JPH11189334A - Transfer device with positioning mechanism for linear capsule-type traveling device - Google Patents

Abstract

(57) [Summary] [Problem] To surely stop a capsule and transfer a package quickly. SOLUTION: The capsule 4 which has risen from below is temporarily stopped above a stopper 46 (in a state where it does not protrude), and then the stopper 46 is protruded into the tube main body 1 and the capsule 4 is slowly lowered at a low speed to come into contact with the stopper 46. And stop. The baggage case in the capsule 4 is carried out by the drive conveyor 42, subsequently carried out to the transport conveyor 44 by the drive chain 45 of the carry-in / out conveyor 43, and transported to the storage position of the package by the transport conveyor 44.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION The present invention relates to a box-shaped capsule-type traveling body (hereinafter referred to as "capsule") which is advantageous in terms of handling and transfer of luggage. The present invention relates to a transfer device provided with a positioning mechanism of a linear motor type (hereinafter, referred to as “linear type”) capsule type traveling device that drives a linear tube with a linear motor.

[0002]

2. Description of the Related Art Conventionally, a linear capsule-type traveling device in which a capsule can freely travel in a linear tube by a linear motor having a linear tube in which excitation coils are arranged in parallel and a permanent magnet attached to the capsule. Is being developed.

Further, a linear capsule-type traveling device which uses a box-shaped capsule which is advantageous in terms of handling and transfer of luggage, and which travels in a linear tube having a rectangular or square cross section by a linear motor is provided by the present inventors. Developed by
A transfer facility as shown in FIG. 10 is provided. A transfer device 12 is provided on each floor of the building 11, and a transfer device 14 is also provided on a station 13 downstairs. The capsule 4 travels in the linear tube 3, and the luggage case 7 (luggage 30) carried by the truck 29 is transferred to the transfer device 12, 1,
At 4, a transfer to load or unload the capsule 4 is performed.

[0004]

In such a linear transfer equipment using a square linear tube, the capsule 4 must be accurately stopped in order to transfer by the transfer devices 12 and 14. In this case, the reverse thrust is applied to capsule 4
In addition, braking and deceleration are performed, and finally the positioning is stopped by a mechanical stopper, and thus the transfer is performed.

However, since the speed of the capsule 4 is measured by the interval and the interval of the magnetic sensor between the exciting coils of the linear tube 3, when the speed becomes low, there is a problem of lack of accuracy or collision with a stopper. Yes,
It was necessary to use an external measuring device. In addition, since the capsule 4 moves vertically (in the building 11) and horizontally (in the station 13), the transfer of luggage is performed by a vertical transport line (hereinafter, referred to as a vertical transport line) in which the capsule 4 moves in the vertical direction.
This has to be performed on a horizontal transport line (hereinafter, referred to as a “horizontal portion”) in which the capsule 4 moves horizontally (referred to as “vertical portion”) (see transfer devices 12 and 14).

SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to solve the above-mentioned problems and to provide a transfer device having a positioning mechanism of a linear capsule-type traveling device capable of transferring a load quickly and accurately. is there.

[0007]

According to the first aspect of the present invention,
A tube body having a rectangular or square cross section, an exciting coil whose polarity can be converted, provided on one or more surfaces of the tube body at predetermined intervals over a longitudinal direction of the tube body; A box-shaped capsule having a wheel in contact with an inner peripheral surface and capable of running in the tube main body through the wheel, and capable of mounting a luggage case; a permanent magnet attached to the outside of the capsule; A sensor for detecting the position of the permanent magnet of the capsule, which is attached to each position of the excitation coil of the tube main body, and a horizontal and vertical sensor comprising a polarity conversion mechanism for converting the polarity of the excitation coil. In a transfer device provided with a positioning mechanism of a linear capsule-type traveling device capable of traveling, the luggage case provided on a surface of the capsule can be ejected. A mouth, a drive conveyor provided on a plurality of surfaces of the capsule for carrying the luggage case through the horizontal and vertical entrances, and a drive conveyor provided on a surface of the tube main body at a predetermined position in a vertical portion of the tube main body. And a positioning mechanism capable of supporting the weight of the capsule, provided so as to be able to protrude inside the tube body and abut on the capsule slightly below the doorway of the tube body. It is characterized by comprising a stopper that also serves as a stopper, and a carry-in / out conveyor that is provided outside the tube body and connected to the entrance of the tube body and that carries in / out the luggage case from the capsule. is there.

