Linear transport device

Abstract

Linear transport device (1, 1A, 1B, 1C, 1D) which moves a transport carriage (10, 10A, 10B) carrying an object along a stator-side platform (20, 20A, 20Aa, 20Ab, 20B, 20Ba, 20Bb) by means of a linear motor, the platform being arranged in a lateral direction perpendicular to both the direction of travel of the transport carriage (10, 10A, 10B) and the up-down direction (Y), and having a section in which the stator-side platform (20, 20A, 20Aa, 20Ab, 20B, 20Ba, 20Bb) is arranged in the lateral direction on only one side, where the transport trolley (10, 10A, 10B) has: a transport trolley basic structure (11, 11A, 11B) that supports the object, a first roller (12, 12A, 12Ba, 12Bb) which is arranged on the transport trolley base structure (11, 11A, 11B), a second roller (13, 13A, 13Ba, 13Bb) which is arranged on the transport trolley base structure (11, 11A, 11B) at a height which differs from the height at which the first roller (12, 12A, 12Ba, 12Bb) is arranged, a rotor-side magnetic element (14, 14A, 14Aa, 14Ab, 14B, 14Ba, 14Bb) which is arranged on a side surface (111a, 111b, 111c, 111d) on one of the two sides in the width direction of the transport carriage base structure (11, 11A, 11B) and drives the transport carriage base structure (11, 11A, 11B) relative to the stator-side platform (20, 20A, 20Aa, 20Ab, 20B, 20Ba, 20Bb), and a rotor-side counter-moment generating element (15, 15A, 15Aa, 15Ab, 15Ba, 15Bb) that generates a counter-moment against tipping of the transport carriage (10, 10A, 10B) between the rotor-side counter-moment generating element (15, 15A, 15Aa, 15Ab, 15Ba, 15Bb) and the stator-side platform (20, 20A, 20Aa, 20Ab, 20B, 20Ba, 20Bb), and the stator-side platform (20, 20A, 20Aa, 20Ab, 20B, 20Ba, 20Bb) has: a first guide (22, 22A, 22B) which is arranged on a platform structure (21, 21A, 21B) arranged along a movement path of the transport carriage (10, 10A, 10B) and is in contact with the first roller (12, 12A, 12Ba, 12Bb), a second guide (23, 23A, 23B) which is arranged on the platform structure (21, 21A, 21B) and is in contact with the second roller (13, 13A, 13Ba, 13Bb), a stator-side magnetic element (24, 24A, 24Aa, 24Ab, 24B, 24Ba, 24Bb) that is arranged on the platform structure (21, 21A, 21B) and is arranged in pairs with the rotor-side magnetic element (14, 14A, 14Aa, 14Ab, 14B, 14Ba, 14Bb) to generate a magnetic attraction in the horizontal direction (X), and a stator-side counter-torque generating element (25, 25A, 25Aa, 25Ab, 25B, 25Ba, 25Bb) which is arranged on the platform structure (21, 21A, 21B) and generates a counter-torque between the stator-side counter-torque generating element (25, 25A, 25Aa, 25Ab, 25B, 25Ba, 25Bb) and the rotor-side counter-torque generating element (15, 15A, 15Aa, 15Ab, 15Ba, 15Bb) arranged in pairs with it, characterized by the fact that The stator-side counter-torque generating element (25, 25A, 25Aa, 25Ab, 25B, 25Ba, 25Bb) generates the counter-torque by an attractive force that is generated between the stator-side counter-torque generating element (25, 25A, 25Aa, 25Ab, 25B, 25Ba, 25Bb) and the rotor-side counter-torque generating element (15, 15A, 15Aa, 15Ab, 15Ba, 15Bb) arranged in pairs with it.

Description

Area

[0001] The present disclosure relates to a linear transport device that moves a transport carriage along a stator-side platform by means of a linear motor. Background: A linear transport device is a

[0002] A transport device comprising a base and a carriage that moves on the base, wherein a stator located on the base and a rotor located on the carriage form a linear motor, and a driving force is generated between the stator and the rotor by controlling the excitation of either the stator or the rotor to propel the carriage. Regarding the shape of the carriage's path, there is not only a straight path, but also a curved path, a closed path obtained by combining these, and furthermore, there can be a branch from a particular path to several other paths.

[0003] In a linear motor transport system described in patent document 1, magnetic elements for the drive are mounted on both side faces of a vertically long transport carriage, and rollers rotating in a horizontal plane are arranged above and below the magnetic elements. A stator-side platform, which is a base, is arranged essentially perpendicular in the left or right direction to both the direction of travel of the transport carriage and the up-down direction, and comprises a magnetic element corresponding to the magnetic element arranged on the transport carriage, as well as upper and lower guides that are in contact with the upper and lower rollers. It is noted that each of the upper and lower rollers and each of the upper and lower guides has a U-shaped or V-shaped cross-sectional form.In such a configuration, the up-down movement of the carriage is restricted by the rollers and guides, while its lateral movement (relative to the direction of travel) is restricted by the rollers, guides, and a magnetic attraction. At a branching point, stator-side platforms are located on both the left and right sides of the carriage. By holding the carriage against the left or right stator-side platform by the magnetic force of the magnetic element of the platform, the carriage is caused to move along the platform to which it is held. Consequently, a path branching operation is achieved.

[0004] Patent document 2 discloses a linear transport device with the features of the preamble of independent claim 1.

[0005] Patent document 3 discloses a linear motor system comprising: a rotor having a plurality of permanent magnets arranged in a direction of travel in a plane parallel to a plane formed by the direction of travel and a vertical direction; and a stator having an armature having an iron core in which a plurality of projections, around which the windings are wound, are arranged in the direction of travel, the armature being positioned opposite the permanent magnets of the rotor. The rotor comprises: a rotor body with a first primary roller engaging with a first running surface arranged on the stator; a placement table on which a conveyed item is placed; and a secondary roller engaging with a second running surface arranged on a top side of the stator.The primary main component supports a magnetic attraction force generated between the stator and the rotor, and the secondary component supports a force in a direction opposite to the magnetic attraction force acting on the rotor. List of citations from patent literature Patent document 1: WO 2018 / 161 160 A1 Patent document 2: US 2019 / 0 077 277 A1 Patent document 3: DE 11 2019 007 676 T5 Brief description of the invention Problem to be solved by the invention

[0006] When the carriage is in a "cantilevered state," held by the magnetic attraction between it and one of the left- or right-hand stator-side platforms, the technology described in Patent Document 1 presents a problem in counteracting a torque about the lowest part of the contact surface between the lower roller and the lower guide. A tilting moment acts about this lowest part of the contact surface. This tilting moment is the product of a load in the top-down direction, such as the weight of the carriage, and the horizontal distance from the lowest part of the contact surface to the center of gravity of the entire carriage. This tilting moment causes the carriage to tilt about the lowest part of the contact surface.On the other hand, a counter-torque is a torque resulting from the product of a horizontal magnetic attraction force exerted by the magnetic elements of the transport carriage and the stator-side platform, and the vertical distance from the lowest region of the contact surface to the center of the magnetic attraction force of the transport carriage. If the tipping torque exceeds the counter-torque, the torque cannot be balanced around the lowest region of the contact surface, causing the transport carriage to tip over. To prevent such tipping, the technology described in patent document 1 requires limiting the weight or center of gravity of the object being transported, which presents a challenge.

[0007] The present disclosure arose in consideration of the above considerations, one of the problems being to provide a linear transport device in which the tipping of a transport carriage due to a tipping moment caused by a load on the transport carriage in the up-down direction when the transport carriage is in a cantilevered state can be reduced. Means of solving the problem

[0008] To solve the problem described above and to fulfill the task, a linear transport device comprises the combination of features of independent claim 1. Preferred embodiments are found in the dependent claims. Effects of the invention

[0009] The linear transport device according to the present disclosure achieves the effect that the tipping of a transport carriage due to a tipping moment originating from a load on the transport carriage in the top-bottom direction can be reduced when the transport carriage is in a cantilevered state. Brief description of the characters Fig. Figure 1 shows a perspective view to illustrate an example of the configuration of a linear transport device according to a first embodiment. Fig. Figure 2 shows a cross-sectional view to illustrate an example of the configuration of a linear transport device according to the first embodiment. Fig. Figure 3 shows a representation to illustrate an effect of a linear transport device according to the first embodiment. Fig. Figure 4 shows a top view to illustrate an example of the environment of a branching area of ​​a linear transport device according to the first embodiment. Fig. Figure 5 shows a perspective view to illustrate an example of the configuration of a linear transport device according to a second embodiment. Fig. Figure 6 shows a cross-sectional view to illustrate an example of the configuration of a linear transport device according to the second embodiment at the position of a region other than the branching region. Fig. Figure 7 shows a cross-sectional view to illustrate an example of the configuration of a linear transport device according to the second embodiment at the position of a branching area. Fig. Figure 8 shows a representation to illustrate an effect of a linear transport device according to the second embodiment. Fig. Figure 9 shows a top view to illustrate a further example of the environment of a branching area of ​​a linear transport device according to the second embodiment. Fig. Figure 10 shows a cross-sectional view to illustrate an example of the configuration of a linear transport device according to a third embodiment at the position of an area that is not a branching area. Fig. Figure 11 shows a cross-sectional view to illustrate an example of the configuration of a linear transport device according to the third embodiment at the position of a branching area. Fig. Figure 12 shows a representation to illustrate an effect of a linear transport device according to the third embodiment. Fig. Figure 13 shows a cross-sectional view to illustrate a further example of the configuration of a linear transport device according to the third embodiment. Fig. Figure 14 shows a cross-sectional view to illustrate a further example of the configuration of a linear transport device according to the third embodiment. Description of embodiments

[0010] A linear transport device according to each embodiment of the present disclosure is described in detail below with reference to the figures. First embodiment

[0011] Fig. Figure 1 shows a perspective view to illustrate an example of the configuration of a linear transport device according to a first embodiment and Fig. Figure 2 shows a cross-sectional view illustrating an example of the configuration of a linear transport device according to the first embodiment. The direction of travel of the transport carriage 10 is defined as the Z-direction, the up-down direction as the Y-direction, and the direction perpendicular to both the Z-direction and the Y-direction as the X-direction. The X-direction is also referred to as the width direction. In this example, the Y-direction is the vertical direction. Furthermore, in the following description, a relationship between two relative positions in the Y-direction can be expressed by using "top" or "bottom".A linear transport device 1 is a device in which a transport carriage 10, which transports an object to be transported (not shown), is moved by means of a linear motor along a stator-side platform 20, which is arranged in the width direction of the transport carriage 10 and which includes a region in which the stator-side platform 20 is arranged in the width direction on one side. The linear transport device 1 comprises the transport carriage 10 and the stator-side platform 20.

[0012] The transport carriage 10 comprises a transport carriage basic structure 11, upper V-rollers 12, lower flat rollers 13, runner-side drive magnet elements 14 and counter-torque generating runner-side magnet elements 15.

