JP2585747B2 - Transfer equipment using linear motor - Google Patents
Transfer equipment using linear motorInfo
- Publication number
- JP2585747B2 JP2585747B2 JP63236767A JP23676788A JP2585747B2 JP 2585747 B2 JP2585747 B2 JP 2585747B2 JP 63236767 A JP63236767 A JP 63236767A JP 23676788 A JP23676788 A JP 23676788A JP 2585747 B2 JP2585747 B2 JP 2585747B2
- Authority
- JP
- Japan
- Prior art keywords
- moving body
- pair
- thrust
- lateral
- width direction
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Non-Mechanical Conveyors (AREA)
- Control Of Vehicles With Linear Motors And Vehicles That Are Magnetically Levitated (AREA)
- Linear Motors (AREA)
Description
【発明の詳細な説明】 〔産業上の利用分野〕 本発明は、例えば、工場内や倉庫内等において各種物
品を搬送するためのリニアモータ利用の搬送設備に関
し、詳しくは、一次コイルが地上側に設けられ、且つ、
二次導体が移動体側に設けられたリニアモータ利用の搬
送設備に関する。DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to a transfer facility using a linear motor for transferring various articles, for example, in a factory or a warehouse. , And
The present invention relates to a transport facility using a linear motor provided with a secondary conductor on a moving body side.
上記この種のリニアモータ利用の搬送設備において、
従来では、移動体の横幅方向での位置規制用の案内レー
ル等を移動経路に沿って設け、その案内レールの長さ方
向に向けて推力を与えるように、案内レールの長さ方向
に沿って一次コイルを付設するようにしていた。In this type of transfer equipment using a linear motor,
Conventionally, guide rails and the like for position control in the width direction of the moving body are provided along the moving path, and along the length of the guide rail, a thrust is applied in the length direction of the guide rail. A primary coil was provided.
従って、案内レールを急角度で屈曲させて移動体の進
行方向を急角度で変えることは困難であり、又、移動体
を高速移動させることができるようにするためにも、案
内レールを極力直線状に形成するようにしていた。Therefore, it is difficult to bend the guide rail at a steep angle to change the traveling direction of the moving body at a steep angle, and to make the moving body move at high speed, the guide rail must be straightened as much as possible. It was formed in a shape.
着線状の案内レールを組み合わせて移動経路を形成す
ると、移動経路の向きが変わる箇所では、異なる向きの
案内レール間に亘って、移動体の向きを変えて移動させ
るための手段が必要になる。When the moving path is formed by combining the line-shaped guide rails, a means for changing the direction of the moving body and moving it between the guide rails of different directions is required at a place where the direction of the moving path changes. .
但し、上述の如く、移動体は案内レールによってその
横幅方向での位置を規制され、且つ、その案内レールの
長さ方向にのみ推力を与えるように構成されていること
から、一次コイルによる推力を利用して移動体の進行方
向を変更することは困難であった。However, as described above, the position of the moving body in the width direction is regulated by the guide rail, and the moving body is configured to apply a thrust only in the length direction of the guide rail. It has been difficult to change the traveling direction of the moving object by using it.
尚、複数の移動経路が交差する交差点において、移動
体を異なる移動経路間に亘って分岐・合流させるような
場合にも、同様の問題が生じることになる。A similar problem occurs when a moving body branches and merges at different intersections at a plurality of intersections.
そこで、従来では、例えば、第５図に示すように、移
動経路の向きが急激に変わる案内レール（Ｌ）の接続部
分に、水平方向に旋回駆動自在なターンテーブル（Ｔ）
を設けて、このターンテーブルを（Ｔ）を旋回駆動する
ことにより、移動体（Ａ）の進行方向を変更させるよう
にしていた。Therefore, conventionally, for example, as shown in FIG. 5, a turntable (T) that can be driven to turn in the horizontal direction is connected to a connecting portion of a guide rail (L) in which the direction of a moving path changes rapidly.
And the traveling direction of the moving body (A) is changed by rotating the turntable (T).
従来構成では、移動体の進行方向を変えるための設備
構成が複雑になる不利があった。The conventional configuration has a disadvantage that the equipment configuration for changing the traveling direction of the moving body is complicated.
本発明は、上記実情に鑑みてなされたものであって、
その目的は、地上側の一次コイルによる推力のみによっ
て移動体の進行方向を簡単に変えることができるように
することにある。The present invention has been made in view of the above circumstances,
An object of the present invention is to make it possible to easily change the traveling direction of a moving object only by a thrust by a primary coil on the ground side.
