JPS61188269A - 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 Priority of the Invention and its Problems] The conventional traveling device has a first stage as shown in FIGS. 9(A) and 9(B). One wheel 30 was provided on the side surface 2A of the traveling body 1 for the second guide member 10A and IOB to restrict movement in the height direction. 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.

[Object of the Invention] The present invention has been made in view of the above circumstances, and it is possible to perform smooth running while regulating the movement of the running body in the height direction by the track. To provide a traveling device that can unify the trajectory of a curved traveling part that comes in contact with oil in the vertical direction, regardless of whether the convex part of the curve is directed upward or downward, as long as the curvature is the same. The purpose is to

[Summary of the Invention] The outline of the present invention for achieving the object 1-2 is to provide a traveling device that guides and travels the traveling body by restricting at least the movement of the traveling body in the height direction by a track, in which the traveling body has a height. A wheel group consisting of first and second wheels arranged one above the other with different center positions in the width direction is provided on both sides of the traveling body in the width direction, and is located at the leading end and rear end of the traveling body, respectively. and the pitch of the first wheel of both wheel groups and the pitch of the second wheel of both wheel groups.
The pitch of the wheels is substantially the same, and the track includes a first guide member that makes rolling contact with the upper end side of the first wheel, and a second guide member that makes rolling contact with the lower end side of the second wheel. It is characterized in that the members are arranged in parallel.

[Embodiments of the invention] An embodiment of the present invention will be described below 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 longitudinal cross-sectional view of the running path of the running body, Fig. 3 is a cross-sectional view showing the 1-1 cross section 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 in 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, first and second 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. ing.

1st. The second wheel groups 5A and 5B are first wheel groups disposed above and below with different center positions with respect to the height direction B of the traveling body 1, respectively. It consists of second wheels 6, 7, and a third wheel 8 having a circumferential surface that protrudes beyond the width of the outer wall 3. The length in the height direction B from the upper end to the lower end of the second wheel 6.7 is the first. Second wheel6. These rotational center positions are determined so as to be shorter than the sum of the near diameters.

In addition, the above-mentioned No. 1. The first wheel group in the second wheel group 5A, 5B
The wheel pitch of the wheels 6, 6 of 1.
The wheel pitch of the second wheels 7.7 in the second wheel groups 5A', '5B is also poor.

Based on this, the wheel pitches of the third wheels 8.8 in the first and second wheel groups 5A and 5B are the same pitch on both sides 2A and 2A of the traveling body 1. Therefore, the first and second wheel groups 5A and 5B, which are arranged on both sides 2A of the traveling body 1, on the leading and trailing ends of the two people, are the first to third wheels in each wheel group. The 6.7°8 arrangement is the same, making it possible to unify parts and unitize each wheel group.

Note that the length from the travel destination i side of the first wheel 6 of the first wheel group 5A to the travel destination i side of the first wheel 6 of the second wheel group 5B is determined to be L violet.

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 cross-sectional shape of an angular 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 1.degree.
A third guide member 10C connects the second guide members 10A and 108 with a distance between them. The distance 1a formed by the third guide member 10C010C 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;
Further, the separation distance 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 travel path 4. This linear induction motor 12 has the housing 2
The mover attached to [Note's reaction plate 3]
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 Figures 3 and 4 (a), the stator 13.13 is made by laminating electric iron plates with teeth and grooves, and coils are wound around the multiple grooves. A gap 1) of a certain distance q is provided between the reaction plate 3 and the stator 13.

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 bO and eddy current jr. If two-phase or three-phase alternating current is not passed through the coil of the stator 13,
The instantaneous value ha (T) of the magnetic flux density at the gap is b(1=B gcos (ωt-πχ/τ), where the peak value is Bg), where:
ω-2πf: Angular frequency of power supply (rad/S) f: Frequency (1-1z) t: Time (S) χ: Distance on the stator surface (m) 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 −πz/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 bg of the gap forms a moving magnetic field, this magnetic flux density bO 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 both the left and right directions in FIG. 4(a), but I+gxj in the left region in FIG. 4(b).
Since r is larger than the right region, the reaction plate 3 will move toward 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.
The stators 3A to 13F are arranged so that propulsive force or reverse propulsive force can be applied to reaction plays 1 to 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 0D [3 is larger than the length Ll between the wheel groups 5A and 5B of the traveling body 1, and by moving the traveling body 1 upward, the traveling body 1 can be moved through the notch 10D. It is possible to escape from the guide rail 10 by 1 illt.

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 is moved to the first frame attached to the housing 2. The second wheel group 5A, 5B is guided by the cross-shaped guide rail 10.10 and travels along the running path 4 due to inertia.

Here, the guide rails 10, 10 have third guide members 10G, 10G that restrict the movement of the traveling body 1 in the width direction C with respect to the transport direction Δ of the traveling body 1, and 1. which restricts movement in the height direction B. It has second guide parts 1410A and 10B, respectively. - The power running hitting body 1 includes the third guide member 10C, a third wheel 8 that rolls into contact with the IOC, and the first wheel 8. Second guide portion U10A.

