JPH0254265B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (a) Field of Industrial Application The present invention relates to a conveying device using a linear pulse motor used in a robot processing/assembly line, etc.

(b) Prior art In recent years, with the automation of processing and assembly in the mechanical industry, linear pulse motors have been used to replace conveyance means such as belt conveyors due to the need for improved stopping accuracy at stations for conveying workpieces. The same transport device is used.

Therefore, on October 22, 1982, the applicant for the patent of the present application developed a linear pulse motor for the purpose of providing a conveying device using a linear pulse motor that can process workpieces loaded on a conveying cart from the bottom. A patent application has been filed for a conveyance device using

That is, FIG. 1 is a schematic diagram of the conveying device, FIG. 2 is a front view of the conveying device as viewed from the direction of movement, and FIG. 3 is a side view of the conveying cart.

In the figure, reference numeral 40 denotes a stator, and the stators 40 are fixedly installed in sets of two on a main traveling rail 50 whose cross section is formed into a substantially concave shape.

The auxiliary running rail 60 is installed to correspond to the main running rail and spaced apart by the vehicle width of the transport vehicle.

Reference numeral 70 denotes a transport vehicle, on which the workpiece A is loaded.

On the other hand, there is a movable element 723 at the lower side of the carrier. That is, this carrier includes a chassis 71 and a drive body 72 hingedly connected to the chassis 71 with a hinge 76, and the drive body 72 includes a movable element 723.

Here, the movable element provided in the drive body 72 and the stator constitute a linear pulse motor.

Then, the stator 4 fixed to the main traveling rail 50
0 is a comb-shaped core 41 formed with a constant pitch.
and a coil 42 provided on each comb tooth of the core 41, and a plurality of projections and depressions 411 are formed at the tip of the comb tooth as shown in the figure.

The windings of the coil 42 are wound so that magnetic flux is generated vertically within the comb teeth as shown by dotted arrows.

Meanwhile, the driving body 72 provided at the lower part of the transport vehicle includes a frame 722, a mover 723 fixed to the frame 722 on the lower surface of the frame 722, a wheel holder 724, and a wheel 725.

Here, the movable element 723 has a comb-teeth shape with a pitch slightly different from the pitch of the core 41 of the stator 40, and the movable element 723
The distance between the tip of No. 3 and the tip of the stator 40 is preferably 0.3 mm.

The above is the general content of the conveyance device using a linear pulse motor, for which we previously applied for a patent.

However, although this conventional conveyance device has achieved the object of the invention, it is still insufficient in the following points.

The downward weight applied to the driving body 72
This is the sum of the own weight of 2, approximately 1/2 of the weight of the workpiece, and the electromagnetic attraction of the linear pulse motor. Therefore, the structure around the drive body needs to be strong.

Since the auxiliary travel rail and wheels are located on the opposite side of the linear pulse motor, the space for machining the workpiece becomes narrower.

(c) Purpose The present invention provides a linear pulse motor that reduces the weight of the structure around the drive body, eliminates the need for an auxiliary running rail on the opposite side of the linear pulse motor, and allows for a wider space for machining workpieces. The purpose is to provide a conveyance device using

(D) Structure The present invention comprises a running base having a substantially U-shaped cross section and consisting of an eaves part, a wall part, and a bottom part, a rail installed at the bottom of the running base, and a stator installed at the center of the gauge of the rail. a support rail provided on the bottom of the traveling base and inside the rail; a restraining rail provided on the lower surface of the eaves of the traveling base and above the stator; and a chassis. The driving body is provided with a driving body hinged to the chassis, and the direction of the main magnetic flux generated from the stator has a traveling direction component of the transport car, and the driving body is connected to the stator. It includes a correspondingly provided movable element, a wheel that rolls on the rail, a restraint wheel that rolls on the restraint rail, and a support wheel that rolls on the support rail, and uses the support wheel as a fulcrum. This is a conveyance device using a linear pulse motor that can be balanced using the principle of a balance.

(E) Embodiment FIG. 4 is a front view of the conveying device using a linear pulse motor according to the present invention, as seen from the direction of movement of the conveying cart, with the driver cover removed.

Components that are the same as those in FIGS. 1 and 2 are designated by the same reference numerals.

In other words, 80 is the eave part 81, the wall part 82, and the bottom part 8.
3, the traveling base 80 has a generally U-shaped cross section as a whole, and this traveling base 80 is laid along the path along which the transport vehicle is to travel.