本発明によるリニアモータ利用の搬送設備は、一次コ
イルが地上側に設けられ、且つ、二次導体が移動体側に
設けられたものであって、その特徴構成は、以下の通り
である。The transfer equipment using a linear motor according to the present invention has a primary coil provided on the ground side and a secondary conductor provided on the moving body side, and the characteristic configuration thereof is as follows.
すなわち、前記一次コイルは、前記二次導体に対し
て、前記移動体の進行方向には同方向となる推力を同時
に与えながら、且つ、前記移動体の横幅方向には互いに
逆方向となる推力を同時に与え、且つ、その逆方向とな
る推力が左右方向のずれに対して復元力として作用する
ように、前記移動体の横幅方向に配置された左右一対
と、前記二次導体に対して、前記移動体の進行方向には
同方向となる逆推力を同時に与えながら、且つ、前記移
動体の横幅方向には互いに逆方向となる推力を同時に与
え、且つ、その逆方向となる推力が左右方向のずれに対
して復元力として作用するように、前記移動体の横幅方
向に設置された左右一対とからなり、平面視で四角形を
なす一組の一次コイルが、前記進行方向に複数並ぶ状態
で設置され、前記二次導体の前記移動体の横幅方向での
存在範囲が、前記移動体が横幅方向における制御目標位
置に位置するときに、平面視において、前記左右一対の
一次コイルの夫々の前記横幅方向での存在範囲を部分的
に覆う範囲となり、且つ、前記移動体の前記制御目標位
置からのずれに伴って、前記左右一対の一次コイルのう
ち一方を覆う範囲が広くなり、他方を覆う範囲が狭くな
るように形成されている点にある。That is, the primary coil simultaneously applies, to the secondary conductor, thrusts in the same direction in the traveling direction of the moving body, and thrusts in opposite directions in the width direction of the moving body. At the same time, and so that the thrust in the opposite direction acts as a restoring force against lateral displacement, a pair of left and right arranged in the lateral width direction of the moving body, the secondary conductor, While simultaneously applying reverse thrusts in the same direction in the traveling direction of the moving body, and simultaneously applying thrusts in opposite directions to each other in the width direction of the moving body, and the thrust in the opposite direction is the same in the left-right direction. In order to act as a restoring force against displacement, a pair of primary coils, which are formed in a pair of left and right sides installed in the lateral width direction of the moving body and form a square in plan view, are installed in a state where a plurality of primary coils are arranged in the traveling direction. And the second The existence range of the moving body in the width direction is, when the moving body is located at the control target position in the width direction, the plane of existence of the pair of left and right primary coils in the width direction in plan view. It is formed so as to be a partly covered area, and with the displacement of the moving body from the control target position, a range covering one of the left and right primary coils is widened and a range covering the other is narrowed. In that it is.
つまり、平面視で四角形をなす一組の一次コイルによ
る推力を全て同方向に発生させれば、四角形の各辺周り
に回転する推力が生じて、移動体をその四角形の中心周
りに、その場で旋回させて進行方向を変えることができ
る。In other words, if thrusts generated by a set of primary coils forming a quadrangle in plan view are all generated in the same direction, thrusts that rotate around each side of the quadrangle will be generated, and the moving object will be moved around the center of the quadrilateral. To change the direction of travel.
一方、平面視で四角形をなす一次コイルのうちから適
宜選択して駆動することにより、移動体を所望の進行方
向に向けて直線移動させることができる。On the other hand, by appropriately selecting and driving a primary coil having a quadrangular shape in plan view, the moving body can be linearly moved in a desired traveling direction.
しかも、その移動体の直線移動においては、上記の平
面視で四角形をなす一組の一次コイルが複数並ぶ状態で
設置されて、その一組の一次コイルのうちの移動体の横
幅方向に設置された左右一対の一次コイルによって移動
体の進行方向には同方向となる推力を与えられて進行
し、又、同じく移動体の横幅方向に設置された、もう一
方の左右一対の一次コイルによって移動体の進行方向に
は同方向となる逆推力が与えられて制動力が加えられる
か、あるいは、逆方向へ進行する。Moreover, in the linear movement of the moving body, a plurality of sets of primary coils each forming a quadrangle in the above-described plan view are installed in a state of being arranged in a row, and the set of primary coils is installed in the width direction of the moving body in the set of primary coils. The moving body is given a thrust in the same direction as the moving body by the pair of left and right primary coils, and the moving body is moved by the other pair of left and right primary coils, which are also installed in the width direction of the moving body. In the traveling direction, a reverse thrust in the same direction is applied to apply a braking force, or the vehicle travels in the opposite direction.
