JPH11168805A - Car carrier traveling system - Google Patents

Abstract

(57) [Problem] To provide a carrier traveling system in which a carrier can be stably controlled even on a traveling track including a branch part in a carrier traveling system of a linear motor type. A branch part B is provided with a branch part permanent magnet 4 formed in an arc shape. The permanent magnets 4 for the traveling track 2 in front of the branch B are formed by the permanent magnets 4 for the branch.
And the permanent magnets 31 on the curved track 21 and the permanent magnets 32 on the straight track 22 after the branching section B are formed as a continuous row of permanent magnets. As a result, the propulsion force and the braking force applied to the transport vehicle 1 can be exerted even on the branch portion B, and stable system operation can be achieved.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a transport vehicle for transporting parts and the like in an automation factory, and more specifically, to obtain a propulsion force of the transport vehicle by utilizing a magnetic repulsive force and an attractive force. The present invention relates to a vehicle equipped with a linear motor type transport vehicle traveling system.

[0002]

2. Description of the Related Art As a transport vehicle in a factory, there has been proposed a self-propelled transport vehicle having a normal motor and wheels and supplying parts and the like to each point along a guide provided on the floor. This unmanned transport vehicle has become an indispensable technical element for factory automation, and has been actively researched and developed.Today, it has a form that meets the needs of each factory, and Various types of efficient and high-performance transport vehicles are being provided. Among such transport vehicles, a transport vehicle having a coil and a traveling track having a permanent magnet are main components, and a propulsion force is generated by utilizing a magnetic repulsive force and an attractive force of the coil and the permanent magnet. There is also provided a transportation vehicle for obtaining the above.

A carrier having the above-described configuration of coils and permanent magnets travels and stops on the same principle as a so-called linear motor car. The mechanism is briefly described as follows. The coil is provided at a lower portion of the vehicle, and a current flows through the coil to form a magnetic field outside the coil. This magnetic field, N pole and S
A repulsive force and an attractive force are generated between the magnetic field of the permanent magnet having the poles alternately arranged, and the repulsive force and the attractive force are generated.
Further, the position of the carrier on the traveling track is servo-controlled by feedback from a magnetic pole detector and a pulse encoder provided on the carrier. Here, the magnetic pole detector uses, for example, a Hall element or the like, and is capable of detecting a magnetic pole of a permanent magnet on a traveling track. On the other hand, an encoder of a touch roller type or the like is used. By using such a linear motor-type carrier, various advantages such as high responsiveness by the electric control system can be obtained. In this specification, the entire configuration of the traveling track on which the transport vehicle travels and the mechanism for enabling power supply to the transport vehicle is referred to as a transport vehicle travel system in this specification.

By the way, in the above-mentioned carrier traveling system, the traveling track may be composed of only a straight portion, but it is necessary to carry goods to various points in a factory. As shown in FIG. 4, a state where a branch portion B is provided is general. By the way, FIG.
, 1 is a carrier, 1a is a coil provided at the lower part of the carrier, 1b is a guide roller, 2 is a running track, 2
a indicates a side wall of the running track, and 3 indicates a permanent magnet. As described above, by providing the branch section B (which is of course the junction) on the traveling track 2, a single carrier traveling system enables uniform transport of goods throughout the factory, so that more efficient, Functional material transportation becomes possible.

[0005]

However, the provision of the branch portion B on the traveling track 2 as described above imposes restrictions on the method of arranging the permanent magnets 3 on the traveling track 2. That is, as shown in FIG. 4, in the branching portion B that branches into a traveling trajectory (hereinafter referred to as a curved portion trajectory) 21 of a curved portion and a traveling trajectory (hereinafter referred to as a straight portioned trajectory) 22 of a straight portion, first,
The permanent magnet 31 is arranged on the curved track 21 where more reliable operation of the carrier 1 is required. However, due to this, the permanent magnet 32
However, as shown by L in FIG. 2, there is a portion that overlaps with the location of the permanent magnet 31 on the curved portion track 21, so that the permanent magnet 32 could not be installed in the portion. Therefore, in this part, the transport vehicle 1
Could not provide any propulsive or braking power to the vehicle, resulting in an uncontrollable state.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a linear motor type transport vehicle traveling system that can stably control a transport vehicle even on a traveling track including a branch portion. It is an object of the present invention to provide a carrier traveling system capable of performing the following.

