JP3755366B2 - Load handling equipment - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a load carrying facility provided with a moving body that obtains thrust by a linear motor and moves along a fixed movement track to carry a load.
[0002]
[Prior art]
An example of the above-described cargo transport facility is disclosed in Japanese Patent Application Laid-Open No. 11-168805. The load transport equipment includes a transport vehicle having a coil to which an electric current is supplied, a travel track on which the transport vehicle travels, and a plurality of permanent magnets are provided so as to face the coil in the extending direction. The travel track has a branch portion that branches in two or more directions, and the branch portion is provided with a plurality of branch portion permanent magnets. It is arranged and arranged straddling between the one traveling track and the second traveling track that branch off.
[0003]
[Problems to be solved by the invention]
However, in the above-described conventional configuration, since the branching portion permanent magnets for the branching portion are arranged and arranged across one traveling track and two traveling tracks, the transport vehicle is Each time the vehicle travels on a branch, the traveling wheel of the transport vehicle passes through the same part of the permanent magnet for the branch part, and every time it passes, the weight of the transport vehicle is applied to the same part of the permanent magnet for the branch part. There was a risk of cracking or cracking.
[0004]
In view of the above, an object of the present invention is to provide a load transport facility that can protect a permanent magnet for a branching / merging portion during branching / merging traveling and can avoid a reduction in thrust to a moving body.
[0005]
[Means for Solving the Problems]
In order to achieve the above-mentioned object, the invention according to claim 1 of the present invention is provided with a coil for supplying a current to a moving body, and is provided on a traveling wheel of the moving vehicle along a track of the moving body. The moving body is arranged by arranging the N-pole and S-pole pole pieces alternately and facing each other at substantially the same level as the traveling guide surface of the track contacting from below, and supplying power to the coil of the moving body. Is a load transport facility that moves by obtaining a thrust and transports the load, and at least on the passage portion where the traveling wheel of the moving body crosses the branch portion or the merge portion at the branch portion or the merge portion of the track. in the not covering the strip pole, with through a magnetic field of the magnetic pole piece and is characterized in that a protective material to support the weight of the transport vehicle.
[0006]
According to the above configuration, even when the moving body travels on a branch or merges, even if the traveling wheel of the moving body passes over the magnetic pole piece on the branch part or the passage part of the merge part, the traveling wheel of the moving body Since the top of the magnetic pole piece is covered with a protective material and supports the weight of the moving vehicle, the magnetic pole piece is prevented from being damaged by the weight of the moving body.
[0007]
The invention described in claim 2 is the invention described in claim 1 above, characterized in that the pole pieces of N pole and S pole are arranged in a double layer at the branching or joining part of the track. To do.
[0008]
According to the above configuration, by stacking the N-pole and S-pole pole pieces in a double layer, the magnetic field of the pole pieces is strengthened, the loss of the magnetic field due to the protective material is compensated, and the thrust of the moving body is maintained.
[0009]
Further, the invention described in claim 3 is the invention described in claim 1 or claim 2, wherein at the branch portion of the track, the width of the straight track is increased in order from a predetermined ratio of the track width. A pole piece having a pole and an S pole is arranged, and a branching track branched from the straight track, and the width of the track along the inner circumference of the branch track, in order from the remaining proportion of the predetermined ratio of the straight track. The pole pieces of the N pole and the S pole whose width is increased are arranged so as to fill the orbit width of the magnetic pole piece of the linear orbit.
[0010]
According to the above configuration, the gap between the magnetic pole pieces arranged on the straight track and the branch track is minimized, and a constant thrust can always be obtained.
Further, the invention according to claim 4 is the invention according to claim 1 or 2, wherein at the confluence portion of the orbit, a straight orbit is formed with an N pole and an S pole that are narrowed in order from the orbit width. N pole pieces and S pole pieces whose widths are narrowed in order from the orbital width along the inner circumference of the converging orbit to the converging orbit that merges with the straight orbit. It is characterized by being arranged so as to fill the track width of the piece.
[0011]
According to the above configuration, the gap between the magnetic pole pieces arranged on the straight track and the merging track is suppressed to a minimum, and a constant thrust can always be obtained.