[0013] The transport trolley base structure 11 is a component that supports an object to be transported. In particular, the transport trolley base structure 11 is a component on which the object to be transported along the stator-side platform 20 can be placed or attached. In the examples of Fig. 1 and Fig. 2. The basic structure of the transport cart 11 consists of a plate-like element. In the basic structure of the transport cart 11, the side surfaces that run parallel to the Z-direction and Y-direction are larger than the front and rear surfaces that run perpendicular to the Z-direction, and than the upper and lower surfaces that run perpendicular to the Y-direction.

[0014] The upper V-rollers 12 are arranged on an upper area of ​​the transport trolley base structure 11. In the X direction, the size of the upper V-rollers 12 is larger than the size of the transport trolley base structure 11. In the Fig. 1 and Fig. In Figure 2, the stator-side platform 20 is arranged on only one side of the transport carriage 10 in the X-direction, but the stator-side platform 20 can also be arranged on the other side of the transport carriage 10 or on both sides of the transport carriage 10 in the X-direction. Regardless of which side of the transport carriage 10 the stator-side platform 20 is located on in the X-direction, each of the upper V-rollers 12 can bear against an upper V-groove guide 22 of the stator-side platform 20. In the example of Fig. In Figure 1, two upper V-rollers 12 are arranged at a distance in the Z-direction; however, any number of upper V-rollers 12 can be present. Each upper V-roller 12 is held by a pivot axis 121, which is located at the upper part of the transport carriage base structure 11, and rotates about the pivot axis 121. The pivot axis 121 extends in the Y-direction. The upper V-roller 12 therefore rotates in a horizontal plane. In a cross-section of the upper V-roller 12 passing through the pivot axis 121, the roller surface shape has a V-shape in a radial edge region, which is adapted to a guide of the stator-side platform 20, which will be described later.

[0015] The lower flat rollers 13 are arranged at the lower end of the transport carriage base structure 11. In the X direction, the size of the lower flat rollers 13 is larger than the size of the transport carriage base structure 11. Consequently, each of the lower flat rollers 13, similar to the upper V-rollers 12, can bear against a lower flat guide 23 of the stator-side platform 20, regardless of which side of the transport carriage 10 the stator-side platform 20 is located on in the X direction. In the example of Fig. In Figure 1, two lower flat rollers 13 are arranged at a distance in the Z-direction, but any number of lower flat rollers 13 can be present. Each lower flat roller 13 is held by a pivot axis 131, which is located at the lower part of the transport carriage base structure 11, and rotates about the pivot axis 131. The pivot axis 131 extends in the Y-direction. That is, the lower flat roller 13 rotates in a horizontal plane. In a cross-section of the lower flat roller 13 passing through the pivot axis 131, the roller surface shape is flat in a radial edge region.

[0016] Here, the upper V-rollers 12 each correspond to a first roller arranged on the transport cart base structure 11, and the lower flat rollers 13 each correspond to a second roller arranged on the transport cart base structure 11 at a height different from that of the first roller. Furthermore, the upper V-rollers 12 each correspond to a V-roller and the lower flat rollers 13 each correspond to a flat roller. In the Fig. 1 and Fig. In the second case, the upper V-rollers 12 are arranged above the lower flat rollers 13, but the vertical relationship between the upper V-rollers 12 and the lower flat rollers 13 can be reversed. In this case, the basic structure of the transport trolley 11 comprises upper flat rollers and lower V-rollers.

[0017] The rotor-side drive magnet elements 14 are arranged on X-direction side faces on both sides of the transport carriage base structure 11 and drive the transport carriage base structure 11 relative to the stator-side platform 20. In the examples of the Fig. 1 and Fig. 2. The runner-side drive magnet elements 14 are arranged between the upper V-rollers 12 and the lower flat rollers 13 on X-direction side faces on both sides of the transport carriage base structure 11. In one example, the runner-side drive magnet elements 14 are permanent magnets or electromagnets. The runner-side drive magnet elements 14 correspond to runner-side magnet elements.

[0018] The counter-torque-generating rotor-side magnetic elements 15 are arranged on the upper regions of the X-direction side faces on both sides of the transport carriage base structure 11 and each generates a counter-torque against tilting of the transport carriage 10 between the counter-torque-generating rotor-side magnetic element 15 and the stator-side platform 20. When the transport carriage 10 is in a "cantilevered state," the counter-torque-generating rotor-side magnetic elements 15 specifically generate a counter-torque with respect to the transport carriage 10, which is a moment against a tilting moment originating from a load on the transport carriage 10 in the up-down direction. In the examples of Fig. 1 and Fig. 2. The counter-torque-generating rotor-side magnetic elements 15 are arranged above the upper V-rollers 12. In one example, the counter-torque-generating rotor-side magnetic elements 15 are permanent magnets or electromagnets. Permanent magnets and electromagnets are examples of magnetic elements. The counter-torque-generating rotor-side magnetic elements 15 correspond to rotor-side counter-torque-generating elements.

[0019] The stator-side platform 20 comprises a platform structure 21, an upper V-groove guide 22, a lower flat guide 23, a stator-side drive magnet element 24 and a counter-torque generating stator-side magnet element 25.

[0020] The platform structure 21 is a holding element that holds the transport cart 10 during its movement. The platform structure 21 is arranged along a movement path of the transport cart 10.

[0021] The upper V-groove guide 22 is a guide located on the upper part of the platform structure 21 and has a V-shaped running surface. The upper V-groove guide 22 is positioned corresponding to the upper V-rollers 12 of the transport carriage 10 and is in contact with the upper V-rollers 12.

[0022] The lower flat guide 23 is a guide located on the lower part of the platform structure 21 and has a flat running surface. The lower flat guide 23 is positioned on a main surface of the platform structure 21 on the side where the transport carriage 10 is located, corresponding to the lower flat rollers 13 of the transport carriage 10, and is in contact with the lower flat rollers 13.

[0023] Here, the upper V-groove guide 22 is arranged on the platform structure 21 and corresponds to a first guide, which is in contact with the upper V-rollers 12, which are the first rollers, and the lower flat guide 23 is arranged on the platform structure 21 and corresponds to a second guide, which is in contact with the lower flat rollers 13, which are the second rollers. Furthermore, the upper V-groove guide 22 corresponds to a V-groove guide and the lower flat guide 23 to a flat guide. It should be noted that the V-groove guide and the flat guide are arranged to align with the positions of the V-rollers and the flat rollers of the transport carriage 10.Therefore, in a case where the vertical relationship between the upper V-rollers 12 and the lower flat rollers 13 of the transport carriage 10 is opposite, the vertical relationship between the upper V-groove guide 22 and the lower flat guide 23 of the stator-side platform 20 is also opposite.

[0024] The stator-side drive magnet element 24 is arranged in pairs with the rotor-side drive magnet element 14 to generate a magnetic attraction force in the horizontal direction. In the examples of Fig. 1 and Fig. In Figure 2, the stator-side drive magnet element 24 is arranged on a side surface of the platform structure 21 between the upper V-groove guide 22 and the lower flat guide 23, with the side surface facing the transport carriage 10. In one example, the stator-side drive magnet element 24 is a permanent magnet or an electromagnet. The stator-side drive magnet element 24 corresponds to a stator-side magnet element.

[0025] The counter-torque-generating stator-side magnetic element 25 is arranged at the upper region of the platform structure 21 and generates a counter-torque by means of an attractive force in the horizontal direction, which is generated between the counter-torque-generating stator-side magnetic element 25 and the counter-torque-generating rotor-side magnetic element 15 arranged in pairs with it. In the examples of Fig. 1 and Fig. In the figure 2, the counter-torque-generating stator-side magnetic element 25 is arranged above the upper V-groove guide 22 on a side surface of the platform structure 21 on the side where the transport carriage 10 is located. In one example, the counter-torque-generating stator-side magnetic element 25 is an electromagnet or a permanent magnet. Permanent magnets and electromagnets are examples of magnetic elements. The counter-torque-generating stator-side magnetic element 25 is arranged on the platform structure 21 and corresponds to a stator-side counter-torque-generating element that generates a counter-torque between the stator-side counter-torque-generating element and the counter-torque-generating rotor-side magnetic element 15, which is a rotor-side counter-torque-generating element arranged in pairs with the stator-side magnetic element 25.

[0026] The stator-side platform 20 can include a branching area. The stator-side platform 20 is arranged in the branching area in the X-direction on each of the two sides of the transport carriage 10, being located at an area in the X-direction on one side of the transport carriage 10 that is different from the branching area.

[0027] The upper V-rollers 12 of the transport carriage 10 are in contact with the upper V-groove guide 22 of the stator-side platform 20, and the lower flat rollers 13 of the transport carriage 10 are in contact with the lower flat guide 23 of the stator-side platform 20, allowing the transport carriage 10 to move along the stator-side platform 20. The rotor-side drive magnet elements 14 and the stator-side drive magnet element 24 form a linear motor. In this case, the rotor-side drive magnet elements 14 and / or the stator-side drive magnet element 24 are an electromagnet. Controlling the excitation of the linear motor by a control device (not shown) allows for the control of a driving force in the Z-direction, i.e., in the direction in which the stator-side platform 20 extends, and the magnetic attraction force in the X-direction.

[0028] The movement characteristics of the transport carriage 10 in the up-down direction are restricted by the upper V-rollers 12 arranged on the transport carriage 10 and the upper V-groove guide 22 on the stator-side platform 20, which is in contact with the upper V-rollers 12. Furthermore, the upper V-rollers 12 and the lower flat rollers 13 of the transport carriage 10 contact the upper V-groove guide 22 and the lower flat guide 23, respectively, whereby the magnetic attraction in Fig. 2 in the direction to the left, i.e., the negative side of the X-direction, is generated to push the transport carriage 10 in the figure against the stator-side platform 20 by means of the rotor-side drive magnet element 14 and the stator-side drive magnet element 24, thereby restricting the movement characteristics of the transport carriage 10 in the lateral direction. The configurations and procedures of the first embodiment described here are the same as in patent document 1.

[0029] In the first embodiment, however, the transport carriage 10 also includes the counter-torque-generating rotor-side magnetic elements 15, which are attraction force-generating elements on upper regions of the transport carriage base structure 11, and the stator-side platform 20 includes the counter-torque-generating stator-side magnetic element 25, which is an attraction force-generating element on the upper region of the platform structure 21. A magnetic attraction force in the horizontal direction is generated between the counter-torque-generating rotor-side magnetic element 15 and the counter-torque-generating stator-side magnetic element 25.If the stator-side platform 20 is arranged on one side of the transport carriage 10 in the X-direction, and the transport carriage 10 is located, for example, at a position in a region different from the branching region, the counter-torque-generating rotor-side magnet element 15 thus generates an attractive force between the counter-torque-generating rotor-side magnet element 15 and the counter-torque-generating stator-side magnet element 25 in the example where the transport carriage 10 is located in a region different from the branching region. Consequently, the upper part of the transport carriage 10 is pulled towards the stator-side platform 20, and it is possible to reduce the tipping of the transport carriage 10 due to a tipping moment originating from its load in the up-down direction when the transport carriage 10 is in a "cantilevered state".It should be noted that the counter-torque generating rotor-side magnetic elements 15 and / or the counter-torque generating stator-side magnetic element 25 can be electromagnets, whereby the control device can control the excitation of the electromagnet synchronously with the control of the excitation of the linear motor.