[0007]

The present invention adopts the following means to solve the above-mentioned problems. That is, the transport vehicle traveling system according to the present invention includes a transport vehicle provided with a coil to which a current is supplied, and a plurality of permanent magnets provided so that the transport vehicle travels and faces the coil in a direction in which the vehicle extends. And a traveling track provided with a plurality of branching permanent magnets, wherein the traveling track has a branching portion that branches in two or more directions. The branch portion permanent magnets are arranged and arranged so as to straddle between the one traveling track and the second traveling track.

[0008] According to this, a plurality of branching permanent magnets are provided at the branching portion of the running track, and the branching permanent magnets extend between the one running track and the second running track. Since they are arranged and arranged so as to straddle, the rows of the permanent magnets in the branching portion of the running track and the running track before and after the branching portion are continuous. Therefore, the propulsion force and the braking force can be exerted on the carrier at any point on the traveling track including on the branch portion.

Further, since the branching portion permanent magnet is formed in an arc shape in plan view, the coil provided at the lower portion of the carrier when the carrier passes through the branching portion. And the permanent magnet for the branch portion are always kept facing each other.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment according to the present invention will be described below with reference to the drawings. Here, in the present embodiment, the same reference numerals are assigned to the traveling orbits, the permanent magnets, and the like described in the conventional example, and the same reference numerals are used in the present embodiment.

In FIG. 1, reference numeral 4 indicates a permanent magnet for a branch portion. As shown in this figure, the branch portion permanent magnets 4 are provided in a plurality, and are wider than the permanent magnets provided in portions other than the branch portion B. ) 21 and a straight section traveling trajectory (two traveling trajectories) 22.
The shape is an arc shape when viewed in plan. On the other hand, a plurality of permanent magnets 3, 3,. The permanent magnets 4 and the permanent magnets 3 for the branch portion are installed such that N poles and S poles are alternately arranged in the direction of the traveling track 2.

In this embodiment, the permanent magnet 3 on the running track 2 before the branch B and the curved track 2 after the branch B are used.
1 and the permanent magnet 32 on the linear section track 22
Is slightly omitted before and after the branch portion B as a boundary (see FIG. 4), and the branch portion permanent magnets 4 are arranged in this omitted portion. Therefore, as a result, the permanent magnets 3 before branching and the permanent magnets 31 and 32 after branching are combined by the permanent magnets 4 for branches into a continuous row of permanent magnets (rows of 3, 4, 31 and 3, 3 4, 32). That is, the row of permanent magnets is completely continuous at any point on the traveling track 2.

The traveling track 2 is provided with a primary power supply line 5 for supplying power to the carrier 1 in a direction along the traveling track 2. As shown in FIG. 2, the primary feeder line 5 is fixed to tips of a plurality of support beams 6 that protrude horizontally inward from the side wall 2 a of the traveling track 2.

On the other hand, the transport vehicle 1 includes a coil 1a to which a current is supplied to the lower surface of the base, and rotatable wheels 7 for capturing the upper surface of the traveling track 2. A power supply unit 10 having a magnetic core 8 having a cross section of an E-shape and a secondary winding 9 is provided on both sides of the carrier 1.
Of these, the secondary winding 9 is in a state of being electrically connected to the coil 1a, specifically, in a connected state.

As shown in the enlarged view of FIG. 3, the positional relationship between the power supply unit 10 and the primary power supply line 5 is defined by two gaps in the magnetic core 8 having an E-shaped cross section.
The primary power supply lines 5 are arranged. The secondary winding 9 is formed at the center of the E-shape. The transport vehicle 1 is provided with a guide roller 1b, which rolls while meshing with the guide 11 of the travel track 2 to guide the travel of the transport vehicle 1 on the travel path 2. Then, the transported object L is placed on the upper part of such a traveling and power feeding mechanism.

The operation of the carrier traveling system having the above configuration will be described below. First, a high-frequency current is supplied to the primary feeder line 5 to generate an induced electromotive force in the secondary winding 9. This induced electromotive force is converted into a stable DC power supply through a rectifier circuit and a constant voltage circuit (not shown), and is used as a power supply for a coil 1a (primary side of a linear motor) mounted on the transport vehicle 1, Used to drive other equipment.