[0012]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a plan view of a load transport facility according to the present embodiment, FIG. 2 is a side view of a self-propelled vehicle of the transport facility, and FIG. 3 is a partial sectional front view of the transport facility.
[0013]
The load transportation facility is composed of a plurality of self-propelled vehicles (an example of a moving body) V and rail devices B that form movement tracks (conveyance paths) C1 and C2 of the self-propelled vehicles V. Is guided by the rail device B and moves. The moving track C1 represents a straight track (straight path), and the moving track C2 represents a branching / joining track (an example of a branching track or a joining track) branched and joined from the straight track C1. A portion branched / merged from the straight track C1 is referred to as a branch / merging portion E (an example of a branching portion or a merging portion).
[0014]
The self-propelled vehicle V and the rail device B will be described in detail.
[Self-propelled vehicle]
The self-propelled vehicle V is supported by two self-propelled vehicle main bodies 1 and two support bodies 2 that are erected at the center of the self-propelled vehicle main body 1 (the traveling direction of the self-propelled vehicle V). It is comprised from the loading platform 3 in which D is mounted.
[0015]
At the center of the lower surface of the loading platform 3, a pickup coil 5 is attached, in which an electromotive force is induced by a magnetic flux generated by an induction line described later.
The pickup coil 5 is formed by winding a cable made of litz wire of 10 to 20 turns around a core made of ferrite having an E-shaped cross section (which may be I-shaped or T-shaped).
[0016]
A self-propelled vehicle main body 1 is mounted as a traveling means so as to be freely rotatable via an axle, and has four traveling wheels 11 for supporting the self-propelled vehicle V in total, front and rear, and a freely rotatable via an axle. A linear motor that feeds a primary current to the primary coil 13 of the linear motor that is fed by the four lateral movement restricting wheels 12 attached to the front, rear, left and right, the stator (primary coil) 13 of the linear motor, and the pickup coil 5. A driver 14 is provided.
[0017]
In addition, the self-propelled vehicle body 1 includes a seesaw 22 which is arranged at the front and rear as means for selecting a travel route, and has a transfer wheel 21 attached to the left and right ends, respectively, and a central support shaft of the seesaw 22. A motor 23 that is connected to a support 23 that is rotatably supported and a support shaft of the seesaw 22, is further supplied with power from the pickup coil 5, and rotates the support shaft to move the left and right transfer wheels 21 up and down. And a shaft 25 for connecting the center support shaft of the seesaw 22 positioned in the front-rear direction.
[0018]
The self-propelled vehicle main body 1 is connected to a roller 26 that rotates when the self-propelled vehicle main body 1 moves by contact with a first travel guide surface 41 of a travel rail 31 described later, and a rotation shaft of the roller 26. Encoder 27, and a controller (not shown) for determining the travel route that travels, stops, or moves while checking the travel position by counting the pulse signals output from the encoder 27. Outputs a travel command to the driver 14 of the linear motor during travel, and drives the drive unit 24 when changing the travel route. The linear motor driver 14 supplies a primary current to the primary coil 13 of the linear motor in accordance with a running command from the controller.
[Rail device]
The rail device B is configured to cover the self-propelled vehicle main body 1 so that the dust generated by the self-propelled vehicle main body 1 of the self-propelled vehicle V is not diffused to the outside. The rail 31 is composed of left and right side wall panels 32 fixed to the left and right traveling rails 31, respectively, and a pair of left and right upper panels 33 capable of passing only the cargo bed 3 (including the support 2). The pair of left and right traveling rails 31 are connected at the lower ends thereof.
[0019]
The traveling rail 31 has a first traveling guide surface 41 that contacts the traveling wheel 11 from below, and the left and right side wall panels 32 contact the lateral movement restricting wheel 12 from the outside. Further, a rectangular N is formed in the traveling direction of the self-propelled vehicle V at the same level as the first traveling guide surface 41 facing the primary coil 13 of the linear motor, inward of the traveling rail 31. A pole piece (permanent magnet) 44 having poles and S poles is repeatedly arranged.
