the travel path 4. This linear induction motor 12 has the housing 2
It consists of a reaction plate 3 as a movable element attached to the reactor plate 3, and a pair of stators 13, 13 as stators disposed 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 a gap of a constant distance of 0 is provided between the reaction plate 3 and the stator 13.

Here, with reference to FIGS. 4(a) and 4(b), the principle of generation of propulsive force or reverse propulsive force by the two-ear induction motor will be briefly explained. 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 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 ha (T) of the magnetic flux density at the gap is bl) = BIJ 0os (ω is 1πχ/τ), where the peak value is Bg.
ω-2πf: Angular frequency of power supply (rad/S) f: Frequency (1-1z) t: Time (S) χ: Distance between Nischi surface and H (m) τ: Pole pitch (m). The pole pitch τ is the length of a half period of the magnetic flux density bg. 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 −πχ/τ−ψ), 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 bg of the gap forms a moving magnetic field, this magnetic flux density bg and the eddy current j
The product with r is the continuous thrust F according to Fleming's left hand rule.
will occur.

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. Furthermore, in order to apply a reverse propulsion force to the reaction plate 3, it is sufficient to not flow an alternating current of opposite phase to the coils of the stator 9. As a method for varying the magnitude of this thrust F, methods such as varying the AC frequency f or varying the AC amplitude are adopted.

Next, the running path 4 of the running and hitting body 1 to which the driving 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 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 cutout portion 10D as shown in FIG. This notch 10
The length L3 of D is the wheel group 5A, 581il of the traveling body 1.
The length [1] is larger than 1, and by moving the traveling body 1 upward, the traveling body 1 can be separated from the guide rail 10 via the notch 10D.

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. When the propulsion force is applied to the traveling body 1 in this way, the traveling body 1 moves around the wheel group 5A, 5B attached to the stand 2 on the ``''-shaped guide rail 1.
0.10 and travels along the 11th path 4 due to inertia. Here, the guide rail 10.1
0 has a third guide portion UIOC, 10C that restricts movement of the traveling body 1 in the width direction C with respect to the traveling direction A of the traveling body 1, and also restricts movement of the traveling body 1 in the height direction B. First, regulating the It has second guide members 10A and 10B, respectively. Further, - the power running hitting body 1 is connected to the third guide member 10.
C, a third wheel 8 in rolling contact with the IOC, and the first wheel 8; Second
The first .
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 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.

In addition, 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 green forest 16B. I am going with. Therefore, as shown in FIG. 7, when the traveling body 1 travels in the direction shown, the upper first guide member 10
The first wheel 6 in contact with Δ freely rotates clockwise,
8 second wheels 7 in rolling contact with the lower second guide member 10B
freely rotates counterclockwise, and both guide members 10A, I
Efficient inertial running can be ensured by reducing frictional resistance with the OB.

By the way, in the conventional device shown in FIGS. 9A and 9B, the wheels 30 are rotated counterclockwise by rolling contact with the second guide member 10B due to the weight of the traveling body 1. , when contacting the first guide member 10A, the ninth
As shown in Figure (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. A system in which the second guide portions U10A 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 6.7
Both axles 6,
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 the traveling body used particularly for inertial traveling, and it is possible to create 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 6.7 are provided on the traveling body 1, at least no resistance force that reduces the traveling force acts as in the case shown in FIG. 9(A).

However, in this case, the first. Second guide member 10A
1. The facing distance h1 between 10B becomes large, and the effect of reducing the size of the traveling body 1 cannot be obtained.7 In addition to the wheel arrangement method described above, a method as shown in Fig. 10 is used. There is a force that restricts the vertical movement of the traveling body 1.;L
h'i・Two wheels 32A sandwiching the guide member 31 and rollingly contacting both sides of the guide member 31, respectively.
, 32B are provided.

According to this method, although the disadvantage of the method shown in FIG. 9 is that there is only one culm, it is not possible to downsize the traveling body unless the diameter of the wheels is made smaller. Note that the wheels for traveling-1 require a strong buttocks of at least a certain degree due to the weight of the traveling body and the centrifugal force when traveling on curves, and there are limits to reducing the diameter. For this reason, the device shown in FIG. 10 is inferior to the present embodiment in terms of achieving a smaller size and lighter weight of 51 units per run.

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.

For example, 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
Thrust is obtained by the friction of the second guide member '+oBi as the gate and drive wheel.Also, as the moving means, various methods other than those shown in the above embodiment can be adopted; The method of lifting the traveling body 1 from below or the method of pushing up the traveling body 1 from below is disadvantageous in that the device becomes larger than that shown in the above embodiment.

Therefore, various modifications can be made within the scope of the invention.

The drive system of the traveling body 1 is not limited to one using various linear motors, and in addition to other systems that apply thrust from the outside, - the driving body 1 itself has an internal drive source: the second wheel 7 is used. The drive wheel may be one that obtains thrust through friction with the second guide member 10B.

[Effect of the Invention 1] As explained above, according to the present invention, the first effect restricts the movement of the traveling body in the height direction. With respect to the second guide member, this first guide member. The first guide member is in rolling contact with the second guide member. Since the second wheels are provided on the running body, the running force is not significantly attenuated even if the running body changes in the height direction. Also, if the center position of both axles is determined so that the length in the height direction from the top end to the bottom end of the first and second wheels is shorter than the sum of the diameters of both axles. , the height dimension of the running body can be reduced, and the running body can be made smaller and lighter.

[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 cross section of Fig. 2 1-■, and 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 showing the notch of the first guide member, and FIG. 1. An explanatory diagram showing the contact state of the second wheel,
Figure 8 is 1. Explanatory diagram showing a modified arrangement of the second wheel, No. 9
Figures (A) and (B) are explanatory diagrams showing a conventional example of regulating the movement of a traveling body in the height direction, respectively, and Fig. 10 is an explanatory diagram showing another example of a conventional traveling device. 1... Traveling body, 5A, 5B... Wheel group, 6... First wheel, 7... Second
wheel, 8...Third wheel, 10A...First guide member, 10B...
...Second guide member, 10C...Third guide member, 11...Trajectory. Condolence 7 Diagram 8 Diagram 1'OB

Claims (3)

[Claims] (1) 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,
The traveling body has first and second wheels having different center positions in the height direction.
A wheel group in which second wheels are arranged vertically is provided on both sides of the traveling body in the width direction, at the leading end and the rear end of the traveling body, and the track is arranged on the first and second wheels. a first guide member in rolling contact with the upper end side of the first wheel;
A traveling device characterized in that a second guide member is arranged in parallel with the lower end side of the wheel. (2) The length of the first and second wheels in the height direction from the upper end to the lower end is shorter than the sum of the respective diameters of the first and second wheels. The traveling device according to claim 1, wherein the center position of the second wheel is determined. (3) The traveling body is equipped with a third wheel having a circumferential surface protruding from both sides of the traveling body in the width direction, and the track is equipped with a third guide member that makes rolling contact with the third wheel. A traveling device according to claim 1 or 2.