又、移動体が夫々の左右一対の一次コイルによって推
力を受ける場合でも、あるいは、逆推力を受ける場合で
も、移動体の横幅方向には互いに逆方向となる推力を受
けて、移動体の横幅方向における制御目標位置への復元
力を受けることになる。Further, even when the moving body receives thrust by the pair of left and right primary coils, or when receiving the reverse thrust, the moving body receives thrusts in opposite directions to each other in the width direction of the moving body. At the control target position.
更に、二次導体の移動体の横幅方向での存在範囲が、
移動体が横幅方向における制御目標位置に位置すると
き、平面視において、左右一対の一次コイルの夫々の横
幅方向での存在範囲を部分的に覆う範囲となり、且つ、
移動体が制御目標位置からのずれに伴って、左右一対の
一次コイルのうちの一方を覆う範囲が広くなり、他方を
覆う範囲が狭くなるように形成されていることから、移
動体が、制御目標位置から左右の何れかにずれると、左
右一対の一次コイルのうちの一方では移動体の横幅方向
の推力が増大し、他方では移動体の横幅方向の推力が減
少するので、左右一対の一次コイルの夫々が、同時に、
移動体を制御目標位置に復帰させるための復元力の生成
に寄与し、その復元力を可及的に増大させることができ
る。Furthermore, the existence range of the moving body of the secondary conductor in the width direction is
When the moving body is located at the control target position in the lateral direction, in plan view, it becomes a range that partially covers the existing range in the lateral direction of each of the pair of left and right primary coils, and
Since the moving body is formed so that the range covering one of the left and right primary coils is widened and the range covering the other is narrow, the moving body is controlled by the deviation from the control target position. When the primary position is shifted to the left or right from the target position, the thrust in the lateral direction of the moving body increases in one of the pair of left and right primary coils, and the thrust in the lateral direction of the moving body decreases in the other. Each of the coils, at the same time,
This contributes to generation of a restoring force for returning the moving body to the control target position, and the restoring force can be increased as much as possible.
もって、一次コイルによる発生推力の方向を制御する
だけで、正逆並びに旋回自在に移動体に推力を与えると
ができ、設備構成の簡素化を図ることができる。Thus, by simply controlling the direction of the thrust generated by the primary coil, thrust can be applied to the movable body in a forward / reverse and swiveling manner, and the equipment configuration can be simplified.
しかも、そのような多彩な移動体の移動を可能としな
がらも、移動体を的確に横幅方向における制御目標位置
に位置させて、安定性良く移動体を運行させることがで
きる。Moreover, while enabling such various movements of the moving body, the moving body can be operated with good stability by accurately positioning the moving body at the control target position in the lateral width direction.
以下、本発明の実施例を図面に基づいて説明する。 Hereinafter, embodiments of the present invention will be described with reference to the drawings.
第１図及び第２図に示すように、物品搬送用の移動体
（Ａ）は、車体の前後に左右一対のキャスタ式の走行車
輪（１）を備えたパレット状の台車に構成されている。
そして、前記移動体（Ａ）の下側面に、車体長さと略同
長さの二次導体（Ｄ）が取り付けられている。As shown in FIGS. 1 and 2, the moving body (A) for transporting articles is configured as a pallet-shaped cart having a pair of left and right caster-type running wheels (1) in front and rear of the vehicle body. .
A secondary conductor (D) having substantially the same length as the vehicle body is attached to the lower surface of the moving body (A).
前記二次導体（Ｄ）に推力を与える一次コイル（Ｃ）
が、平面視が菱形の各辺上に位置する状態で、四個を一
組として地上側に付設され、それら四個の一次コイル
（Ｃ）を一組みとする複数組みが、前記移動体（Ａ）の
移動経路の長手方向に沿って連続的に連なる状態で付設
されている。A primary coil (C) for applying a thrust to the secondary conductor (D)
However, in a state where the planar view is located on each side of the rhombus, four sets are provided on the ground side as one set, and a plurality of sets each including the four primary coils (C) are set as the moving body ( A) is attached so as to be continuously connected along the longitudinal direction of the movement path of A).