According to a second aspect of the present invention, there is provided a tube main body having a rectangular or square cross section, and one or more surfaces of the tube main body are provided at predetermined intervals in a longitudinal direction of the tube main body. A box-shaped capsule having a convertible exciting coil, a wheel in contact with the inner peripheral surface of the tube body, and capable of running in the tube body via the wheel, and capable of mounting a luggage case; and And a sensor for detecting the position of the permanent magnet of the capsule, which is attached to each position of the excitation coil of the tube body, and for converting the polarity of the excitation coil. A transfer device equipped with a positioning mechanism for a linear capsule-type traveling device capable of horizontal and vertical traveling comprising a polarity conversion mechanism of An entrance of the luggage case provided on a surface, a drive conveyor provided on a plurality of surfaces of the capsule for carrying the luggage case through the entrance, and a tube at a predetermined position on a horizontal portion of the tube body. A door provided on the side surface of the main body, and an axis provided around the shaft and protruding inside the tube main body at a position close to the entrance of the tube main body and provided so as to be able to contact the capsule; An arm-shaped stopper for positioning and stopping the capsule, which is movable and also serving as a positioning mechanism; and the capsule provided from the capsule provided outside the tube main body in connection with the entrance of the tube main body. And a carry-in / out conveyor for carrying-in / out of the capsule. In which it characterized in that it is rotatable in response to the impact force of the collision with a buffer mechanism for buffering a shock when the collision or the like.

[0009]

Next, an embodiment of the present invention will be described with reference to the drawings. First, the linear capsule traveling device will be described. 6 is a perspective view showing a rectangular linear tube and a capsule of the linear capsule-type traveling device, FIG. 7 is a perspective view showing a first embodiment of a mounting portion of an excitation coil of the rectangular linear tube, and FIG. FIG. 9 is a perspective view showing a second embodiment of the mounting portion of the excitation coil.
Is a perspective view showing a third embodiment of a mounting portion of an exciting coil, and FIG. 11 is a perspective view showing a luggage case of a capsule type traveling body. 6 to 9, the tube main body, the coil case, and the magnetic material are shown in a see-through state.

The linear capsule-type traveling device has a linear tube 3 comprising a rectangular tube body 1 having a rectangular or square cross section and an exciting coil 2, and wheels 8, and has a tube body 1 (linear tube 3). A box-shaped capsule 4 that can move freely, a multi-pole permanent magnet 5 attached to the outside of the capsule 4, and a position detection sensor (magnetic sensor) of the permanent magnet 5 (capsule 4) attached to the position of the exciting coil 2. 6 and a polarity conversion mechanism of the exciting coil.

The capsule 4 has a box-like shape that can be inserted into the square tube body 1, and a box-like luggage case 7 as shown in FIGS. 6 and 11 is mounted therein. It has become. A permanent magnet 5 having a plurality of poles is attached to the outside (outer peripheral surface) of the capsule 4. The permanent magnet 5
Since the magnet type synchronous linear motor is constituted by the exciting coil 2, it is mounted on the surface of the linear tube 3 (tube body 1) on which the exciting coil 2 is provided. The capsule 4 is provided with a shock absorbing damper 31.

A hole is formed in the surface of the tube body 1, and a coil case 9 is fitted and fixed in the hole. The coil case 9 is made of a non-magnetic material (for example, engineering plastic or SUS304). A plurality of exciting coils 2 are accommodated in the coil case 9 in parallel. Coil case 9 and excitation coil 2
Are provided on one or more surfaces of the tube body 1. The exciting coil 2 is mounted in a coil case 9, projects together with the inside of the tube body 1, and is fixed as close as possible. A magnetic sensor 6 is provided for each position of the exciting coil 2.