10B, respectively. It has a second wheel 6°7. Therefore, the traveling body 1 can freely travel only along the transport direction A, and movement in other directions is restricted. For this reason, the track 1 that guides the traveling body 1
Even if the running body 1 is formed by bending the track 11 horizontally or vertically, the running body 1 follows the track 11 without leaving the track 11, and can travel three-dimensionally.

Although not shown in FIG. 5, the travel path is curved only on a plane, but 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. 7, when the traveling body 1 travels in the direction shown, 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 guides FMS u 1
0A, 'l It is possible to reduce the frictional resistance with the OB and ensure efficient inertial running.

By the way, the conventional traveling device is shown in FIG. 9(A).

As shown in (B), the first. Second guide member 1°A, 1
A wheel 30 is provided on the side surface 2A of the traveling body 1 relative to 0B to restrict movement in the height direction B. In this case, when the wheel 3o, 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, resulting in a large resistance to the inertial movement of the traveling body 1.

Therefore, as in this embodiment, two wheels 6.7 are used, respectively. 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 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, in particular, the size and weight of traveling bodies used for inertial traveling are promoted, and efficient traveling devices are designed.]
can do.

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 10
The facing distance h1 between A and 10B becomes large, and the effect of reducing the size of the traveling body 1 cannot be obtained.

In addition to the above-mentioned heavy wheel arrangement method, there is a conventional method shown in FIG. 10 that restricts the movement of the traveling body 1 in the height direction. Two wheels 3 are mounted on both sides of the member 31, respectively.
2A and 32B are provided. Although this method does not have the drawbacks of the method shown in FIG. 9(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 strength greater than a certain window 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 10th
The method shown in the figure has a smaller traveling body compared to the device of this embodiment.
It is inferior in terms of weight reduction.

Next, the effect of standardizing the trajectory 11 of the curved portion in this embodiment will be explained.

First, the traveling body 40 shown in FIGS. 12(A) and 12(B) will be described as a comparative example. This traveling body 40 includes first wheels 41.41 that are in rolling contact with the first guide member 10A,
Second wheel 42.4 in rolling contact with second guide member 10B
However, the wheel pitch of the first wheel 41.41 and the wheel pitch of the second wheel 42.42 are significantly different.

The arrangement of the wheels is symmetrical about the center position of the length of the traveling body 40 in the traveling direction.

When constructing a curved track convex vertically upward for this traveling body 40, as shown in FIG. 12 (△), What is necessary is to provide a first guide member 10, A that is substantially inscribed in the first wheel 41.41 with the center of curvature at the center of curvature, and a second guide member 10B that is substantially circumscribed and covered by the second wheel 42.42. The first point in this case. The distance between the second guide members 10A and 108 is 1''. When this traveling body 40 travels on the trajectory shown in FIG. 12 (A>), the centrifugal force
Therefore, the first wheel 41.41 is the first guide part +J 10
The running body 40 is guided in rolling contact with A, but even if the second wheel 42.42 rolls into contact with the second guide portion U10B, the height of the traveling body 40 at this time The directional vibration is slight.

Next, Figure 12 (B) shows the case where the claw blade trajectory is used as is in Figure 12 (A) and a vertically downwardly convex curve is provided.
) not shown. In FIG. 12(B), the traveling body 4o travels with the second wheels 42, 42 constantly in rolling contact with the second guide member 10B due to the action of centrifugal force. However, 10,000-1st
When the wheel 41° 41 and the first guide member 10A come into contact with each other, a large gap of t1 shown in the figure occurs between the first wheel 41 and the first guide member 10A, and the traveling body 40 will cause a lot of vibration.

Therefore, in the wheel arrangement shown in FIGS. 12(A) and 12(B), even if curves with the same radius of curvature are designed, the orientation of the convex portions may vary depending on the direction of the first. Second guide member 10A, I
Unless the distance between opposing OBs was changed, a trajectory with less vibration could not be created, and curved sections could not be standardized.

Furthermore, in the case shown in FIG. 12(B), the wheel pitch of the second wheels 7, 7 that contact the second guide member 10B is shorter than when traveling as shown in FIG. 12(A). It becomes unstable.

On the other hand, in the case of this embodiment, FIGS.
), it becomes possible to standardize the trajectory of the force part. The trajectory shown in FIG. 11(A) has a first guide which is substantially inscribed in the first wheel 6.6 with the center of curvature E7 on the center line that bisects the wheel pitch of the wheels 6, 6; Part 10A
and a second guide member 10B substantially circumscribing the second wheel 7 in the first wheel group 5A. Moreover, the trajectory shown in FIG. 1'1(B) is the same as the trajectory shown in FIG. 11(A) but with the direction of the convex portions reversed. The facing distance between the second guide members 10A and 10B is both H. And Fig. 11 (A
), a relatively large gap t is created between one of the second wheels 7 and the second guide member 10B, and in the case shown in FIG. 1 wheel 6
and the first guide member 10A, there is a relatively large gap t.
is occurring.