[0030] In the Fig. 1 and Fig. Section 2 considers a case where the attraction-generating element is a magnetic element as an example; however, the attraction-generating element can also be a different element and be based on a different technique. One technique uses atmospheric pressure as the element for generating an attraction force. In one example, an attraction-generating element is arranged at the upper end of the transport carriage 10, which draws air away from the upper end of the transport carriage 10 and the upper end of the stator-side platform 20. Compared to a technique using atmospheric pressure or the like, a method using a magnetic element eliminates the need for electrical energy or the like to generate the attraction force.

[0031] Fig. Figure 3 shows an illustration to explain an effect of a linear transport device according to the first embodiment. The illustration considers the compensation of the torque by a factor of Fig. Point P, shown in Figure 3, is the lowest part of the contact surface between the lower flat roller 13 and the lower flat guide 23. Point P corresponds to a center of rotation, which is the center of the transport carriage 10 when the carriage 10, in contact with the stator-side platform 20, tilts. A tilting moment Mt acts about point P, where the tilting moment Mt is a moment resulting from the product of the gravitational force F. g of the transport cart 10 in the Y direction, which is the up-down direction, and the horizontal distance x g from point P to the center of gravity G of the entire transport cart results in 10. In this example, the horizontal distance x ga distance in the X-direction. The tilting moment Mt causes the transport carriage 10 to tilt about point P. In patent document 1, a counter-moment to the tilting moment Mt is a moment resulting from the product of a magnetic attraction force F caused by the rotor-side drive magnet element 14 and the stator-side drive magnet element 24. mag.d in a horizontal direction and at a distance y mag.d in the Y direction from point P to the center of magnetic attraction F mag.d of the transport cart 10. However, in patent document 1, the transport cart 10 tips over if the tipping moment Mt exceeds the counter-moment. Therefore, patent document 1 requires the weight of the object to be transported or the horizontal distance x to be considered. g to limit the distance between the center of gravity of transport vehicle 10 and point P.

[0032] On the other hand, in the first embodiment, a magnetic attraction force F is generated. mag.addin the horizontal direction between the counter-torque-generating rotor-side magnet element 15 and the counter-torque-generating stator-side magnet element 25, which are arranged on the upper areas of the transport carriage 10 and the stator-side platform 20, respectively. Consequently, it is possible to increase the counter-torque with respect to the tilting moment Mt.

[0033] A condition to prevent the tipping of the transport cart 10 described above is now formulated. The following formula (1) is established as the condition to prevent the tipping of the transport cart 10, in which the gravitational force exerted on the transport cart 10 is expressed as F. g The horizontal distance from point P to the center of gravity G of the entire transport cart 10 is denoted by x. g is designated as the magnetic attraction force in the horizontal direction through the rotor-side drive magnet element 14 and the stator-side drive magnet element 24 with F mag.dThe distance in the Y-direction, which is the up-down direction, from point P to the center of the magnetic attraction F is designated. mag.d of transport cart 10 with y mag.d is designated as the magnetic attraction force in the horizontal direction between the counter-torque-generating rotor-side magnetic element 15 and the counter-torque-generating stator-side magnetic element 25 with F mag.add is designated and the distance in the Y direction from point P to the center of the magnetic attraction F mag.add through the counter-moment generating elements through y mag.add is designated. xgFg <ymag.dFmag.d+ymag.addFmag.add

[0034] As can be seen from formula (1), in order to greatly reduce a limitation on the weight of the object to be transported or on the distance between the center of gravity of the transport cart 10 and point P, it is only necessary to reduce the magnetic attraction force F mag.addto increase the counter-moment generating elements or the distance y mag.add from point P to the center of magnetic attraction F mag.add to increase the counter-moment generating elements.

[0035] In one example, the attraction force between the counter-torque generating rotor-side magnet element 15 and the counter-torque generating stator-side magnet element 25 and the distance between the center of the attraction force and point P in the Y direction are determined on the basis of the magnetic attraction force between the rotor-side drive magnet elements 14 and the stator-side drive magnet element 24 and the distance between the center of the magnetic attraction force and point P in the Y direction.

[0036] Fig. Figure 4 shows a top view illustrating an example of the environment of a branching section of a linear transport device according to the first embodiment. In the first embodiment, in a branching section 32, the stator-side platforms 20 are present on both sides of the transport carriage 10 in the X-direction. In the branching section 32, the transport carriage 10 is controlled by a control device (not shown) such that it is not held simultaneously on both sides by the stator-side platforms 20, but only by one of the stator-side platforms 20. When the transport carriage 10 is in the "cantilevered state," such as when...In the case of a pre-branch track 31, which is a track before the branching area 32, and a post-branch track 33, which is a track after the branching area 32, the magnetic attraction force is generated by the rotor-side drive magnet element 14 and the stator-side drive magnet element 24 to press the transport carriage 10 against the stator-side platform 20, thereby restricting the movement characteristics of the transport carriage 10 in the lateral direction with respect to the direction of travel. This is the same configuration and operation as in patent specification 1.

[0037] In the first embodiment, the transport carriage 10 includes the counter-torque-generating rotor-side magnetic elements 15 at its upper region, and the stator-side platform 20 includes the counter-torque-generating stator-side magnetic element 25 at its upper region along its entire track. With the exception of the branching section 32, a magnetic attraction is always generated between the counter-torque-generating rotor-side magnetic element 15 of the transport carriage 10 and the counter-torque-generating stator-side magnetic element 25 of the stator-side platform 20 on the pre-branch track 31 and the post-branch track 33.Consequently, the tipping moment generated by the load of the transport carriage 10 in the up-down direction is counteracted by a counter-torque comprising a moment generated by the magnetic attraction between the rotor-side drive magnet element 14 and the stator-side drive magnet element 24, and a moment generated by the magnetic attraction between the counter-torque-generating rotor-side magnet element 15 and the counter-torque-generating stator-side magnet element 25. This achieves the effect of reducing the tipping of the transport carriage 10 due to the tipping moment caused by the load of the transport carriage 10 in the up-down direction when the transport carriage 10 is in the "cantilevered state". Second embodiment

[0038] On the transport carriage 10, a load is always applied in the up-down direction by gravity or the like. Depending on the weight of the object being transported, in the technology described in patent document 1, a U-roller or V-roller that bears the load in the up-down direction can fall off or wear down significantly. Therefore, the prior art 1 described below discloses a linear motor in which, with the exception of a branching area, stator-side platforms are always arranged on both sides of a transport carriage on all tracks, and upper and lower rollers, which are arranged in the lateral direction on both sides of the transport carriage, are in contact with associated guides of the stator-side platforms located in the lateral direction on both sides.Furthermore, in the prior art 1 a structure is used in which rollers are attached to the upper areas of the transport carriage on both its left and right sides, wherein the rollers are in contact with guides which are attached to the upper surfaces of the stator-side platforms and hold the transport carriage in the top-bottom direction, thereby improving the load support of the transport carriage in the top-bottom direction. (State of the art 1) US 2020 / 0 028 427 A

[0039] In the technology described in the prior art 1, the transport carriage is in a "double-supported state" in track sections different from the branching section. In this state, rollers on both sides of the transport carriage are in contact with guides arranged laterally on the stator-side platforms on both sides of the transport carriage, preventing the carriage from tipping. However, in the branching section, the stator-side platforms on both sides of the transport carriage diverge laterally, and the transport carriage is temporarily held on only one side by the magnetic attraction of the magnetic element of the stator-side platform.At this point, the roller supporting the load in the top-bottom direction on the opposite side does not engage in the guide, and the transport carriage is in a "cantilevered state" in which the load in the top-bottom direction is supported only by the guide of the stator-side platform on the holding side and the roller in contact with it.

[0040] When the transport carriage is in the "cantilevered state" in the branching area, a problem arises in the prior art described in 1 regarding the compensation of the torque around the lowest part of the contact surface between a lower roller and a lower guide. Even though there is the effect of a frictional force in the horizontal direction between the additional roller and the guide forming a counter-torque, an effect to reduce the tilting of the transport carriage cannot be expected, since the frictional force in the horizontal direction is small in itself. Therefore, a second embodiment describes a linear transport device in which the tilting of the transport carriage due to a tilting moment originating from a load in the top-bottom direction of the transport carriage can be reduced when the transport carriage is in the "cantilevered state" of the prior art described in 1.

[0041] Fig. Figure 5 shows a perspective view illustrating an example of the configuration of a linear transport device according to the second embodiment.

[0042] Fig. Figure 6 shows a cross-sectional view to illustrate an example of the configuration of a linear transport device according to the second embodiment at the position of a region different from a branching region. Fig. Figure 7 shows a cross-sectional view to illustrate an example of the configuration of a linear transport device according to the second embodiment at the position of a branching area. Fig. Figure 5 illustrates the state of a linear transport device 1A at the branching area. Fig. 6 and Fig. Figure 7 illustrates a cross-section perpendicular to the Z-direction. In the linear transport device 1A of the second embodiment, a transport carriage 10A is in a "doubly supported state" in which the transport carriage 10A is supported on both sides in the X-direction by stator-side platforms 20Aa and 20Ab, as shown in Fig. 6 is shown in a different area than the branching area, and the transport carriage 10A is in the branching area in the "cantilevered state", in which the transport carriage 10A is supported by the stator-side platform 20Aa on an X-direction side, as shown in the Fig. 5 and Fig. Figure 7 shows the linear transport device 1A, which includes the transport carriage 10A and the stator-side platforms 20Aa and 20Ab.

[0043] The transport trolley 10A comprises a transport trolley basic structure 11A, upper V-rollers 12A, lower flat rollers 13A, runner-side drive magnet elements 14Aa and 14Ab, counter-torque generating runner-side magnet elements 15Aa and 15Ab and additional rollers 16A.

[0044] The basic structure of the transport trolley 11A is a component that carries an object to be transported. In the examples of the Fig. 5, Fig. 6 to Fig. Figure 7 shows that the basic structure of the transport cart 11A has a T-shape when viewed in the Z direction. The basic structure of the transport cart 11A comprises a base body area 111, which has a plate shape in which the YZ plane has a larger area than the other planes, and two projecting plate-shaped areas 112, which are arranged at the upper end regions of the base body area 111 such that they project from both sides of it in the X direction.