The first part of the mounting portion of the exciting coil shown in FIG.
In the embodiment, a plurality of exciting coils 2 are housed in a coil case 9 and are provided in parallel at predetermined intervals. Here, "provided at predetermined intervals" means that the propulsion force is obtained in relation to the length of the permanent magnet of the capsule, except for the case where the propulsion force is completely provided at equal intervals. This also includes the case where some of them are thinned out from those provided.

Further, inside the coil case 9, a plate made of a magnetic material (silicon steel plate or the like) 16 is disposed outside the exciting coil 2 as a back core. This magnetic material 1
6, the outer surface 2a of the exciting coil 2 is pressed from the outside to the inside together with the coil case 9. In addition, a magnetic path can be secured thereby, and the gap 17 between the exciting coil 2 and the permanent magnet 5 of the capsule 4 can be adjusted. By providing the excitation coil 2 and the back core made of a magnetic material as described above, the tube body 1 can be made of iron or the like.

FIG. 8 shows a second example of the mounting portion of the excitation coil.
In the embodiment, a plurality of exciting coils 2 are housed in parallel in the coil case 9, and the outer surface 2 a of the exciting coil 2 is directed from the outside to the inside of the coil case 9 by the magnetic material (for example, silicon steel plate) 16. The pressing point is the same as that of the first embodiment shown in FIG. 7, but the protrusion 16a formed by bending the magnetic material 16 into a concave shape inside the tube body 1 is inserted into the inner hole 2c of the exciting coil 2. The difference is that the structure is such that the inner surface 2b of the exciting coil 2 and the bottom surface (inner surface) of the protrusion 16a are aligned with each other.
This has the effect of strengthening the magnetic coupling between the magnetic material 16 and the exciting coil 2.

The third part of the mounting portion of the exciting coil shown in FIG.
In the embodiment, the excitation coil 2 is housed in the coil case 9 alone. The magnetic material 16 is bent in a concave shape, and the excitation coil 2 is pressed against the inner surface of the outer surface 2a together with the coil case 9 from the outside (rear side) by the bottom surface (inside surface) of the magnetic material 16. A flange 16 b is formed on the outer edge of the magnetic material 16, and the flange 16 b is locked to the edge 9 a of the coil case 9. By arranging a plurality of such exciting coils 2 and coil cases 9 in the longitudinal direction of the tube main body 1, the exciting coils 2 can be provided at predetermined intervals.

Next, the linear motor will be described. FIG. 14 is a perspective view showing the operation principle of the linear motor, and FIG. 15 is a graph for explaining how to flow a current. In a synchronous linear motor for driving in a linearly driven transfer system, an elliptical coil (excitation coil) 2 is attached to a transfer path, and a position detection sensor 6 is attached to each coil. The position detection sensor 6 uses a unidirectional magnetic sensor. The predetermined width (3 / 5P) of the coil is the predetermined pitch (P)
And the current is alternately changed so that the current is alternately in the opposite direction to the positive direction, and series wiring is performed for each of a plurality of phases. The sensor 6 is a magnetic sensor that detects only one direction, is mounted by sequentially changing the detection direction, and is wired for each of a plurality of phases (for example, three phases). The carrier (capsule) 4 is provided with a plurality of poles of permanent magnets 5 having the same width as the coil, changing the poles sequentially, and generating a magnetic field in the coil direction. When the magnetic flux from the magnet 5 passes through the coil 2 through which the current flows, a magnetic force is generated in a direction perpendicular to the direction of the magnetic flux in accordance with the “Fleming's left-hand rule”. As described above, the traveling direction can be easily generated in the forward direction or the reverse direction depending on the current flow, and the carrier 4 provided with the magnets 5 can travel by this reaction force. FIG. 14 shows the configuration of the linear motor. Permanent magnet 5 and exciting coil 2
By attaching a core made of a magnetic material that does not saturate the magnetic flux to the back, the magnetic flux increases and the efficiency can be increased. The driving method can pattern the magnets 5 having a plurality of poles (five poles) every ８ of one cycle (F) by the detection method of the sensor 6. This is because the number of patterns can be further increased by increasing the number of sensors 6 and fine control can be performed. Depending on the position at which the pattern is switched, it is possible to set a current flow method corresponding to the pattern detected by the sensor 6 for the coils 2 of a plurality of phases (for example, three phases). The current flow is exactly 1
４ section, stop 1/8 section, 1/4 section on opposite side, stop 1
It operates in the order of / 8 sections. FIG. 15 shows how a current is applied to the pattern of the sensor 6 as an example of a driving method using a 5-pole magnet for a three-phase power supply.