但し、前記移動体（Ａ）の移動経路は、互いに平行な
直線状の二本の移動経路（L1）と、それら二本の移動経
路（L1）の間を直交する方向に結ぶ一つの直線状の移動
経路（L2）とを備えている。However, the moving path of the moving body (A) is two linear moving paths (L 1 ) parallel to each other, and one moving path connecting the two moving paths (L 1 ) in a direction orthogonal to each other. And a linear movement path (L 2 ).
そして、前記各移動経路（L1），（L2）が交差する交
差点（Ｋ）に位置する菱形の中心には、前記移動体
（Ａ）の在席を検出するために、光反射式の在席検出用
センサ（Ｓ）が設けられている。つまり、この在席検出
用センサ（Ｓ）の検出情報に基づいて、前記移動体
（Ａ）が前記交差点（Ｋ）上に位置しているか否かを判
別して、設定された移動方向の情報に基づいて、前記菱
形の各辺上に位置する四個の一次コイル（Ｃ）による発
生推力の方向を制御することになる。Then, at the center of the rhombus located at the intersection (K) where each of the moving paths (L 1 ) and (L 2 ) intersect, a light reflection type is used to detect the presence of the moving body (A). A presence detection sensor (S) is provided. That is, based on the detection information of the presence detection sensor (S), it is determined whether or not the moving body (A) is located on the intersection (K), and information on the set moving direction is determined. , The direction of thrust generated by the four primary coils (C) located on each side of the diamond is controlled.
説明を加えれば、前記移動体（Ａ）の進行方向に対し
て左右両側に位置する状態となる互いに隣接する二辺上
の一次コイル（Ｃ）を一対として、前記移動体（Ａ）の
進行方向に対しては同方向の推力を発生させるように駆
動すると、前記移動体（Ａ）に対して左右に位置する一
対の一次コイル（Ｃ）が、前記移動体（Ａ）の進行方向
に対して斜め方向に向かう推力を与える状態となる。そ
の結果、前記移動体（Ａ）の二次導体（Ｄ）に対して、
進行方向に向かう推力を左右両側から同時に与えなが
ら、且つ、前記移動体（Ａ）の横幅方向には互いに逆向
きとなる推力を同時に与える状態となり、各一次コイル
（Ｃ）から発生する推力のみによって、前記移動体
（Ａ）の横幅方向での位置を、その移動経路上にある前
記菱形の中心に規制しながら、且つ、各菱形が連なる移
動経路の長さ方向に向けて前記移動体（Ａ）を進行させ
ることができるのである。In addition, the traveling direction of the moving body (A) is defined as a pair of the primary coils (C) on two sides adjacent to each other which are positioned on both left and right sides with respect to the traveling direction of the moving body (A). When driven so as to generate a thrust in the same direction, a pair of primary coils (C) located on the left and right with respect to the moving body (A) move with respect to the traveling direction of the moving body (A). A state in which a thrust directed in an oblique direction is applied. As a result, with respect to the secondary conductor (D) of the moving body (A),
While simultaneously applying thrusts toward the traveling direction from both the left and right sides, and simultaneously applying thrusts in opposite directions in the width direction of the moving body (A), only the thrust generated from each primary coil (C) is applied. The position of the moving body (A) in the lateral width direction is restricted to the center of the rhombus on the moving path, and the moving body (A) is moved in the longitudinal direction of the moving path in which each rhombus continues. ) Can proceed.