[0045] The upper V-rollers 12A are arranged in the X-direction on both sides of the transport trolley base structure 11A and each rotates about a pivot axis 121A, which is an axis extending in the Y-direction. In the examples of the Fig. 5, Fig. 6 to Fig. The upper V-rollers 12A are arranged on the upper part of the transport cart base structure 11A. Specifically, the upper V-rollers 12A are arranged on the side surfaces of the base body section 111, perpendicular to the X-direction, below the projecting sections 112 of the transport cart base structure 11A. Two upper V-rollers 12A are spaced apart in the X-direction, and two upper V-rollers 12A are spaced apart in the Z-direction. Thus, four upper V-rollers 12A are provided. However, the number of upper V-rollers 12A is not limited. Each upper V-roller 12A is held by a pivot axis 121A, which is arranged on the upper part of the base body section 111 of the transport cart base structure 11A. The upper V-roller 12A rotates in a horizontal plane. In a cross-section of the upper V-roller 12A, which passes through the axis of rotation 121A, the roller surface shape in a radial edge region is a V-shape, adapted to a guide for the stator-side platform 20A, which will be described later.

[0046] The lower flat rollers 13A are arranged in the X-direction on both sides of the transport trolley base structure 11A and each rotates about a pivot axis 131A, which is an axis extending in the Y-direction. In the examples of the Fig. 5, Fig. 6 to Fig. The lower flat rollers 13A are arranged at the lower part of the base body section 111 of the transport cart base structure 11A. Two lower flat rollers 13A are spaced apart in the X direction, and two lower flat rollers 13A are spaced apart in the Z direction. That is, four lower flat rollers 13A are provided. However, the number of lower flat rollers 13A is not limited. Each lower flat roller 13A is held by a pivot axis 131A, which is arranged at the lower part of the base body section 111 of the transport cart base structure 11A. The lower flat roller 13A rotates in a horizontal plane. In a cross-section of the lower flat roller 13A passing through the pivot axis 131A, the roller surface shape is flat in a radial edge region.

[0047] Here, the upper V-rollers 12A each correspond to a first roller arranged on the transport cart base structure 11A, and the lower flat rollers 13A each correspond to a second roller arranged on the transport cart base structure 11A at a height different from that of the first roller. Furthermore, the upper V-rollers 12A each correspond to a V-roller and the lower flat rollers 13A each correspond to a flat roller. In the Fig. 5, Fig. 6 to Fig. In Figure 7, the upper V-rollers 12A are arranged above the lower flat rollers 13A, but the vertical relationship between the upper V-rollers 12A and the lower flat rollers 13A can be reversed. In this case, the basic structure of the transport trolley 11A comprises upper flat rollers and lower V-rollers.

[0048] The rotor-side drive magnet element 14Aa is arranged on an X-direction side surface 111a of the transport carriage base structure 11A and drives the transport carriage base structure 11A with respect to the stator-side platform 20Aa. In the examples of the Fig. 5, Fig. 6 to Fig. 7 The rotor-side drive magnet element 14Aa is arranged on the X-direction side surface 111a of the base body area 111 of the transport carriage base structure 11A between the upper V-roller 12A and the lower flat roller 13A. The rotor-side drive magnet element 14Ab is arranged on the X-direction side surface 111b of the transport carriage base structure 11A and drives the transport carriage base structure 11A relative to the stator-side platform 20Ab. In the examples of the Fig. 5, Fig. 6 to Fig. 7 The rotor-side drive magnet element 14Ab is arranged on the side surface 111b of the base body area 111 of the transport carriage base structure 11A, perpendicular to the X-direction, between the upper V-roller 12A and the lower flat roller 13A. In one example, the rotor-side drive magnet elements 14Aa and 14Ab are permanent magnets or electromagnets. The rotor-side drive magnet elements 14Aa and 14Ab correspond to the rotor-side magnet elements. It should be noted that in the following description, the rotor-side drive magnet element 14Aa and the rotor-side drive magnet element 14Ab are each referred to as the rotor-side drive magnet element 14A unless they are explicitly distinguished.

[0049] The counter-torque-generating rotor-side magnetic element 15Aa is arranged on the X-direction side surface 112a at the upper region of the transport carriage base structure 11A and generates a counter-torque against tipping of the transport carriage 10A between the counter-torque-generating rotor-side magnetic element 15Aa and the stator-side platform 20Aa. Specifically, the counter-torque-generating rotor-side magnetic element 15Aa is arranged on the side surface 112a of the projecting region 112 of the transport carriage base structure 11A, which runs perpendicular to the X-direction. The counter-torque generating rotor-side magnetic element 15Ab is arranged on the X-direction side surface 112b at the upper area of ​​the transport carriage base structure 11A and generates a counter-torque against tipping of the transport carriage 10A between the counter-torque generating rotor-side magnetic element 15Ab and the stator-side platform 20Ab.Specifically, the counter-torque-generating rotor-side magnetic element 15Ab is arranged on the side surface 112b of the projecting section 112 of the transport carriage base structure 11A, which runs perpendicular to the X-direction. In one example, the counter-torque-generating rotor-side magnetic elements 15Aa and 15Ab are electromagnets or permanent magnets. When the transport carriage 10A is in the "cantilevered state," the counter-torque-generating rotor-side magnetic elements 15Aa and 15Ab generate a counter-torque with respect to the transport carriage 10A, which is a moment against a tilting moment originating from a load on the transport carriage 10A in the up-down direction. The counter-torque-generating rotor-side magnetic elements 15Aa and 15Ab correspond to rotor-side counter-torque-generating elements.It should be noted that in the following description, the counter-torque generating rotor-side magnetic element 15Aa and the counter-torque generating rotor-side magnetic element 15Ab are each referred to as counter-torque generating rotor-side magnetic element 15A unless they are individually distinguished.

[0050] The additional rollers 16A are arranged in the X-direction on both sides of the transport trolley base structure 11A and each rotates about a pivot axis 161A, which is an axis extending in the X-direction. In the examples of the Fig. 5, Fig. 6 to Fig. 7. The additional rollers 16A are arranged on the lower surfaces of the projecting sections 112 of the transport trolley base structure 11A. On each of the projecting sections 112, two additional rollers 16A are arranged at a distance in the Z-direction. However, the number of additional rollers 16A is not limited. Each additional roller 16A is held by a pivot axis 161A, which is arranged on the projecting section 112. The additional roller 16A rotates in a YZ plane. In a cross-section of the additional roller 16A passing through the pivot axis 161A, the roller surface shape is flat in a radial edge region.

[0051] In the second embodiment, the stator-side platforms 20Aa and 20Ab are arranged on both sides of the transport carriage 10A in a region distinct from a branching area in the X-direction. The transport carriage 10A is thus located in a region distinct from a branching area in a "double-supported state" on the stator-side platforms 20Aa and 20Ab. There is therefore the stator-side platform 20Aa, which is opposite the side surface 111a of the base body region 111, and the stator-side platform 20Ab, which is opposite the side surface 111b of the base body region 111. It should be noted that in the following description, the stator-side platform 20Aa and the stator-side platform 20Ab are each referred to as stator-side platform 20A unless they are explicitly distinguished.

[0052] The stator-side platform 20A comprises a platform structure 21A, an upper V-groove guide 22A, a lower flat guide 23A, a stator-side drive magnet element 24A, a counter-torque generating stator-side magnet element 25A and an additional guide 26A.

[0053] The platform structure 21A is a holding element that supports the transport cart 10A while the transport cart 10A is being moved. The platform structure 21A is arranged along a path of movement of the transport cart 10A. In the second embodiment, the platform structure 21A comprises a base body region 211A and a side wall region 212A, which is arranged on the upper part of the base body region 211A on a side opposite the side on which the transport cart 10A is located. The side wall region 212A is arranged on the upper surface of the base body region 211A such that it projects in the Y-direction. The projecting sections 112 of the transport cart base structure 11A can each extend through the free space above the base body region 211A, which is surrounded by the upper surface of the base body region 211A and the side wall region 212A.

[0054] The upper V-groove guide 22A is a guide located on the upper part of the base body area 211A of the platform structure 21A and has a V-shaped running surface. The upper V-groove guide 22A is positioned corresponding to the upper V-rollers 12A of the transport carriage 10A and is in contact with the upper V-rollers 12A.

[0055] The lower flat guide 23A is a guide located on the lower part of the base body area 211A of the platform structure 21A and has a flat running surface. The lower flat guide 23A is positioned on a side surface of the platform structure 21A in a location corresponding to the lower flat rollers 13A of the transport carriage 10A, with the side surface facing the transport carriage 10A, and is in contact with the lower flat rollers 13A.

[0056] Here, the upper V-groove guide 22A is arranged on the platform structure 21A and corresponds to a first guide, which is in contact with the upper V-rollers 12A, which are the first rollers, and the lower flat guide 23A is arranged on the platform structure 21A and corresponds to a second guide, which is in contact with the lower flat rollers 13A, which are the second rollers. Furthermore, the upper V-groove guide 22A corresponds to a V-groove guide and the lower flat guide 23A to a flat guide. It should be noted that the V-groove guide and the flat guide are arranged to align with the positions of the V-rollers and the flat rollers of the transport carriage 10A.Therefore, in a case where the vertical relationship between the upper V-rollers 12A and the lower flat rollers 13A on the transport carriage 10A is reversed, the vertical relationship between the upper V-groove guide 22A and the lower flat guide 23A on the stator-side platform 20A is also reversed.

[0057] The stator-side drive magnet element 24A and the rotor-side drive magnet element 14A are arranged in pairs to generate a magnetic attraction in the horizontal direction. In the examples of the Fig. 5, Fig. 6 to Fig. 7 The stator-side drive magnet element 24A is arranged on a side surface of the base body area 211A of the platform structure 21A between the upper V-groove guide 22A and the lower flat guide 23A, with the side surface facing the transport carriage 10A. In one example, the stator-side drive magnet element 24A is a permanent magnet or an electromagnet. It should be noted that in the following description, in a case where the stator-side drive magnet element 24A of the stator-side platform 20Aa and that of the stator-side platform 20Ab are to be distinguished from one another, the stator-side drive magnet element 24A of the stator-side platform 20Aa is referred to as stator-side drive magnet element 24Aa and the stator-side drive magnet element 24A of the stator-side platform 20Ab is referred to as stator-side drive magnet element 24Ab. The stator-side drive magnet elements 24A correspond to stator-side magnet elements.

[0058] The counter-torque-generating stator-side magnetic element 25A is arranged at the upper region of the platform structure 21A and generates a counter-torque in the horizontal direction by means of an attractive force that is generated between the counter-torque-generating stator-side magnetic element 25A and the counter-torque-generating rotor-side magnetic element 15A, which is arranged in pairs with it. In the examples of the Fig. 5, Fig. 6 to Fig. In Figure 7, the counter-torque-generating stator-side magnetic element 25A is arranged on a side surface of the side wall region 212A of the platform structure 21A, with the side surface facing the transport carriage 10A. In one example, the counter-torque-generating stator-side magnetic element 25A is an electromagnet or a permanent magnet. The counter-torque-generating stator-side magnetic element 25A is arranged on the platform structure 21A and corresponds to a stator-side counter-torque-generating element that generates a counter-torque between the stator-side counter-torque-generating element and the counter-torque-generating rotor-side magnetic element 15A, which is a rotor-side counter-torque-generating element arranged in pairs with the stator-side magnetic element 25A.It is pointed out that in the following description, in a case where the counter-torque-generating stator-side magnetic element 25A of the stator-side platform 20Aa and that of the stator-side platform 20Ab are distinguished from each other, the counter-torque-generating stator-side magnetic element 25A of the stator-side platform 20Aa is referred to as counter-torque-generating stator-side magnetic element 25Aa, and the counter-torque-generating stator-side magnetic element 25A of the stator-side platform 20Ab is referred to as counter-torque-generating stator-side magnetic element 25Ab.