[0020]
In addition, a pair of guide rails 45 having travel guide surfaces that contact the left and right transfer wheels 21 are provided on the inner side surfaces of the left and right side wall panels 32, respectively, and the opposite ends of the pair of left and right upper panels 33 are provided. An induction line 47 is laid on the part supported by a hanger 46 protruding from the end.
[Branch / merge section of rail device]
4 and 5 show the arrangement of the magnetic pole pieces 44 at the branching / merging portion E of the rail device B. FIG.
[0021]
At the branching / merging portion E of the rail device B, the straight line C1 is halved in the branching direction by a half of the track width (the length in the left-right direction perpendicular to the traveling direction of the self-propelled vehicle body 1) L. In this example, rectangular pole pieces 44A having an N-pole shape and an S-pole shape whose trajectory width is longer (wider) are arranged alternately in order from the width of the example), and along the inner circumference of the branch / merge track C2 along the branch / merge track C2. Thus, the magnetic pole piece 44B having a track width that fills the track width of the magnetic pole piece 44A of the linear track C1 from a width of 1/2 of the track width L (an example of the remaining ratio) is disposed. The pole piece 44B has a substantially trapezoidal shape. Further, the magnetic pole pieces 44, 44A, 44B forming the branching / merging portion E are formed by stacking the magnetic pole pieces 44 of other linear tracks C1 in a double layer.
[0022]
Due to the configuration of the branching / merging portion E, in the merging direction, an N-pole and S-pole magnetic pole piece 44A whose width is narrowed in order from the orbital width is arranged on the straight path C1, and the branching / merging path C2 is branched. The N-pole and S-pole pole pieces 44B whose widths are narrowed in order from the orbit width of the merged orbit C2 are arranged so as to fill the orbit width of the magnetic pole piece 44A of the linear orbit C1.
[0023]
A protective plate (an example of a protective material) 51 that covers the magnetic pole pieces 44, 44A, 44B and allows the magnetic fields of the magnetic pole pieces 44, 44A, 44B to pass therethrough is attached to the branching / merging portion E.
The operation of the above configuration will be described.
[0024]
First, when power is supplied to the induction line 47, an electromotive force is induced in the pickup coil 5 by the magnetic flux generated by the left and right induction lines 47 located in both concave portions (side portions) of the pickup coil 5, and the self-propelled vehicle V An electromotive force is induced in the pickup coil 5, and the alternating current generated by the electromotive force is rectified, regulated to a predetermined voltage, and supplied to the controller, the linear motor driver 14, and the drive unit 24. . When a travel command is output from the controller to the linear motor driver 14, the linear motor driver 14 supplies a primary current to the primary coil 13 of the linear motor according to the travel command of the controller, and the coil 13 is formed. The repulsive force and the attractive force are generated by the interaction between the magnetic field formed by the magnetic poles 44 arranged alternately with the magnetic poles 44 of the N and S poles. Move as guided by.
[0025]
When changing the movement track, the controller instructs the drive unit 24 to drive the seesaw 22 so that the transfer wheel 21 contacts the selected guide rail 45 on the moving path side. When the branch / merging portion E is reached, the moving route is changed by the transfer wheel 21 being guided by the selected guide rail 45 on the moving track side.
[0026]
At this time, the traveling wheels 11 of the self-propelled vehicle V located on the outer peripheral side of the branching / merging portion E move on the protective plate 51 from the first traveling guide surface 41 of the traveling rail 31, and the self-propelled vehicle is moved by the protective plate 51. Transfer to the first traveling guide surface 41 of the branch track C2 while the weight of V is supported. Therefore, it is possible to prevent the pole pieces 44, 44A, 44B forming the branching / merging portion E from being cracked or cracked due to the weight of the self-propelled vehicle V. Further, in the branching / merging portion E, the magnetic pole pieces 44, 44A, 44B are double-layered, so that the magnetic field formed by these magnetic pole pieces 44, 44A, 44B is strengthened, and the protective plate 51 Even if the magnetic fields of 44A and 44B are weakened, the self-propelled vehicle V can be sufficiently thrusted.