At this time, the coil 1a and the permanent magnets (3, 4, 31, and
32), as in the case of a normal AC servomotor, feedback control of position and speed is performed between the A-phase, B-phase, and Z-phase outputs of an encoder (not shown) and a command pulse train. In addition, U from a magnetic pole position detector provided separately,
Based on the V and W phase magnetic pole position signals, a voltage signal having a phase difference of 2 / 3π is sequentially supplied to each phase winding of the coil 1a, and the primary side magnetomotive force is switched in synchronization with the arrangement of the permanent magnets on the traveling track 2. This allows the vehicle to continue running.

In this way, the traveling transport vehicle 1 will soon reach the branch portion B, and the branch portion B is provided with the branch portion permanent magnets 4 wider than those other than the branch portion B. Therefore, the row of magnets is not interrupted before and after the branching portion B, so that the propulsion force and the braking force can be applied to the carrier 1. Further, since the branching portion permanent magnets 4 are formed in an arc shape, as shown in FIG.
And the branching permanent magnet 4 are always kept in a facing relationship. That is, the two magnetic fields always interact with each other, and the control of the transport vehicle 1 at the branch portion B can be stabilized.

In this embodiment, as the branch portion B, the curved track 21 and the straight track 22 from the running track 2 are used.
However, the present invention is not particularly limited to this. For example, the forked section B of the three-way is provided with another curved section orbit to form the forked section of the four-way, and the permanent magnets disposed on each of the forked sections and the permanent track of the running track as the baseline before branching are provided. Permanent magnets for branching parts may be arranged so that rows with magnets are continuous.

The present invention is not particularly limited to the non-contact power supply method using the primary power supply line 5 and the power supply unit 10 on the carrier 1 in this embodiment. For example, the power supply may be configured such that a current collecting component such as a contact brush is mounted on the transport vehicle 1, and the power is supplied to the transport vehicle 1 by contacting and sliding the power collection line with the power supply line.

[0021]

As described above, according to the vehicle traveling system according to the present invention, a plurality of branching permanent magnets are provided at the branching portion of the traveling track, and the branching permanent magnet is one of the branching permanent magnets. The permanent magnets in the branch of the running track and the running tracks before and after the branching are to be continuous because they are arranged and arranged across the running track and the two running tracks. Becomes Therefore, it is possible to apply a propulsion force and a braking force to the carrier at any point on the traveling track including on the branch portion, and stable carrier control and, consequently, stable operation of the carrier traveling system can be achieved. It becomes possible.

Further, since the permanent magnet for the branch portion is formed in an arc shape in plan view, the permanent magnet for the branch portion and the transport vehicle when the carrier passes through the branch portion. Will always be kept in a facing relationship with the coil provided below. Therefore, the magnetic fields originating from the permanent magnets for the branch portion and the coils can interact with each other also at the branch portion, thereby making it possible to further ensure the above-described effects.

[Brief description of the drawings]

FIG. 1 is a plan view showing a traveling track including a branch portion and a permanent magnet for a branch portion in the present embodiment.

FIG. 2 is a front cross-sectional view illustrating a transport vehicle and a traveling track according to the embodiment.

FIG. 3 is an enlarged front view showing a relative positional relationship between a primary power supply line and a secondary winding.

FIG. 4 is a plan view showing an arrangement of a traveling track including a branch portion and permanent magnets in a conventional example.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Conveyor vehicle 1a Coil 2 Running track 21 Curved section track (one running track) 22 Straight section track (second running track) 3, 31, 32 Permanent magnet 4 Permanent magnet for branching section B Branch section

Claims (3)

[Claims] 1. A carrier provided with a coil to which an electric current is supplied, and a traveling track on which the carrier travels and on which a plurality of permanent magnets are provided so as to face the coil in a direction in which the carrier extends. In the carrier traveling system, the traveling track has a branch portion that branches in two or more directions, wherein the branch portion is provided with a plurality of permanent magnets for the branch portion, A carrier traveling system, wherein the permanent magnets are arranged and arranged so as to straddle between one traveling path and two traveling paths. 2. The transporting vehicle traveling system according to claim 1, wherein the permanent magnet for a branch portion has an arc shape in plan view. 3. The method according to claim 1, wherein, of the plurality of permanent magnets, a width of a permanent magnet provided at the branch portion is wider than a width of a permanent magnet provided at a portion other than the branch portion.
The transport vehicle traveling system according to any one of the above.