The traveling body 1 running on the track shown in FIG. 11(A) is guided by the action of centrifugal force, with the first wheels 6.degree. 6 rolling into contact with the first guide member 10A. Even if vibration occurs in the height direction of the traveling body 1, one of the second wheels 7, which is disposed with a slight gap from the second guide member 10B, rolls into contact with the second guide member 10B. As a result, this vibration is regulated, and the traveling body 1 does not fluctuate by the length of the relatively large gap t. Therefore, even if a relatively large gap t occurs between one wheel 7 and the second guide member 10B, the traveling body 1 can be guided while suppressing relatively small vibrations.

The effect shown in FIG. 11(A) described above is similar to that shown in FIG. 11(B).
The same applies to the case shown in . This means that the seventh wheel 6
, 6, and the wheel pitch of the second wheels 7.7 are made the same.

Therefore, it is possible to unify the trajectories of the same curvature with the convex portions facing in opposite directions, with a facing distance of 1]. Moreover, the 11th
The first wheel pitch that contacts the curves shown in Figures (A) and (B) during normal running 6.6. Second wheels 7,7. Since the wheel pitches of the two wheels are the same, running is not unstable as shown in FIG. 12(B).

The above-mentioned unification of curved trajectories was for those in which the convex portions were reversed in the vertical vertical direction, but in this example, curved trajectories with the same curvature that curved to the left and right on the same two-dimensional plane were also unified. can do. That is, the wheel pitch of the third wheels 8.8 that restrict the movement of the traveling body 1 in the width direction C is the same on both sides 2A, 2A of the traveling body 1. Therefore, a right curve.

Regardless of the left curve, as long as the curvature of the curve is the same,
Even if one curve track is used for both left and right curves, it is possible to suppress vibrations in the width direction C and provide travel guidance.

In this way, in this embodiment, the height direction B of the traveling body 1 is
It is possible to smoothly guide the traveling body 1 without greatly reducing the traveling force while restricting the movement in the width direction C, and the curve trajectory having the same curvature is common regardless of the direction of the curve. It is possible to reduce the cost of the device by standardizing the curved trajectory.

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 the second wheels 7, The driving wheel may be one that obtains thrust through friction with the second guide member 10B.

Further, in the present invention, the wheel pitch of the first wheel 6.6 and the second wheel pitch are
The wheel pitches of the wheels 7 and 70 may not be exactly the same, at least as shown in FIG. 11(A).

As shown in (B), it is sufficient that the pitches are uniform enough to allow the same curve trajectory to be shared regardless of the direction of the convex portion of the curve, within a range that can suppress vibrations of the traveling body 1 when traveling on a curve.

Furthermore, the first aspect of the present invention. The arrangement of the second wheels 6° 7 is not limited to that in the above embodiment, but may have their rotation centers on the same straight line along the height direction B of the traveling body 1, as shown in FIG. Good too.

Even if this is done, no resistance force that reduces the running force is generated, and the first aspect is as follows. Since the second wheel pitches are naturally the same, it is possible to achieve the effect of the present invention of unifying the curved trajectory.

Note that the present invention does not necessarily require the third wheels 7, since any traveling device that restricts at least the movement of the traveling body 1 in the height direction is sufficient.

[Effects of the Invention] As explained above, according to the present invention, the first. 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 installed at the front and rear ends of the running body, the running force is not significantly attenuated even if the running body changes in the height direction. Also, this first. 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 second wheel is shorter than the length decorated with the diameter of both axles, the height of the running body can be set. The longitudinal dimension can be reduced, and the traveling body can be made smaller and lighter.

Furthermore, in the present invention, since the pitch of the first wheel and the pitch of the second wheel are substantially the same, the trajectory of the curved traveling portion that curves in the vertical vertical direction is such that the convex portion of the curve is directed upward. As long as the curvature is the same regardless of whether it is directed downward or downward, it is possible to standardize the trajectory by unifying the curvature, thereby reducing the cost of the traveling device.

[Brief explanation of drawings]

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 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, Fig. 10 is an explanatory diagram showing another example of a conventional traveling device, and Fig. 11 (A ) and (B) are schematic explanatory diagrams for explaining the effect of unifying the curved trajectory according to the present invention, and FIGS. 12 (A> and (B) do not show an example in which the curved trajectory cannot be unified. It is a schematic explanatory diagram. 1... Traveling body, 5A, 5B... Wheel group. 6... First wheel, 7... Second wheels, 10A...first guide member, 10B...
...Second guide member, 11... Track. Funeral Illustration 7 Funeral Illustration 8 OB Funeral Illustration 11 (B) (Town 10A

Claims (2)

[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. Wheel groups are arranged on both sides of the traveling body in the width direction, at the leading end and rear end of the traveling body, and the pitch of the first wheel of both wheel groups is The pitch of the second wheel of the wheel group is approximately the same, and the track has a first wheel that is in rolling contact with the upper end side of the first wheel.
A traveling device characterized in that a guide member and a second guide member in rolling contact with the lower end side of the second wheel are arranged in parallel. (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.