In the case of a three-phase power supply, six IGBTs
By controlling such elements as ON and OFF in accordance with the pattern detected by the sensor, the current flowing through the coil can be patterned. FIG. 15 shows five pole permanent magnet positions, coil positions, sensor positions, sensor detection patterns, and current directions to the coils.

FIG. 12 is a wiring diagram showing a section control on a transport line and a method of controlling a plurality of zones for simultaneously driving a plurality of capsules. FIG. 13 is a wiring diagram showing one section of a linear motor. The plurality of excitation coils 2 are divided into a plurality of sections, and each section is wired in parallel with a power cable of a multiphase power cable. The exciting coil 2 and the magnetic sensor 6
3 are wired in series for each section and each phase. A signal from the magnetic sensor 6 is sent as a digital signal to the control device via an OR circuit, whereby the location of the section of the capsule 4 is detected. Thus, when the capsule 4 is detected by the magnetic sensor 6,
A signal is sent to the switch 23 to energize only the exciting coil 2 of the section where the capsule 4 is running. Therefore, no power is supplied to the exciting coils 2 in other sections where the capsule 4 is not running.

The transfer line (linear tube 3) is divided into a plurality of sections 20, and the current passes through only a limited one section 20 through a main wiring 22 for driving a linear motor and a switch 23 such as a thyristor or a transistor. And the length of the section 20 can be changed according to the power. As a result, the power can be reduced and the power can be reduced in size. The plurality of capsules 4 are divided into zones 21 for simultaneous driving, and the main wiring 22 is connected to the linear driving device 24 via the switch 23 for each zone 21. Is a linear drive 2 for each zone.
4, 24... These are the operation panel 25
The signal from the position sensor 6 is sent to the CPU 28 via the signal line 27, and the positions of the plurality of capsules 4 are always grasped.

The traveling of the capsule 4 is performed by applying an excitation pattern to the permanent magnet 5 in accordance with the "Fleming's left hand rule". That is, when the permanent magnet 5 attached to the capsule 4 passes through the position sensor 6, the sensor 6 detects this. Immediately after that, the current stops and the exciting coil 2 in the forward direction of the capsule 4 moves at the pitch interval of the coil. A current flows so as to have a polarity different from that of the 3/5 permanent magnet 5. As a result, a thrust acts on the exciting coil 2 of the permanent magnet 5 and the capsule 4 moves smoothly in the running direction as a reaction force. Next, when the permanent magnet 5 passes through the position sensor 6 in front of the next traveling direction, the sensor 6 detects this, and immediately after that, the current flowing through the exciting coil 2 stops and reverses, and the permanent magnet 5 having the opposite polarity and A thrust reverse to the traveling direction is generated in the exciting coil 2. A reaction force acts on the capsule 4 and is pushed out in the running direction. The capsule 4 travels continuously in the traveling direction by repeating this operation sequentially with a plurality of permanent magnets for each excitation coil 2. In this manner, the position of the exciting coil 2 and the permanent magnets 5 having a plurality of poles is detected by the position sensor 6, and a thrust can be applied in a certain direction (running direction) by the linear motor with a multipole multiplicity.