[0059] The additional guide 26A is a guide arranged on the upper surface of the base body area 211A of the platform structure 21A and has a flat running surface. The additional guide 26A is in contact with the additional rollers 16A.

[0060] In the second embodiment, the stator-side platforms 20Aa and 20Ab, arranged in the X-direction on both sides of the transport carriage 10A, diverge at the branching area, with the stator-side platform 20A being arranged only on one X-direction side of the transport carriage 10A. Furthermore, the stator-side platforms 20Aa and 20Ab are arranged in the X-direction on both sides of the transport carriage 10A in an area that is not a branching area.

[0061] In the second embodiment, similar to the prior art 1, the rotor-side drive magnet elements 14Aa and 14Ab, the upper V-rollers 12A, and the lower flat rollers 13A are arranged in the X-direction on both sides of the transport carriage 10A. On track sections other than the branching area, as in Fig. As shown in Figure 6, the stator-side platforms 20Aa and 20Ab are present in the X-direction on both sides of the transport carriage 10A, and a linear motor is formed with the rotor-side drive magnet elements 14Aa and 14Ab and the stator-side drive magnet elements 24Aa and 24Ab. In this case, the rotor-side drive magnet elements 14Aa and 14Ab and / or the stator-side drive magnet elements 24Aa and 24Ab are electromagnets. Furthermore, in the second embodiment, the additional rollers 16A, each having a rotary axis 161A extending in the X-direction, are attached to the transport carriage 10A, and the additional guides 26A are attached to the upper surfaces of the base body areas 211A of the stator-side platforms 20A.The upper V-rollers 12A of the transport carriage 10A and the upper V-groove guides 22A of the stator-side platforms 20A are in contact with each other, the lower flat rollers 13A of the transport carriage 10A and the lower flat guides 23A of the stator-side platforms 20A are in contact with each other, and the additional rollers 16A of the transport carriage 10A and the additional guides 26A of the stator-side platforms 20A are in contact with each other. Consequently, the transport carriage 10A can move along the stator-side platforms 20A.

[0062] On sections of the route other than the junction area, transport wagon 10A is located, as shown in Fig. Figure 6 shows a “double-supported state” in which the upper V-rollers 12A, the lower flat rollers 13A, and the additional rollers 16A on both X-direction sides of the transport carriage 10A are in contact with the upper V-groove guides 22A, the lower flat guides 23A, and the additional guides 26A of the stator-side platforms 20Aa and 20Ab on the right and left sides, respectively, and there is no problem with the transport carriage 10A tipping. However, if the stator-side platform 20A is arranged on only one side of the transport carriage 10A, as in a branching area in the X direction, the stator-side platforms 20Aa and 20Ab diverge in the X direction on both sides of the transport carriage 10A. As a result, as shown in Figure 6, the transport carriage 10A is positioned in a “double-supported state” where the upper V-rollers 12A, the lower flat rollers 13A, and the additional rollers 16A on both X-direction sides of the transport carriage 10A are in contact with the upper V-groove guides 22A, the lower flat guides 23A, and the additional guides 26A on the right and left sides, respectively. Fig. As shown in Figure 7, the transport carriage 10A is driven on one side only by a magnetic attraction between the stator-side drive magnet element 24Aa of the stator-side platform 20A and the rotor-side drive magnet element 14Aa of the transport carriage 10A, while it is held on one side only on the stator-side platform 20Aa.

[0063] At this point, on the opposite side, where the stator-side platform 20Ab is not present, the upper V-rollers 12A, the lower flat rollers 13A, and the additional rollers 16A are not in contact with the upper V-groove guide 22A, the lower flat guide 23A, and the additional guide 26A, respectively. This means that the transport carriage 10A is in a "cantilevered state," in which it is held on one side by the contact between the upper V-rollers 12A and the upper V-groove guide 22A, the contact between the lower flat rollers 13A and the lower flat guide 23A, and the contact between the additional rollers 16A and the additional guide 26A. In the branching area, where the transport carriage 10A is in a "cantilevered state," it is necessary, as in the first embodiment, to account for the potential for the transport carriage 10A to tilt.

[0064] In the second embodiment, the transport carriage 10A has, on the upper regions of the transport carriage base structure 11A, the counter-torque-generating rotor-side magnetic elements 15Aa and 15Ab, which are attraction-generating elements, and the stator-side platforms 20A have, on the side wall sections 212A, on the upper regions of the platform structures 21A, the counter-torque-generating stator-side magnetic elements 25Aa and 25Ab, which are attraction-generating elements. In the horizontal direction, a magnetic attraction force is generated between the counter-torque-generating rotor-side magnetic element 15Aa and the counter-torque-generating stator-side magnetic element 25Aa or between the counter-torque-generating rotor-side magnetic element 15Ab and the counter-torque-generating stator-side magnetic element 25Ab.Consequently, the upper part of the transport carriage 10A is attracted to the stator-side platform 20A, even when the transport carriage 10A is in the "cantilevered state," and it is possible to reduce tipping of the transport carriage 10A due to a tipping moment originating from its load in the up-down direction. It should be noted that the counter-torque-generating rotor-side magnetic elements 15Aa and 15Ab and / or the counter-torque-generating stator-side magnetic elements 25Aa and 25Ab can be electromagnets, and the control device can control the excitation of the electromagnets synchronously with the control of the linear motor's excitation.

[0065] Fig. Figure 8 shows a diagram illustrating an effect of a linear transport device according to the second embodiment. Similar to the first embodiment, the compensation of the torque about a point P1 is considered, which is the lowest region of the contact surface between the lower flat roller 13A and the lower flat guide 23A. A tilting moment Mt acts about point P1, where the tilting moment Mt is a moment resulting from the product of the gravitational force F g of transport trolley 10A in the Y direction, which is the up-down direction, and a horizontal distance x g from point P1 to the center of gravity G1 of the entire transport cart 10A. In this example, the horizontal direction corresponds to the X-direction. The tilting moment Mt causes the transport cart 10A to tilt about point P1. A counter-moment with respect to the tilting moment Mt is a moment resulting from the product of a magnetic attraction force F. mag.dthrough the rotor-side drive magnet element 14Aa and the stator-side drive magnet element 24Aa in a horizontal direction and a distance y mag.d in the Y-direction, which is the up-down direction, from point P1 to the center of the magnetic attraction F mag.d of transport wagon 10A.

[0066] Furthermore, in the second embodiment, a moment is generated from the product of a lateral frictional force F. fric.add between the additional roller 16A and the additional guide 26A and a distance y fric.addIn the Y-direction, which is the up-down direction, from point P1 to the additional guide 26A, a counter-moment also results. The setup and effect described so far are similar to those of the prior art 1, wherein the transport carriage 10A tips over, similar to the first embodiment, when the tipping moment Mt exceeds the counter-moment. Therefore, in the technology described in the prior art 1, it is also necessary to consider the weight of the object to be transported or the horizontal distance x. g to limit the distance between the center of gravity of transport vehicle 10A and point P1.

[0067] On the other hand, in the second embodiment, a magnetic attraction force F is applied. mag.addin the horizontal direction between the counter-torque-generating rotor-side magnetic element 15Aa and the counter-torque-generating stator-side magnetic element 25Aa, which are arranged on the upper parts of the transport carriage 10A and the stator-side platform 20A, respectively. Consequently, it is possible to increase the counter-torque with respect to the tilting moment Mt.

[0068] A condition is now formulated to prevent the tipping of the transport carriage 10A described above. The following formula (2) is established as the condition to prevent the tipping of the transport carriage 10A, in which, in addition to the variable definition of the first embodiment, the lateral frictional force between the additional roller 16A and the additional guide 26A is given by F fric.add and the distance from point P1 to the additional guide 26A in the Y direction with y fric.add is designated. xgFg <ymag.dFmag.d+yfric.addFfric.add+ymag.addFmag.add

[0069] Similar to the first embodiment, it is necessary to limit the weight of the object to be transported or the horizontal distance x g To reduce the magnetic attraction force F between the center of gravity of transport cart 10A and point P1, it is only necessary to reduce the magnetic attraction force F. fric.add to increase the counter-moment generating elements or the distance y fric.add to increase from point P1 to the center of the magnetic attraction force Ffric.add in the counter-moment generating elements.

[0070] In an example, the attraction force between the counter-torque generating rotor-side magnet element 15A and the counter-torque generating stator-side magnet element 25A and the distance in the Y direction between the center of the attraction force and point P1 are determined on the basis of the magnetic attraction force between the rotor-side drive magnet element 14A and the stator-side drive magnet element 24A and the distance in the Y direction between the center of the magnetic attraction force and point P1.

[0071] It should be noted that the lateral frictional force F fric.add The lateral frictional force F acts as a counter-moment between the additional roller 16A and the additional guide 26A. fric.add However, overall it is very small compared to the other components, and its effect as a counter-moment is very low.

[0072] As in Fig. As shown in Figure 6, the stator-side platforms 20A are arranged in a different section than the branching area on both X-direction sides of the transport carriage 10A, and the transport carriage 10A is in a "doubly supported state." However, since only one of the stator-side platforms 20A arranged on both sides in the X-direction is present in the branching area, the transport carriage 10A is locally in a "cantilevered state." Because there is a possibility that the transport carriage 10A may tip over in the branching area, the weight or center of gravity of the entire transport carriage 10A is limited in the prior art. In the second embodiment, however, a horizontal magnetic attraction force is generated by the counter-torque-generating elements, which prevents the transport carriage 10A from tipping over and reduces the limitation on the weight or center of gravity of the entire transport carriage 10A.

[0073] Fig. Figure 9 shows a top view illustrating another example of the environment of the branching area of ​​the linear transport device according to the second embodiment. As described above, the transport carriage 10A is in the "cantilevered state" only in the branching area 32.

[0074] Therefore, as in Fig. As shown in Figure 9, the counter-torque generating stator-side magnetic elements 25A are only arranged in the branching area 32, in which the transport car 10A is in the “cantilevered state”, on the stator-side platforms 20A and they can be omitted and therefore not arranged on other track sections, i.e. the pre-branch track 31 and the post-branch track 33.

[0075] The second embodiment can also achieve a similar effect to the first embodiment. Third embodiment

[0076] In the prior art described below, a transport system is disclosed in which, with the exception of a branching area, stator-side platforms are always provided on both sides of a transport carriage on all tracks, rollers whose rolling surfaces have the same angles of inclination with respect to the vertical direction are arranged at upper and lower areas on both the left and right sides of the transport carriage, and these rollers are in contact with guides of the stator-side platforms to hold the transport carriage in the up-down direction. (State of the art 2) WO 2015 / 042 409 A

[0077] In the technique described in the prior art 2, when the transport carriage is in the "cantilevered state" in the branching area, a problem arises in counteracting a rotation about the center point of a tangent circle, which is a circle in contact with the respective contact surfaces of the upper and lower rollers. A moment acting about the center point of the tangent circle is a tilting moment resulting from the product of a load on the transport carriage in the top-bottom direction and a horizontal distance from the center point of the tangent circle to the center of gravity of the entire transport carriage.