[0027]
In this way, damage to the pole pieces 44, 44A, 44B of the branching / merging portion E can be prevented without impairing the thrust of the self-propelled vehicle V. Further, the shape and arrangement of the magnetic pole pieces 44A and 44B of the branching / merging portion E can minimize the location where the magnetic pole pieces are interrupted, always generate an optimal magnetic field, and generate the same thrust. Is possible.
[0028]
In the present embodiment, in the branching / merging portion E, the entire pole pieces 44, 44A, 44B are covered with a protective plate (an example of a protective material) 51. However, as shown in FIG. A protective plate (an example of a protective material) 52 that covers the pole pieces 44, 44A, 44B may be disposed only in a passage portion where the traveling wheel 11 of the main body 1 crosses the branching / merging portion E. The protective plate 52 can prevent the pole pieces 44, 44A, 44B from being cracked or cracked due to the weight of the self-propelled vehicle V.
[0029]
【The invention's effect】
As described above, according to the present invention, even when the moving body travels on a branch or joins, even if the wheels of the moving body pass over the magnetic pole pieces of the branching part or the joining part, the passage part of the wheels of the moving body Since the top of the pole piece is covered with the protective material, it is possible to avoid damage to the pole piece due to the weight of the moving body.
[Brief description of the drawings]
FIG. 1 is a partial plan view of a load carrying facility according to an embodiment of the present invention.
FIG. 2 is a side view of a self-propelled vehicle of a load transport facility equipped with the same load transport facility.
FIG. 3 is a partial cross-sectional front view of a load carrying facility equipped with the same load carrying facility.
FIG. 4 is a plan view of a principal part of a branching / merging portion of the cargo transportation facility.
FIG. 5 is a plan view showing an arrangement of permanent magnets at a branching / merging portion of the cargo transportation facility.
FIG. 6 is a plan view of a principal part of a branching / merging portion of a load carrying facility according to another embodiment of the present invention.
[Explanation of symbols]
V Self-propelled vehicle (moving body)
B Rail device C1 Straight track C2 Branch / merge track D Load E Branch / merge part 1 Self-propelled vehicle body 3 Carrier 5 Pickup coil
11 Wheel for traveling
12 Wheel for regulating lateral movement
13 Linear motor (primary)
14 Linear motor driver
21 Transfer wheel
22 Seesaw
24 Drive unit
31 Running rail
44, 44A, 44B Pole pieces
45 Guide rail
47 Guide line
51, 52 Protection plate (protection material)

Claims (4)

A coil that supplies current to the moving body is provided, and is opposed to the coil at the same level as the traveling guide surface of the track that contacts the traveling wheel of the moving vehicle from below along the track of the moving body. The N pole and S pole pole pieces are alternately arranged, and by supplying power to the coil, the moving body obtains thrust and moves, and is a load carrying facility for carrying a load,
In the branch unit or the merging section of the track, at least the moving object of the traveling wheels on passage traversing these branching portion or the merging section, the not covering the strip pole, with through a magnetic field of the magnetic pole piece, wherein A cargo transport facility characterized by a protective material that supports the weight of the mobile vehicle . The load carrying equipment according to claim 1, wherein N pole and S pole pole pieces are stacked in a double layer at a branching portion or a junction portion of the track. In the bifurcation part of the track, N pole and S pole pieces whose widths are increased in order from a predetermined ratio of the track width are arranged in a straight track, and this branch is branched into the branch track branched from the straight track. The track width of the pole pieces of the linear track is filled with N pole and S pole pieces whose width is increased in order from the remaining ratio of the predetermined ratio of the track of the straight line along the inner circumference of the track. The load carrying facility according to claim 1, wherein the load carrying facility is arranged as described above. In the confluence portion of the orbit, N pole and S pole pieces whose widths are narrowed in order from the orbit width are arranged on the straight orbit, and the confluence orbit that merges with the straight orbit is arranged on the inner circumference of the confluence orbit. The pole piece of N pole and S pole which narrowed the width | variety in order from the track | orbit width along is arrange | positioned so that the track width of the pole piece of the said linear track | orbit may be filled up, The claim 1 or Claim 2 characterized by the above-mentioned. Load handling equipment.

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