Next, the transfer device of the present invention will be described. First, the transfer device in the vertical section will be described. FIG.
1 is a perspective view showing Embodiment 1 of a transfer device of the present invention,
FIG. 2 is a front view showing a vertical positioning mechanism according to Embodiment 1 of the present invention, FIG. 3 is a side view, and FIG. 10 is a perspective view showing in-building transfer equipment using a linear capsule-type traveling device. The transfer device 12 of the present invention includes an entrance 4a and a drive conveyor 42 provided in the capsule 4, a vertical positioning mechanism 41 having a stopper 62 for stopping the capsule 4, and an entrance 1a provided in the tube body 1.
And a carry-in / out conveyor 43 provided on the floor of the building 11. The box-shaped capsule 4 travels vertically in the vertical linear tube 3 in the building 11. A permanent magnet 5 is attached to one surface of the body of the capsule 4, an entrance (hole) 4a for a luggage case 7 is provided on the opposite surface, and an electric drive conveyor is provided on other surfaces. 42 are provided. Drive conveyor 42
Transports the luggage case 7 into and out of the capsule 4 from the entrance 4a.

In the building 11, an entrance (hole) 1a for a luggage case 7 is provided on the surface of the tube body 1 of the linear tube 3 in a vertical portion orthogonal to the floor of the building 11. Immediately outside the entrance 1a, a carry-in / out conveyor 43 for carrying out loads is provided on the floor of the building 11. The carry-in / out conveyor 43 is provided in the middle of the conveyors 44 and 44 ', and the conveyor 4 is provided on both sides of the conveyor 43.
4, 44 'are connected. A drive chain 45 for transferring cargo is provided between the drive rolls of the carry-in / out conveyor 43 in the same direction as the axis of each drive roll. The drive tune 45 can be moved up and down, and when it rises and protrudes above the drive roll of the carry-in / out conveyor 43, the luggage case 7 is driven on the conveyor 42 and placed on the chain 45 so that Carry in and out. When the baggage case 7 is lowered and positioned below the drive roll, the luggage case 7 is transported to a predetermined storage location in the building by the rolls of the carry-in / out conveyor 43 and the transport conveyor 44. In addition, the luggage placed on the conveyor 44 'is carried to the carry-in / out conveyor 43, and the drive chain 45 rises, and the chain 45 and the conveyor 42 move to the carry-in side of the capsule, enter the capsule, and are locked. (Not shown) transported to the destination.

A positioning mechanism 41 shown in FIGS. 2 and 3 is provided outside the tube body 1 slightly below the entrance 1a. The positioning mechanism 41 has a stopper 46 having a predetermined length capable of protruding from the outside of the tube body 1 to the inside of the tube body 1. A rack gear (flat gear) 52 is provided on a side surface of the stopper 46, and a pinion gear 51 is fixed to a drive shaft of the motor 47, and the stopper 46 can be reciprocated horizontally by these driving mechanisms. Further, support rollers 49 and 50 and support rollers 53 and 54, which are in contact with the upper and lower surfaces of the stopper 46, are axially mounted at a position near the tube body 1 and a position far away on the opposite side. The stopper 46 is horizontally moved by the stopper driving mechanism and protrudes inside the tube body 1 from a hole 1b formed in the tube body 1.
A broken line 46a in FIG. 2 indicates a projected state of the stopper.
A rubber damper 48 is mounted above the tip of the stopper 46. The damper 48 is located on the running path of the wheel 8 of the capsule 4 when the stopper 46 is in a protruding state, and is designed to abut on the wheel 8. The damper 48 of the projected stopper 46 comes into contact with the wheel 8 of the capsule 4 located on the upper side, and the capsule 4 is stopped by being supported by the stopper 46. Support rollers 49, 50, 53, 54
Has an action of supporting the weight of the capsule 4 loaded on the stopper 46.

A releasable locking device (not shown) is attached to the luggage case 7 mounted on the capsule 4, and in a stop position, non-contact (magnetic coupling system or the like) or contact (the current collector is a capsule). Electrical connection can be made by using a slider that has
When the vehicle stops at 1, the baggage case 7 can be unlocked and the conveyors 42, 43 and the chain 45 can be driven to load and unload the baggage.