[0078] This tilting moment causes the transport carriage to tilt about the center of the tangent circle. Since, in this design, the distance in the top-bottom direction from the center of the tangent circle to the center of the magnetic attraction of the transport carriage is zero or very small, the counter-torque due to the magnetic attraction in the horizontal direction through magnetic elements of the transport carriage and the stator-side platform is very small. Furthermore, since the counter-torques due to frictional forces between the rollers and the guides are similarly small as in the prior art 1, the transport carriage tilts easily about the center of the tangent circle. That is, the transport carriage slides on the contact surfaces of the upper and lower rollers and falls downwards in a rotational motion.This has the consequence that, similar to patent document 1 and prior art 1, the weight or center of gravity of the object to be transported must be limited, which presents a problem. A third embodiment describes a linear transport device which, in the case where the transport carriage is in the "cantilevered state," can further reduce the tilting of a transport carriage about the center of a tangent circle than ever before, wherein the transport carriage comprises rollers arranged at the upper and lower regions on both the left and right sides of the transport carriage, and wherein the rolling surfaces of the rollers have the same angles of inclination with respect to the vertical direction.

[0079] Fig. Figure 10 shows a cross-sectional view to illustrate an example of the configuration of a linear transport device according to the third embodiment at the position of a section that is not a branching area. Fig. Figure 11 shows a cross-sectional view illustrating an example of the configuration of a linear transport device according to the third embodiment at the position of a branching area. Fig. 10 and Fig. Figures 11 each show a cross-section perpendicular to the Z-direction. Similar to the second embodiment, in a linear transport device 1B of the third embodiment, a transport carriage is located in a section other than the branching area in a "double-supported state", as shown in Fig. 10 is shown, and in the branching area in the "cantilevered state", as in Fig. Figure 11 shows the linear transport device 1B comprising a transport carriage 10B and stator-side platforms 20Ba and 20Bb.

[0080] The transport carriage 10B comprises a transport carriage basic structure 11B, upper flat rollers 12Ba and 12Bb, lower flat rollers 13Ba and 13Bb, rotor-side drive magnet elements 14Ba and 14Bb, counter-torque generating rotor-side upper magnet elements 15Ba and 15Bb and counter-torque generating rotor-side lower magnet elements 17Ba and 17Bb.

[0081] The basic structure of the transport trolley 11B is a component that carries an object to be transported. In the examples of the Fig. 10 and Fig. In the basic structure of the transport trolley 11B, which is formed from a plate-like component, the side surfaces 111c and 111d, which are surfaces parallel to the Z-direction and the Y-direction, are larger than the front and rear surfaces, which are surfaces perpendicular to the Z-direction, and than the upper and lower surfaces, which are surfaces perpendicular to the Y-direction.

[0082] The upper flat roller 12Ba is arranged on the upper part of the transport carriage base structure 11B in the X direction, specifically on the upper part of the transport carriage base structure 11B on the side of the stator-side platform 20Ba. The upper flat roller 12Ba is held by a rotary axis 121Ba, which is inclined at a predetermined angle to the Y direction, and rotates about the rotary axis 121Ba. The upper flat roller 12Bb is arranged on the upper part of the transport carriage base structure 11B in the X direction, more precisely on the upper part of the transport carriage base structure 11B on the side of the stator-side platform 20Bb. The upper flat roller 12Bb is held by a rotary axis 121Bb, which is inclined at a predetermined angle to the Y direction, and rotates about the rotary axis 121Bb. The rotation axes 121Ba and 121Bb extend in the direction of a predetermined tilt angle, which is greater than 0 degrees and less than 90 degrees, from the Y direction to the X direction.The pivot axes 121Ba and 121Bb are arranged such that they each have predetermined angles in an XY plane in opposite directions to the vertical direction. That is, the rolling surfaces of the upper flat rollers 12Ba and 12Bb are inclined with respect to the Y direction. In each of the cross-sections of the upper flat rollers 12Ba and 12Bb passing through the pivot axes 121Ba and 121Bb, respectively, the rolling surface shape is flat in a radial edge region. The upper flat rollers 12Ba and 12Bb correspond to the first rollers arranged on the transport cart base structure 11A. The pivot axes 121Ba and 121Bb correspond to upper pivot axes.

[0083] The lower flat roller 13Ba is arranged on the lower part of the transport carriage base structure 11B in the X direction, specifically on the lower part of the transport carriage base structure 11B on the side of the stator-side platform 20Ba. The lower flat roller 13Ba is held by a rotary axis 131Ba, which is inclined at a predetermined angle to the Y direction, and rotates about the rotary axis 131Ba. The lower flat roller 13Bb is also arranged on the lower part of the transport carriage base structure 11B in the X direction, specifically on the lower part of the transport carriage base structure 11B on the side of the stator-side platform 20Bb. The lower flat roller 13Bb is held by a rotary axis 131Bb, which is inclined at a predetermined angle to the Y direction, and rotates about the rotary axis 131Bb. The rotation axes 131Ba and 131Bb extend in the direction of a predetermined tilt angle, which is greater than 0 degrees and less than , from the Y direction to the X direction.The pivot axes 131Ba and 131Bb are arranged such that they each have predetermined angles in an XY plane in opposite directions to the negative Y direction. That is, the rolling surfaces of the lower flat rollers 13Ba and 13Bb are inclined with respect to the Y direction. In each of the cross-sections of the lower flat rollers 13Ba and 13Bb passing through the pivot axes 131Ba and 131Bb, the rolling surface shape is flat in a radial edge region. The lower flat rollers 13Ba and 13Bb correspond to second rollers mounted on the transport cart base structure 11B at a height different from the height of the first rollers. The pivot axes 131Ba and 131Bb correspond to the lower pivot axes.

[0084] The rotor-side drive magnet element 14Ba is arranged on the X-direction side surface 111c of the transport carriage base structure 11B and drives the transport carriage base structure 11B relative to the stator-side platform 20Ba. In the examples of the Fig. 10 and Fig. 11 The rotor-side drive magnet element 14Ba is arranged on the X-direction side surface 111c of the transport carriage base structure 11B between the upper flat roller 12Ba and the lower flat roller 13Ba. The rotor-side drive magnet element 14Bb is arranged on the X-direction side surface 111d of the transport carriage base structure 11B and drives the transport carriage base structure 11B relative to the stator-side platform 20Bb. In the examples of the Fig. 10 and Fig. In Figure 11, the rotor-side drive magnet element 14Bb is arranged on the X-direction side surface 111d of the transport carriage base structure 11B between the upper flat roller 12Bb and the lower flat roller 13Bb. In one example, the rotor-side drive magnet elements 14Ba and 14Bb are permanent magnets or electromagnets. The rotor-side drive magnet elements 14Ba and 14Bb correspond to rotor-side magnet elements. The rotor-side drive magnet elements 14Ba and 14Bb are each referred to as a rotor-side drive magnet element 14B when they are not individually distinguished.

[0085] The counter-torque-generating rotor-side upper magnet element 15Ba is arranged at the outer end of the rotation axis 121Ba of the upper flat roller 12Ba and generates an attractive force between the counter-torque-generating rotor-side upper magnet element 15Ba and the stator-side platform 20Ba. The counter-torque-generating rotor-side upper magnet element 15Bb is arranged at the outer end of the rotation axis 121Bb of the upper flat roller 12Bb and generates an attractive force between the counter-torque-generating rotor-side upper magnet element 15Bb and the stator-side platform 20Bb. In one example, the counter-torque-generating rotor-side upper magnet elements 15Ba and 15Bb are electromagnets or permanent magnets.When the transport carriage 10B is in the "cantilevered state," the counter-moment generating upper magnet elements 15Ba and 15Bb on the runner side produce a counter-moment with respect to the transport carriage 10B. This counter-moment opposes a tilting moment induced by a load on the transport carriage 10B in the up-down direction. The counter-moment generating upper magnet elements 15Ba and 15Bb on the runner side correspond to runner-side attractive force generating elements.

[0086] The counter-torque-generating rotor-side lower magnet element 17Ba is arranged at the outer end of the rotation axis 131Ba of the lower flat roller 13Ba and generates a repulsive force between the counter-torque-generating rotor-side lower magnet element 17Ba and the stator-side platform 20Ba. The counter-torque-generating rotor-side lower magnet element 17Bb is arranged at the outer end of the rotation axis 131Bb of the lower flat roller 13Bb and generates a repulsive force between the counter-torque-generating rotor-side lower magnet element 17Bb and the stator-side platform 20Bb. In one example, the counter-torque-generating rotor-side lower magnet elements 17Ba and 17Bb are electromagnets or permanent magnets.When the transport carriage 10B is in the "cantilevered state," the counter-moment generating lower magnet elements 17Ba and 17Bb on the rotor side produce a counter-moment with respect to the transport carriage 10B. This counter-moment opposes a tilting moment emanating from the load of the transport carriage 10B in the up-down direction. The counter-moment generating lower magnet elements 17Ba and 17Bb on the rotor side correspond to rotor-side repulsion force generating elements.

[0087] The counter-torque-generating upper rotor-side magnet elements 15Ba and 15Bb and the counter-torque-generating lower rotor-side magnet elements 17Ba and 17Bb constitute rotor-side counter-torque-generating elements. These rotor-side counter-torque-generating elements are arranged on X-direction side faces on both sides of the transport carriage base structure 11B and generate counter-torques against tilting of the transport carriage 10B between the rotor-side counter-torque-generating elements and the stator-side platforms 20B.

[0088] In the third embodiment, similar to the second embodiment, the stator-side platforms 20Ba and 20Bb are arranged in a section separate from the branching area on both X-direction sides of the transport carriage 10B. Accordingly, the transport carriage 10B is in a "doubly supported state" on the stator-side platforms 20Ba and 20Bb in a section separate from the branching area. Therefore, the stator-side platform 20Ba is located opposite the side surface 111c of the transport carriage base structure 11B, and the stator-side platform 20Bb is located opposite the side surface 111d of the transport carriage base structure 11B. It should be noted that in the following description, the stator-side platform 20Ba and the stator-side platform 20Bb are each referred to as the stator-side platform 20B unless otherwise specified.

[0089] Each stator-side platform 20B comprises a platform structure 21B, an upper flat guide 22B, a lower flat guide 23B, a stator-side drive magnet element 24B, a counter-torque generating stator-side upper magnet element 25B and a counter-torque generating stator-side lower magnet element 27B.