尚、前記移動体（Ａ）の横幅方向での位置が前記左右
を一対とする一次コイル（Ｃ）の中間に位置する適正状
態すなわち横幅方向における制御目標位置に位置する状
態から左右方向にずれた場合には、前記二次導体（Ｄ）
に対して横幅方向に逆向きとなる推力によって前記左右
一対の一次コイル（Ｃ）の中間に向かう復元力が発生す
るように、前記一次コイル（Ｃ）の夫々は、前記移動対
（Ａ）が前記適正状に位置している状態において、前記
二次導体（Ｄ）の横幅方向の外側端部よりも更に外側に
はみ出した状態となるように設置してある。すなわち、
二次導体（Ｄ）の移動体（Ａ）の横幅方向での存在範囲
が、移動体（Ａ）が横幅方向における制御目標位置に位
置するときに、平面視において、左右一対の一次コイル
（Ｃ）の夫々の横幅方向での存在範囲を部分的に覆う範
囲となり、且つ、移動体（Ａ）の制御目標位置からのず
れに伴って、左右一対の一次コイル（Ｃ）のうちの一方
を覆う範囲が広くなり、他方を覆う範囲が狭くなるよう
に形成されているのである。The position of the moving body (A) in the lateral width direction is shifted in the left-right direction from the proper state located in the middle of the primary coil (C) having the left and right pairs, that is, the state located at the control target position in the lateral direction. In the case, the secondary conductor (D)
Each of the primary coils (C) has a movable pair (A) so that a restoring force toward the middle of the pair of left and right primary coils (C) is generated by a thrust that is opposite in the width direction to the primary coil (C). In the state where the secondary conductor (D) is properly positioned, the secondary conductor (D) is installed so as to protrude further outward than the outer end in the lateral width direction. That is,
When the existence range of the secondary conductor (D) in the width direction of the moving body (A) is at the control target position in the width direction of the moving body (A), a pair of left and right primary coils (C ) Is a range that partially covers the existing range in the lateral width direction, and covers one of the pair of left and right primary coils (C) as the moving body (A) deviates from the control target position. The range is widened and the range covering the other is narrowed.
従って、移動車（Ａ）を加速する場合には、内側方向
に向けて推力を発生する状態となる走行前方側に位置す
る一次コイル（Ｃ）を、左右一対として進行方向に向か
う推力を発生させるように作動させることになる（第１
図中、実線の矢印で示す）。逆に、前記移動車（Ａ）の
減速させる場合には、外側方向に向けて推力を発生する
状態となる走行後方側に位置する一次コイル（Ｃ）を、
左右一対として、移動体（Ａ）の進行方向には同方向の
なる逆推力を発生させるように作動させることになり、
移動体（Ａ）の横幅方向には互いに逆方向となる推力を
同時に与えて、制御目標位置への復元力を発生させるよ
うに作動させることになる（第１図中、破線の矢印で示
す）。Therefore, when accelerating the moving vehicle (A), the primary coil (C) located on the front side of the traveling state in which the thrust is generated inward is generated as a pair of left and right primary thrusts in the traveling direction. (The first)
In the figure, it is shown by a solid arrow). Conversely, when decelerating the moving vehicle (A), the primary coil (C) located on the rear side of the traveling state where the thrust is generated in the outward direction is
As a pair of left and right, the moving body (A) is operated so as to generate a reverse thrust in the same direction as the traveling direction of the moving body (A),
In the lateral direction of the moving body (A), thrusts in directions opposite to each other are simultaneously applied, and the moving body (A) is operated so as to generate a restoring force to the control target position (indicated by a dashed arrow in FIG. 1). .
一方、前記菱形の各辺上に位置する一次コイル（Ｃ）
の夫々を、各辺に沿って同方向となる推力を発生するよ
うに駆動すると、全体として菱形の中央を中心として各
辺上を回転する推力が発生する状態となる。その結果、
前記移動体（Ａ）が前記菱形の中心を回転中心としてそ
の場で旋回することになる。On the other hand, a primary coil (C) located on each side of the rhombus
Are driven so as to generate thrusts in the same direction along each side, so that a thrust that rotates on each side around the center of the diamond as a whole is generated. as a result,
The moving body (A) turns on the spot around the center of the rhombus as a rotation center.
つまり、前記在席検出用センサ（Ｓ）の検出情報に基
づいて、前記菱形の各辺上に位置する一次コイル（Ｃ）
の夫々による推力の発生方向を制御するだけで、複数個
の移動経路が交差する交差点（Ｋ）において、地上側の
一次コイル（Ｃ）による発生推力のみを用いて、前記移
動体（Ａ）を所望の経路方向に向けて、分岐・合流、並
びに、通過させるとができるのである。That is, based on the detection information of the presence detection sensor (S), the primary coil (C) located on each side of the rhombus
Only at the intersection (K) where a plurality of moving paths intersect, the mobile unit (A) is controlled by using only the thrust generated by the primary coil (C) on the ground. It is possible to branch, join, and pass in the desired route direction.