The capsule 4 is detected by a sensor or the like, decelerated, and stopped at a predetermined position. The stop position is set to a position where the position of the entrance 4a of the capsule 4 and the position of the entrance 1a of the tube body 1 match. If the stop position is to be set accurately, a reflective or transmissive encoder plate is attached to the stop position. This allows accurate speed and position detection.

To stop the capsule 4 in the vertical portion, the descending capsule 4 is decelerated above the stop position, and the tube body 1 is stopped.
The stopper 46 is protruded inward from the inside, and the capsule 4 is slowly lowered from above at a low speed and stopped by the stopper 46. When the capsule 4 has risen, the capsule 4 passes through the stop position, is positioned above the stop position, and then stops. As a result, energization of the excitation coil 2 is stopped, and heat generation can be prevented. Conveyors 42, 4
Confirmation of driving and unlocking of the locks 3, 44, and 44 'can be detected by being transmitted from the capsule 4 and received by the station 13 side.

Next, the transfer device in the horizontal portion will be described. FIG. 4 is a front view showing a horizontal positioning mechanism according to Embodiment 2 of the present invention, and FIG. 5 is a side view. The horizontal part transfer device 14 of the present invention is provided on the tube body 1, a horizontal positioning mechanism 61 having an entrance 4 a and a drive conveyor 42 provided in the capsule 4, an arm type stopper 63 for stopping the capsule 4, and the like. Entrance 1a
And a carry-in / out conveyor 43 provided on the floor of the station 13.

In a horizontal portion (horizontal transfer line 18) in the station 13, a box-shaped capsule 4 runs horizontally in the linear tube 3. In the transfer device in the horizontal part, the entrance 1a for the luggage case 7 is provided on the side surface of the tube body 1. That is, it is not provided on the upper and lower surfaces. The carry-in / out conveyor 43 and the conveyor 44 provided on the floor of the station 13 outside the tube main body 1 have the same device configuration as in the first embodiment shown in FIG.

The positioning mechanism 61 is provided on the upper surface of the tube body 1 outside the tube body 1 of the linear tube 3. It may be provided on another surface. The positioning mechanism 61 has an L-shaped (inverted L-shaped) arm-type stopper 63 that is pivotally mounted on a base shaft 64 and that is bent at a right angle. The stopper 63 is rotated by the drive motor 62 via the clutch mechanism 66, and can freely protrude into the tube main body 1 from a hole formed in the tube main body 1. The tip (lower end) of the arm 63
A rubber damper 65 is attached to the L-shaped bent portion. The damper 65 is designed to come into contact with the body of the capsule 4 and stop when the stopper 63 projects inside the tube body 1. When the capsule 4 collides with the damper 65 of the combined use of the shock absorber and the stopper 63 with a thrust greater than a predetermined value due to a defect such as deceleration (collides from the right side shown in FIG. 5), the constant torque limiter provided in the clutch mechanism 66 is provided. At the same time as the operation, the drive motor 62 is driven, and the stopper 63 rotates in the direction of arrow A shown in FIG. Capsule 4
, The stopper 63 is rotated to be positioned outside the tube body 1.

The traveling capsule 4 is detected by a sensor or the like, decelerated, and stopped at a predetermined position. The stop position is
The entrance 4a of the capsule 4 and the entrance 1a of the tube body 1
Is set to a position that matches the position. For accurate setting, install a reflective or transmissive encoder plate at the stop position. This allows accurate speed and position detection. Confirmation of driving and unlocking of the conveyors 42, 43, and 44 can be detected by being transmitted from the capsule 4 and received by the station 13 side.

The transfer devices 12, 1 according to the first and second embodiments
In the transport equipment shown in FIG. 10 provided with the equipment 4, in the station 13, the luggage 30 carried by the truck 29 is put into the luggage case 7, lowered by the level of the building 11, and transferred by the level by the transport conveyor 15. Device 14 (1
4, 14, 14). A transfer conveyor 44 is provided in front of the transfer device 14 in parallel with the horizontal transfer line 18.