[0090] The platform structure 21B is a holding element that holds the transport cart 10B during its movement. The platform structure 21B is arranged along a path of movement of the transport cart 10B. In the third embodiment, the platform structure 21B comprises a base body region 211B having a trapezoidal cross-section perpendicular to the Z-direction, an upper side wall region 212B arranged on the upper region of the base body region 211B on a side opposite the side on which the transport cart 10B is arranged, and a lower side wall region 213B arranged on the lower region of the base body region 211B on a side opposite the side on which the transport cart 10B is arranged.The upper flat rollers 12Ba and 12Bb and the counter-torque-generating rotor-side upper magnet elements 15Ba and 15Bb can extend through free spaces above the base body regions 211B, which are surrounded by the upper surfaces of the base body regions 211B that intersect the Y direction and the upper side wall regions 212B. The lower flat rollers 13Ba and 13Bb and the counter-torque-generating rotor-side lower magnet elements 17Ba and 17Bb can extend through free spaces below the base body regions 211B, which are surrounded by the lower surfaces of the base body regions 211B that intersect the Y direction and the lower side wall regions 213B.

[0091] The upper flat guides 22B are each a guide located on the upper surface of the base body area 211B of the platform structure 21B, which intersects the Y direction and has a flat running surface. The upper flat guides 22B are located at positions corresponding to the upper flat rollers 12Ba and 12Bb of the transport carriage 10B and are in contact with the upper flat rollers 12Ba and 12Bb. The upper flat guides 22B are located on the platform structures 21B and correspond to the first guides that are in contact with the upper flat rollers 12Ba and 12Bb, which are the first rollers.

[0092] The lower flat guides 23B are each a guide located on the lower surface of the base body area 211B of the platform structure 21B, which intersects the Y direction and has a flat running surface. The lower flat guides 23B are located at positions corresponding to the lower flat rollers 13Ba and 13Bb of the transport carriage 10B and are in contact with the lower flat rollers 13Ba and 13Bb. The lower flat guides 23B are located on the platform structures 21B and correspond to second guides that are in contact with the lower flat rollers 13Ba and 13Bb, which are second rollers.

[0093] The stator-side drive magnet element 24B is arranged in pairs with the rotor-side drive magnet element 14B to generate a magnetic attraction in the horizontal direction. In the examples of the Fig. 10 and Fig. In section 11, each stator-side drive magnet element 24B is arranged on a side surface of the base body area 211B of the platform structure 21B between the upper flat guide 22B and the lower flat guide 23B, with the side surface facing the transport carriage 10B. In one example, the stator-side drive magnet element 24B is a permanent magnet or an electromagnet. It should be noted that in the following description, in a case where the stator-side drive magnet element 24B of the stator-side platform 20Ba and that of the stator-side platform 20Bb are to be distinguished from one another, the stator-side drive magnet element 24B of the stator-side platform 20Ba is referred to as the stator-side drive magnet element 24Ba, and the stator-side drive magnet element 24B of the stator-side platform 20Bb is referred to as the stator-side drive magnet element 24Bb. The stator-side drive magnet elements 24B correspond to stator-side magnet elements.

[0094] The counter-torque-generating stator-side upper magnet elements 25B are arranged in pairs with the counter-torque-generating rotor-side upper magnet elements 15Ba and 15Bb to generate attractive forces in the directions of the rotation axes 121Ba and 121Bb. In the examples of Fig. 10 and Fig. In 11, each counter-torque-generating stator-side upper magnet element 25B is arranged on a side surface of the upper side wall region 212B of the platform structure 21B, the side surface facing the transport carriage 10B. In one example, the counter-torque-generating stator-side upper magnet element 25B is an electromagnet or a permanent magnet. The counter-torque-generating stator-side upper magnet element 25B corresponds to a stator-side attraction-generating element.It is pointed out that in the following description, in a case where the counter-torque-generating stator-side upper magnet element 25B of the stator-side platform 20Ba and that of the stator-side platform 20Bb are distinguished from each other, the counter-torque-generating stator-side upper magnet element 25B of the stator-side platform 20Ba is referred to as the counter-torque-generating stator-side upper magnet element 25Ba and the counter-torque-generating stator-side upper magnet element 25B of the stator-side platform 20Bb is referred to as the counter-torque-generating stator-side upper magnet element 25Bb.

[0095] The counter-torque-generating stator-side lower magnet elements 27B are arranged in pairs with the counter-torque-generating rotor-side lower magnet elements 17Ba and 17Bb to generate repulsive forces in the directions of the rotation axes 131Ba and 131Bb. In the examples of the Fig. 10 and Fig. In 11, each counter-torque-generating stator-side lower magnet element 27B is arranged on a side surface of the lower side wall region 213B of the platform structure 21B, the side surface facing the transport carriage 10B. In one example, the counter-torque-generating stator-side lower magnet element 27B is an electromagnet or a permanent magnet. The counter-torque-generating stator-side lower magnet element 27B corresponds to a stator-side repulsion-force-generating element.It should be noted that in the following description, in a case where the counter-torque-generating stator-side lower magnet element 27B of the stator-side platform 20Ba and that of the stator-side platform 20Bb are distinguished from each other, the counter-torque-generating stator-side lower magnet element 27B of the stator-side platform 20Ba is referred to as the counter-torque-generating stator-side lower magnet element 27Ba, and the counter-torque-generating stator-side lower magnet element 27B of the stator-side platform 20Bb is referred to as the counter-torque-generating stator-side lower magnet element 27Bb.

[0096] The counter-torque-generating upper stator-side magnet elements 25Ba and 25Bb and the counter-torque-generating lower stator-side magnet elements 27Ba and 27Bb constitute stator-side counter-torque-generating elements. These stator-side counter-torque-generating elements are arranged on the platform structures 21B and generate counter-torques between the stator-side counter-torque-generating elements and the rotor-side counter-torque-generating elements arranged in pairs with them.

[0097] A difference between the linear transport device 1B of the third embodiment and the second embodiment is now described. In the second embodiment, the load of the transport carriage 10A is supported in the top-bottom direction by the upper V-rollers 12A and the additional rollers 16A arranged on the transport carriage 10A, and by the upper V-groove guide 22A and the additional guide 26A of the stator-side platform 20A, which correspond to these. In contrast, in the third embodiment, the load of the transport carriage 10B is supported in the top-bottom direction by the upper flat rollers 12Ba and 12Bb and the lower flat rollers 13Ba and 13Bb, whose rolling surfaces have the same angle of inclination with respect to the Y-direction, which is the top-bottom direction.

[0098] Regarding the counter-torque generating magnetic elements, in the second embodiment, the counter-torque generating rotor-side magnetic elements 15Aa and 15Ab, which are arranged on the upper regions of the transport carriage 10A, and the counter-torque generating stator-side upper magnetic elements 25Aa and 25Ab, which are arranged on the upper regions of the stator-side platforms 20A, generate magnetic attraction forces in the horizontal direction. On the other hand, in the third embodiment, the counter-torque generating rotor-side upper magnetic elements 15Ba and 15Bb of the transport carriage 10B and the counter-torque generating stator-side upper magnetic elements 25Ba and 25Bb of the stator-side platforms 20B cause magnetic attraction forces to be generated on the upper flat rollers 12Ba and 12Bb in the directions of the axes of rotation 121Ba and 121Bb.In addition, the counter-torque generating lower rotor-side magnet elements 17Ba and 17Bb of the transport carriage 10B and the counter-torque generating lower stator-side magnet elements 27Ba and 27Bb of the stator-side platforms 20B cause magnetic repulsion forces to be generated on the lower flat rollers 13Ba and 13Bb in the directions of the axes of rotation 131Ba and 131Bb.

[0099] On railway sections other than a junction area, as in Fig. As shown in Figure 10, the transport carriage 10B is in a "double-supported state" in which the upper flat rollers 12Ba and 12Bb and the lower flat rollers 13Ba and 13Bb, which are arranged in the X-direction on both sides of the transport carriage 10B, their rolling surfaces having predetermined angles of inclination with respect to the Y-direction, which is the up-down direction, are in contact with the upper flat guides 22B and the lower flat guides 23B on the stator-side platforms 20Ba and 20Bb on both X-direction sides, and there is no problem with regard to tipping of the transport carriage 10B. In the Fig. In the branching area shown in Figure 11 or similar, the stator-side platforms 20Ba and 20Bb diverge in the X-direction on both sides of the transport carriage 10B, and the stator-side platform 20B is only located on one side of the transport carriage 10B in the X-direction. In the example of Fig. In this scenario, the transport carriage 10B moves along the stator-side platform 20Ba, which is accordingly arranged on one side of the transport carriage 10B in the X-direction. In this case, the transport carriage 10B is driven by a magnetic attraction between the stator-side drive magnet element 24Ba of the stator-side platform 20Ba on one side and the rotor-side drive magnet element 14Ba of the transport carriage 10B, which is opposite the stator-side drive magnet element 24Ba, while it is only held against the stator-side platform 20Ba. The rotor-side drive magnet element 14Ba and the stator-side drive magnet element 24Ba together form a linear motor. In this case, the rotor-side drive magnet element 14Ba and / or the stator-side drive magnet element 24Ba are electromagnets.At this point, the upper flat roller 12Bb and the lower flat roller 13Bb on the side opposite the side of the carriage 10B held by the stator-side platform 20Ba are not in contact with the upper flat guide 22B and the lower flat guide 23B. That is, the carriage 10B is in the "cantilevered state," in which it is supported by the contact between the upper flat roller 12Ba and the upper flat guide 22B, and by the contact between the lower flat roller 13Ba and the lower flat guide 23B on the holding side. In the branching area, where the carriage 10B is in the "cantilevered state," it is necessary, as in the first and second embodiments, to account for the potential tilting of the carriage 10B.

[0100] In the third embodiment, the transport carriage 10B comprises the counter-torque-generating rotor-side upper magnet elements 15Ba and 15Bb and the counter-torque-generating rotor-side lower magnet elements 17Ba and 17Bb. The stator-side platforms 20Ba and 20Bb comprise the counter-torque-generating stator-side upper magnet elements 25Ba and 25Bb and the counter-torque-generating stator-side lower magnet elements 27Ba and 27Bb. Between the counter-torque-generating rotor-side upper magnet element 15Ba and the counter-torque-generating stator-side upper magnet element 25Ba and between the counter-torque-generating rotor-side upper magnet element 15Bb and the counter-torque-generating stator-side upper magnet element 25Bb, attractive forces, in this case magnetic attractive forces, are generated in the directions of the rotation axes 121Ba and 121Bb of the upper flat rollers 12Ba and 12Bb, respectively.Furthermore, repulsive forces, in this case magnetic repulsive forces, are generated between the counter-torque-generating rotor-side lower magnet element 17Ba and the counter-torque-generating stator-side lower magnet element 27Ba, as well as between the counter-torque-generating rotor-side lower magnet element 17Bb and the counter-torque-generating stator-side lower magnet element 27Bb, in the directions of the axes of rotation 131Ba and 131Bb of the lower flat rollers 13Ba and 13Bb, respectively. Consequently, the upper part of the transport carriage 10B is attracted to the stator-side platform 20B, and it is possible to reduce the tipping of the transport carriage 10B due to a tipping moment originating from its load in the up-down direction when the transport carriage 10B is in the "cantilevered state".It is noted that the counter-torque-generating rotor-side upper magnet elements 15Ba and 15Bb and / or the counter-torque-generating stator-side upper magnet elements 25Ba and 25Bb can be electromagnets, and the control device can control the excitation of the electromagnets synchronously with the control of the linear motor's excitation. Similarly, the counter-torque-generating rotor-side lower magnet elements 17Ba and 17Bb and / or the counter-torque-generating stator-side lower magnet elements 27Ba and 27Bb can be electromagnets, and the control device can control the excitation of the electromagnets synchronously with the control of the linear motor's excitation.