上記実施例では、移動体（Ａ）の移動経路上に一列の
菱形が直線状に連なるようにした場合を例示したが、後
えば、第３図に示すように、上記実施例における菱形の
各辺が、互いに隣接する菱形の一辺の夫々と重複するよ
うに、多数個の一次コイル（Ｃ）を二次元方向に設置し
てもよい。この場合、移動体（Ａ）の移動経路を各菱形
の前後左右のみならず斜め方向にも自由に設定できるば
かりか、どの菱形が位置する箇所でも自由に移動方向を
変更させることができるようになる。In the above embodiment, a case was described in which the diamonds in a row were arranged in a straight line on the moving path of the moving body (A). However, as shown in FIG. A large number of primary coils (C) may be installed in a two-dimensional direction such that the sides overlap each of the sides of the rhombus adjacent to each other. In this case, the moving path of the moving body (A) can be set not only in the front, rear, left, and right directions of each rhombus, but also in an oblique direction, and the moving direction can be freely changed at any diamond position. Become.
又、上記実施例では、一次コイル（Ｃ）に菱形状に設
置した場合を例示したが、６角形、８角形等に設置して
もよく、一次コイル（Ｃ）を設置する多角形の具体的な
形状は各種変更できる。同様に、二次導体（Ｄ）は、多
角形の角辺夫々に位置する一次コイル（Ｃ）からの推力
を同時に受けることができるように構成されていればよ
いものであって、その具体形状は各種変更できる。Further, in the above-described embodiment, the case where the primary coil (C) is installed in a rhombic shape is illustrated. However, the primary coil (C) may be installed in a hexagon, an octagon, or the like. Various shapes can be changed. Similarly, the secondary conductor (D) only needs to be configured so as to be able to simultaneously receive the thrust from the primary coil (C) located on each of the corners of the polygon. Can be changed in various ways.
又、上記実施例では、交差点（Ｋ）に位置する菱形の
中心に光反射式の在席検出用センサ（Ｓ）を設けて、移
動体（Ａ）の進行を制御させるようにした場合を例示し
たが、例えば、第４図に示すように、移動体（Ａ）の下
側面に、移動体（Ａ）の前後方向とそれに直交する横幅
方向の両方に向けて交差する十字状のマーク（ｍ）を設
け、且つ、地上側の多角形の中心に二次元イメージセン
サ（Ｓ′）を設けて、移動体（Ａ）の旋回中心に対する
ずれ量や旋回角度を判別できるようにして、各一次コイ
ル（Ｃ）の駆動を制御して、移動体（Ａ）の旋回量や多
角形上の位置を微調節できるようにしてもよい。In the above embodiment, the light-reflecting presence sensor (S) is provided at the center of the diamond located at the intersection (K) to control the movement of the moving body (A). However, for example, as shown in FIG. 4, a cross-shaped mark (m) intersecting on the lower surface of the moving body (A) in both the front-rear direction of the moving body (A) and the width direction orthogonal thereto. ) And a two-dimensional image sensor (S ′) is provided at the center of the polygon on the ground side so that the amount of displacement and the turning angle of the moving body (A) with respect to the turning center can be determined. By controlling the driving of (C), the turning amount and the position on the polygon of the moving body (A) may be finely adjusted.
又、上記実施例では、移動体（Ａ）を走行車輪（１）
によって走行させるようにした場合を例示したが、後え
ば、浮上式に構成してもよく、移動体（Ａ）の具体構造
等、各部の具体構成は各種変更できる。In the above embodiment, the moving body (A) is connected to the traveling wheel (1).
Although the case where the vehicle is made to travel by way of example is illustrated, the structure may be a floating type later, and the specific structure of each part such as the specific structure of the moving body (A) may be variously changed.
尚、特許請求の範囲の項に図面との対照を便利にする
為に符号を記すが、該記入により本発明は添付図面の構
造に限定されるものではない。In the claims, reference numerals are provided for convenience of comparison with the drawings, but the present invention is not limited to the structure shown in the attached drawings.
図面は本発明に係るリニアモータ利用の搬送設備の実施
例を示し、第１図は一次コイルの配置状態を示す概略平
面図、第２図は一次コイルと二次導体の位置関係を示す
移動体の正面図、第３図は別実施例における一次コイル
の設置状態を示す概略平面図、第４図は別実施例におけ
る移動体の位置判別手段の説明図である。第５図は従来
例の説明図である。 （Ａ）……移動体、（Ｃ）……一次コイル、（Ｄ）……
二次導体。BRIEF DESCRIPTION OF THE DRAWINGS The drawings show an embodiment of the transfer equipment using a linear motor according to the present invention, FIG. 1 is a schematic plan view showing an arrangement state of a primary coil, and FIG. 2 is a moving body showing a positional relationship between a primary coil and a secondary conductor. FIG. 3 is a schematic plan view showing an installation state of a primary coil in another embodiment, and FIG. 4 is an explanatory diagram of a moving body position determining means in another embodiment. FIG. 5 is an explanatory view of a conventional example. (A): moving object, (C): primary coil, (D):
Secondary conductor.