The transportation from the station 13 is performed by moving the capsule 4 with the luggage case 7 mounted thereon, passing through the horizontal transportation line 18 and the bend section 10 and the like, and dividing the building 11 on each level of the vertical transportation line. Is stopped by the transfer device 12. In the transfer device 12, the luggage case 7 (luggage 30) is unloaded from the capsule 4, and is stored here while being loaded on the luggage case 7.

In the transportation from the building 11 to the station 13, when the empty capsule 4 is stopped in the building 11 by the positioning mechanism 41, the luggage 30 is stored in a state loaded on the luggage case 7, so that the carry-in / out conveyor is provided. 4
The luggage case 7, which has been waiting at 3, 44 ', is driven in synchronization with the drive chain 45 and the conveyor 42 in the capsule, and is mounted in the capsule 4 by this drive and locked by the lock device. The luggage case 7 is transported to the station 13.

Since the luggage case 7 is mounted on the capsule 4 in a state where the upper and lower sides of the luggage case 7 are normally held (hereinafter, referred to as "normal state"), (see FIG.
3, the transfer device 14), the vertical transfer device 12
As it is, the luggage case 7 is lowered from the capsule 4 in a state of lying down (see FIG. 10, the building 11, the transfer device 12). Therefore, in the vertical transfer device 12, it is possible to provide a device for correcting the posture of the luggage by 90 °, for example, an angle correction conveyor (not shown) to correct the posture of the luggage case 7 to a normal state. it can.

Further, a table (not shown) having a pendulum structure is provided on the capsule 4 so that the posture of the luggage case 7 is always maintained in a normal state, and the luggage case 7 is placed on the stand, thereby allowing the luggage case 7 to be placed vertically. Even when the paper is conveyed in the horizontal direction from the vertical direction or the vertical direction (see the bend unit 10 in FIG. 10), the normal state can be always maintained.

[0037]

As described above, according to the transfer apparatus of the present invention, the conveyor is provided in the capsule, and the conveyor and the positioning mechanism of the capsule are provided in the building and the station. Is designed to securely support the weight of the capsule with a stopper equipped with support rollers, and to reliably stop the capsule with an arm-type stopper in the horizontal part, and to prevent accidents due to collisions with an impact buffering mechanism. Transfer can be performed, thus providing a useful effect.

[Brief description of the drawings]

FIG. 1 is a perspective view showing a transfer device according to a first embodiment of the present invention.

FIG. 2 is a front view showing a vertical positioning mechanism according to the first embodiment of the present invention.

FIG. 3 is a side view showing a vertical positioning mechanism according to the first embodiment of the present invention.

FIG. 4 is a front view showing a horizontal positioning mechanism according to Embodiment 2 of the present invention.

FIG. 5 is a side view showing a horizontal positioning mechanism according to Embodiment 2 of the present invention.

FIG. 6 is a perspective view showing a square linear tube and a capsule of the linear capsule traveling device.

FIG. 7 is a perspective view showing a first embodiment of a mounting portion of an excitation coil of a rectangular linear tube.

FIG. 8 is a perspective view showing a second embodiment of a mounting part of an exciting coil of a rectangular linear tube.

FIG. 9 is a perspective view showing a third embodiment of a mounting portion of an excitation coil of a rectangular linear tube.

FIG. 10 is a perspective view showing an in-building transfer facility using the linear capsule-type traveling device.

FIG. 11 is a perspective view showing a luggage case of the capsule-type traveling body.

FIG. 12 is a wiring diagram illustrating a section control method on a transport line and a method for controlling a plurality of zones for simultaneously driving a plurality of capsules.

FIG. 13 is a wiring diagram showing one section of the linear motor.

FIG. 14 is a perspective view showing the operation principle of the linear motor.

FIG. 15 is a graph illustrating a method of flowing a current.