The cross-sectional shape of the bottom portion 83 is formed into a substantially concave shape, and rails 87, 87 are provided in the concave portion. Further, a stator 40 is fixed at the center of the gauge of the rail, and the stator 40 includes a comb-shaped core 41 formed at a constant pitch and a coil 42 provided on each comb-teeth of the core 41. As shown in the figure, a plurality of projections and depressions 411 are formed at the tips of the comb teeth.

The windings of the coil 42 are wound so that magnetic flux is generated vertically within the comb teeth as shown by dotted arrows.

A wall 84 of a predetermined height is provided on the bottom of the traveling base 80 and inside the rail 87, and a support rail 85 is provided on the wall 84.
is provided, and the eaves part 8 of the traveling base 80
A restraining rail 86 is provided on the lower surface of the stator 1 and above the stator.

On the other hand, the transport vehicle 100 has an opening 11 with a predetermined area that allows processing of the workpiece A from the bottom surface.
1 with a chassis 110 and a hinge 7 on the chassis.
a drive body 72 hinged at 6;
Furthermore, wheels 120 and 130 are provided which roll in correspondence with the restraining rail 86 and the support rail 85, respectively, and the driving body 72 is connected to the hinge 76.
It includes a frame 722 which is hinged and has its longitudinal direction in the traveling direction, a mover 723 fixed to the lower surface of the frame 722, a wheel holder 724, and a wheel 725.

Here, the movable element 723 has a plurality of irregularities 41 provided at the tip of the comb teeth of the core 41 of the stator 40.
The unevenness is formed with a pitch slightly different from the pitch of 1, and the distance between the tip of the movable element 723 and the tip of the stator 40 is preferably 0.3 mm.

Thus, the electromagnetic attractive force between the workpiece A and the driving body 72, and between the stator 40 and the movable element 723 can be balanced using the supporting wheel as a fulcrum based on the principle of a balance.

If the workpiece A is heavier and the balance is off, the wheels 12 are attached to the restraining rail 86.
0 will roll while being pressed against each other.

(F) Effects The conveying device according to the present invention includes a traveling base having a substantially U-shaped cross section and comprising an eaves portion, a wall portion, and a bottom portion, a rail installed at the bottom of the traveling base, and a gauge center of the rail. a stator provided on the base; a support rail provided on the bottom of the traveling base and inside the rail; and a restraint provided on the lower surface of the eaves of the traveling base and on the top of the stator. The transport vehicle includes a rail, a chassis having an opening of a predetermined area, and a driver hinged to the chassis, and the direction of the main magnetic flux generated from the stator has a component in the traveling direction of the transport vehicle. and the driving body includes a mover provided corresponding to the stator, a wheel that rolls on the rail, a restraint wheel that rolls on the restraint rail, and a support wheel that rolls on the support rail. The conveyance device uses a linear pulse motor to achieve balance using the support wheels as a fulcrum, and has the following effects.

The present invention can reduce the weight of the structure around the driving body.

It is possible to eliminate the need for an auxiliary running rail on the opposite side of the linear pulse motor.

It is possible to widen the processing space for the workpiece.

[Brief explanation of drawings]

FIG. 1 is a schematic diagram of the conveyance device, FIG. 2 is a front view of the conveyance vehicle seen from the direction of movement, FIG. 3 is a side view of the conveyance vehicle, and FIG. 4 is a conveyance device using a linear pulse motor according to the present invention. FIG. 3 is a front view of the transport vehicle seen from the direction of travel with the driver cover removed. S1, S2, S3, S4...Station, 4
0... Stator, 50... Main running rail, 60...
Sub-traveling rail, 70... Transport vehicle, 72... Drive body, 80... Travel base, 86... Suppression rail, 85... Support rail, 120, 130... Wheel.

Claims (1)

[Scope of Claims] 1. A traveling base having a substantially U-shaped cross section and consisting of an eaves portion, a wall portion, and a bottom portion, a rail installed at the bottom of the traveling base, and a stator provided at the center of the gauge of the rail. a support rail provided on the bottom of the traveling base and inside the rail; a restraining rail provided on the lower surface of the eaves of the traveling base and above the stator; and a predetermined area. The main magnetic flux direction generated from the stator has a traveling direction component of the transport vehicle, and the drive body includes a chassis having an opening of The body includes a mover provided corresponding to the stator, a wheel rolling on the rail, a restraining wheel rolling on the restraining rail, and a support wheel rolling on the support rail, A conveyance device using a linear pulse motor, characterized in that the support wheel is used as a fulcrum and can be balanced by the principle of a balance. 2. A conveying device using a linear pulse motor according to claim 1, wherein the stator is a winding part of a linear pulse motor. 3. A conveyance device using a linear pulse motor according to claim 1, wherein the main traveling rail is formed to have a concave cross section.