Claims (1)
つ、二次導体（Ｄ）が移動体（Ａ）側に設けられたリニ
アモータ利用の搬送設備であって、 前記一次コイル（Ｃ）は、 前記二次導体（Ｄ）に対して、前記移動体（Ａ）の進行
方向には同方向となる推力を同時に与えながら、且つ、
前記移動体（Ａ）の横幅方向とは互いに逆方向となる推
力を同時に与え、且つ、その逆方向となる推力が左右方
向のずれに対して復元力として作用するように、前記移
動体（Ａ）の横幅方向に配置された左右一対と、 前記二次導体（Ｄ）に対して、前記移動体（Ａ）の進行
方向には同方向となる逆推力を同時に与えながら、且
つ、前記移動体（Ａ）の横幅方向には互いに逆方向とな
る推力を同時に与え、且つ、その逆方向となる推力が左
右方向のずれに対して復元力として作用するように、前
記移動体（Ａ）の横幅方向に配置された左右一対とから
なり、平面視で四角形をなす一組の一次コイル（Ｃ）
が、前記進行方向に複数並ぶ状態で設置され、 前記二次導体（Ｄ）の前記移動体（Ａ）の横幅方向での
存在範囲が、前記移動体（Ａ）が横幅方向における制御
目標位置に位置するときに、平面視において、前記左右
一対の一次コイル（Ｃ）の夫々の前記横幅方向での存在
範囲を部分的に覆う範囲となり、且つ、前記移動体
（Ａ）の前記制御目標位置からのずれに伴って、前記左
右一対の一次コイル（Ｃ）のうちの一方を覆う範囲が広
くなり、他方を覆う範囲が狭くなるように形成されてい
るリニアモータ利用に搬送設備。1. A transfer facility using a linear motor, wherein a primary coil (C) is provided on a ground side and a secondary conductor (D) is provided on a moving body (A) side, wherein the primary coil (C) is provided. C), while simultaneously applying a thrust to the secondary conductor (D) in the same direction as the traveling direction of the moving body (A), and
The mobile unit (A) is configured to simultaneously apply thrusts in directions opposite to the lateral width direction of the mobile unit (A) and to act as a restoring force against a lateral displacement in the opposite direction. ) And a pair of left and right arranged in the lateral width direction and the secondary conductor (D), while simultaneously applying a reverse thrust in the same direction as the traveling direction of the moving body (A), and In the width direction of (A), thrusts in opposite directions are simultaneously applied, and the thrust in the opposite direction acts as a restoring force against a shift in the left-right direction. A pair of primary coils (C) consisting of a pair of right and left arranged in the direction, and forming a square in plan view
Are installed in a state in which a plurality of the secondary conductors (D) are present in the lateral direction of the moving body (A) in the lateral direction of the moving body (A) at a control target position in the lateral direction of the moving body (A). When it is located, in plan view, it becomes a range that partially covers the existing range of the pair of left and right primary coils (C) in the lateral width direction, and from the control target position of the moving body (A). With the displacement, the transfer facility using a linear motor is formed so that the range covering one of the pair of left and right primary coils (C) is widened and the range covering the other is narrow.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63236767A JP2585747B2 (en) | 1988-09-21 | 1988-09-21 | Transfer equipment using linear motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63236767A JP2585747B2 (en) | 1988-09-21 | 1988-09-21 | Transfer equipment using linear motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0287903A JPH0287903A (en) | 1990-03-28 |
| JP2585747B2 true JP2585747B2 (en) | 1997-02-26 |
Family
ID=17005490
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP63236767A Expired - Fee Related JP2585747B2 (en) | 1988-09-21 | 1988-09-21 | Transfer equipment using linear motor |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2585747B2 (en) |
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-
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- 1988-09-21 JP JP63236767A patent/JP2585747B2/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0287903A (en) | 1990-03-28 |
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