[Explanation of symbols]

 1: Tube body 1a: Doorway 1b: Hole 2: Excitation coil 2a: Surface outside excitation coil 2b: Surface inside excitation coil 2c: Inner hole of excitation coil 3: Linear tube 4: Capsule 4a: Doorway 5: Permanent Magnet 6: Position sensor 7: Luggage case 8: Wheel 9: Coil case 9 a: Edge 10: Bend section 11: Building 12: Building transfer device 13: Station 14: Station transfer device 15: Transport conveyor 16: Magnetic material 16a: Projecting portion 16b: Flange 17: Gap 18: Horizontal transport line 20: Section 21: Zone 22: Main wiring 23: Switching device 24: Drive device 25: Operation panel 26: Operation device 27: Signal line 28: CPU 29: Truck 30: Luggage 31: Damper 41: Vertical positioning mechanism 42: In-capsule drive conveyor 43: Carry-in / out conveyor A 44: Conveyor (storage conveyor) 44 ': Conveyor (conveyor) 45: Drive chain 46: Stopper 46a: Stopper (projected state) 47: Motor 48: Damper 49, 50: Support roller 51: Pinion gear 52: Rack gear (flat gear) 61: horizontal positioning mechanism 62: motor 63: arm type stopper 64: shaft 65: damper 66: clutch mechanism

Claims (2)

[Claims] 1. A tube body having a rectangular or square cross section, and an exciting coil whose polarity can be converted and provided on one or more surfaces of the tube body at predetermined intervals over a longitudinal direction of the tube body. A box-shaped capsule having a wheel that is in contact with the inner peripheral surface of the tube main body, and capable of running inside the tube main body through the wheel, and capable of mounting a luggage case, and attached to the outside of the capsule A permanent magnet, a sensor attached to each position of the exciting coil of the tube body, a sensor for detecting the position of the permanent magnet of the capsule, and a polarity conversion mechanism for converting the polarity of the exciting coil. In a transfer device provided with a positioning mechanism of a linear capsule traveling device capable of horizontal and vertical traveling, the transfer device provided on a surface of the capsule. An entrance of a product case, a drive conveyor provided on a plurality of surfaces of the capsule for carrying in and out the luggage case from the horizontal and vertical entrances, and a predetermined position of a vertical portion of the tube main body. An entrance of the luggage case provided on the surface, and a portion of the tube main body, which can support the weight of the capsule, which is provided slightly below the entrance of the tube main body so as to be able to protrude inside the tube main body and contact the capsule. A stopper serving also as a positioning mechanism, and a carry-in / out conveyor for carrying the baggage case in and out of the capsule, which is provided outside the tube body and connected to the entrance of the tube body. Transfer device equipped with a vertical positioning mechanism for a linear capsule-type traveling device. 2. A tube main body having a rectangular or square cross section, and an exciting coil whose polarity can be converted, provided on one or more surfaces of the tube main body at predetermined intervals in a longitudinal direction of the tube main body. A box-shaped capsule having a wheel that is in contact with the inner peripheral surface of the tube main body, and capable of running inside the tube main body through the wheel, and capable of mounting a luggage case, and attached to the outside of the capsule A permanent magnet, a sensor attached to each position of the exciting coil of the tube body, a sensor for detecting the position of the permanent magnet of the capsule, and a polarity conversion mechanism for converting the polarity of the exciting coil. In a transfer device provided with a positioning mechanism of a linear capsule traveling device capable of horizontal and vertical traveling, the transfer device provided on a surface of the capsule. And entrance of goods case, a drive conveyor that is provided with the luggage case to the plurality of surfaces of the capsule for loading and unloading from the doorway,
An entrance of the luggage case provided on a side surface of the tube main body at a predetermined position of the horizontal portion of the tube main body, and can protrude inside the tube main body at a position close to the entrance of the tube main body and abut on the capsule. An arm-shaped stopper for positioning and stopping the capsule, which is rotatable about an axis, and is rotatably provided about an axis, and is connected to the entrance and exit of the tube body outside the tube body. And a loading / unloading conveyor for loading / unloading the luggage case from / to the capsule. The arm-type positioning stopper has a buffer for buffering an impact when the capsule collides due to a control abnormality or the like. The linear capsule-type traveling device has a mechanism and is rotatable in response to the impact force of a collision. Transfer device with a-decided prevention mechanism.