[0101] Here, the case where the element generating the repulsive force is a magnetic element is used as an example, but the repulsive force-generating element can be something other than a magnetic element and be based on a different technique. There is a technique where air pressure is used as the repulsive force-generating element. For example, there is a case where a repulsive force-generating element is arranged to supply air to the upper region of the transport carriage 10B in order to increase the air pressure between the lower flat rollers 13Ba and 13Bb and the lower side wall regions 213B. Compared to such a technique using air pressure or the like, a method using a magnetic element eliminates the need for electrical energy or the like to generate the repulsive force.

[0102] Fig. Figure 12 shows a diagram illustrating an effect of a linear transport device according to the third embodiment. Here, a case is considered as an example in which the transport carriage 10B is held on the stator-side platform 20Ba. In contrast to the first and second embodiments, the problem of compensating for a torque in the third embodiment involves compensating for a rotation about the center point O of a tangent circle C, which is a circle in contact with the contact surface between the upper flat roller 12Ba and the upper flat guide 22B and the contact surface between the lower flat roller 13Ba and the lower flat guide 23B in the XY plane.

[0103] A tilting moment Mt acts around the center O of the tangent circle C, where the tilting moment Mt is a moment resulting from the product of gravity F gof the transport trolley 10B in the Y direction, which is the top-bottom direction, and the horizontal distance x g The distance from the center O of the tangent circle C to the center of gravity of the entire transport cart 10B results in the tilting moment Mt. This tilting moment causes the transport cart 10B to tilt about the center O of the tangent circle C. The horizontal direction corresponds to the X-direction.

[0104] Similar to the first and second embodiments, a counter-moment with respect to the tilting moment Mt is a moment that results from the product of the magnetic attraction force F. mag.d in the horizontal direction through the rotor-side drive magnet element 14Ba and the stator-side drive magnet element 24Ba and the distance y mag.d in the Y-direction, which is the up-down direction, from the center O of the tangent circle C to the center of the magnetic attraction force Fmag.d of the transport cart 10B. However, if the magnetic attraction force F mag.dSince the transport carriage 10B, held laterally, is supported by the contact between the upper flat roller 12Ba and the upper flat guide 22B and the contact between the lower flat roller 13Ba and the lower flat guide 23B, it is preferable in the design that there is no difference between the respective support loads. Therefore, the distance y mag.d in the Y direction from the center O of the tangent circle C to the center of the magnetic attraction F mag.d The value of transport trolley 10B is zero or very small. Consequently, there is a counter-moment resulting from the magnetic attraction force F. mag.d in the horizontal direction through the rotor-side drive magnet element 14Ba and the stator-side drive magnet element 24Ba, according to the third embodiment zero or very small.

[0105] Next, a counter-moment is considered due to a load on the contact surface between the upper flat roller 12Ba and the upper flat guide 22B, and a load on the contact surface between the lower flat roller 13Ba and the lower flat guide 23B. Initially, loads in a direction outside the plane of the contact surfaces between the upper and lower flat rollers 12Ba and 13Ba and the upper and lower flat guides 22B and 23B, and the moment generated about the center O of the tangent circle C in contact with the contact surfaces of the upper flat roller 12Ba and the lower flat roller 13Ba, are geometrically always zero. A counter-moment with respect to a tilting moment is a moment resulting from the product of the frictional force F. fric.3A in the contact area between the upper flat roller 12Ba and the upper flat guide 22B and the frictional force F fric.4Ain the contact area between the lower flat roller 13Ba and the lower flat guide 23B and the radius R of the tangent circle C. As described in the second embodiment, the frictional forces at the contact surfaces between the rollers and the guides are, however, very small compared to the tilting moment.

[0106] As a result, the tipping moment of the transport carriage 10B of the prior art 2 exceeds the counter-moment, and the transport carriage 10B tips easily about the center O of the tangent circle C. In particular, the transport carriage 10B slips on the contact surface between the upper flat roller 12Ba and the upper flat guide 22B and the contact surface between the lower flat roller 13Ba and the lower flat guide 23B and falls downwards in a rotational motion. Therefore, it is necessary to significantly limit the weight of the object to be transported or the distance xg between the center of gravity of the transport carriage 10B and the center O of the tangent circle C.

[0107] On the other hand, in the third embodiment, a magnetic attraction force is generated in the direction of the axis of rotation 121Ba of the upper flat roller 12Ba between the counter-torque-generating upper rotor-side magnet element 15Ba and the counter-torque-generating upper stator-side magnet element 25Ba, which are each arranged on upper sections of the transport carriage 10B and the stator-side platform 20Ba, respectively. Additionally, a magnetic repulsion force is generated in the direction of the axis of rotation 131Ba of the lower flat roller 13Ba between the counter-torque-generating lower rotor-side magnet element 17Ba and the counter-torque-generating lower stator-side magnet element 27Ba, which are arranged on lower sections of the transport carriage 10B and the stator-side platform 20Ba, respectively. Consequently, it is possible to increase the counter-torque with respect to the tilting moment.

[0108] A condition to prevent the tipping of the transport carriage 10B described above is now formulated. The following formula (3) is established as the condition to prevent the tipping of the transport carriage 10B, in which the radius of the tangent circle C of the contact area between the upper flat roller 12Ba and the upper flat guide 22B and the contact area between the lower flat roller 13Ba and the lower flat guide 23B is denoted by R, and the frictional force in the contact area between the upper flat roller 12Ba and the upper flat guide 22B is denoted by F. fric.3 The frictional force in the contact area between the lower flat roller 13Ba and the lower flat guide 23B is denoted by F. fric.4The radius from the center O of the tangent circle C to the center of the magnetic attraction between the counter-torque-generating rotor-side upper magnet element 15Ba and the counter-torque-generating stator-side upper magnet element 25Ba with R is denoted. m is designated as the magnetic attraction force between the counter-torque-generating rotor-side upper magnet element 15Ba and the counter-torque-generating stator-side upper magnet element 25Ba with F mag.3A is designated, and the magnetic repulsion force between the counter-torque-generating rotor-side lower magnet element 17Ba and the counter-torque-generating stator-side lower magnet element 27Ba with F mag.4A is designated. It should be noted that R malso the radius from the center O of the tangent circle C to the center of the magnetic repulsion force Fmag.4A between the counter-torque generating rotor-side lower magnet element 17Ba and the counter-torque generating stator-side lower magnet element 27Ba. xgFg <ymag.dFmag.d+R(Ffric.3A+Ffric.4A)+Rm(Fmag.3A+Fmag.4A)

[0109] Similar to the first embodiment, in order to greatly reduce the limitation of the weight or center of gravity of the entire transport trolley 10B, it is only necessary to increase the magnetic attraction force F. mag.3A and the magnetic repulsion force F mag.4A to increase the counter-moment generating elements, or the radius R m from the center O of the tangent circle C to the contact surfaces between the upper and lower flat rollers 12Ba and 13Ba and the upper and lower flat guides 22B and 23B to the centers of magnetic attraction F mag.3Aand the magnetic repulsion force F mag.4A to increase the counter-torque-generating magnetic elements.

[0110] In one example, the sum of the magnetic attraction forces between the counter-torque-generating rotor-side upper magnet elements 15Ba and 15Bb and the counter-torque-generating stator-side upper magnet elements 25Ba and 25Bb, the magnetic repulsion forces between the counter-torque-generating rotor-side lower magnet elements 17Ba and 17Bb and the counter-torque-generating stator-side lower magnet elements 27Ba and 27Bb, and the distance between the center O of the tangent circle C and the respective centers of the magnetic attraction and repulsion forces are calculated based on the magnetic attraction force between the rotor-side drive magnet element 14B and the stator-side drive magnet element 24B, and the distance between the center of the magnetic attraction force and the center O of the tangent circle C.the sum of the frictional force in the contact area between the upper flat roller 12Ba and the upper flat guide 22B and the frictional force in the contact area between the lower flat roller 13Ba and the lower flat guide 23B and the radius R of the tangent circle C.

[0111] A top view of the area surrounding the branching region of the linear transport device 1B according to the third embodiment is similar to the top view of the area surrounding the branching region of Fig. 9 of the second embodiment and is therefore omitted. Similar to the second embodiment, the counter-torque-generating stator-side upper magnet elements 25Ba and 25Bb and the counter-torque-generating stator-side lower magnet elements 27Ba and 27Bb can only be arranged in the branching area 32, where the transport carriage 10B is in the “cantilevered state”, and they can be omitted, i.e., they can not be arranged on the pre-branch track 31 and the post-branch track 33, which are other track sections.

[0112] In the examples of Fig. 10, Fig. 11 to Fig. 12. The rotor-side repulsion force-generating elements and the stator-side repulsion force-generating elements are realized by magnets or electromagnets, but they can also be realized by combinations of rollers and guides. Fig. Figure 13 shows a cross-sectional view to illustrate another example of the configuration of a linear transport device according to the third embodiment. The same components as those of the Fig. 10, Fig. 11 to Fig. 12 are provided with the same reference numerals, and their descriptions are omitted. Regarding the linear transport device 1C from Fig. 13 differ in that repulsion-generating elements that produce magnetic repulsion forces, of which the Fig. 10, Fig. 11 to Fig. 12. This means that the transport carriage 10B has counter-torque-generating rotor-side additional rollers 18Ca and 18Cb instead of the counter-torque-generating rotor-side lower magnet elements 17Ba and 17Bb, which generate magnetic repulsion forces. The stator-side platforms 20B each include a counter-torque-generating stator-side additional guide 28C instead of the counter-torque-generating stator-side lower magnet element 27B. The counter-torque-generating rotor-side additional rollers 18Ca and 18Cb correspond to rotor-side repulsion force-generating elements. The counter-torque-generating stator-side additional guide 28C corresponds to a stator-side repulsion force-generating element.

[0113] The pivot axis 131Ca, which supports the lower flat roller 13Ba, has a hook-shaped curved structure, and the counter-torque-generating runner-side additional roller 18Ca is supported by a hook-shaped curved outer end region. Similarly, the pivot axis 131Cb, which supports the lower flat roller 13Bb, has a hook-shaped curved structure, and the counter-torque-generating runner-side additional roller 18Cb is supported by a hook-shaped curved outer end region. In each of the cross-sections of the counter-torque-generating runner-side additional rollers 18Ca and 18Cb, which pass through the pivot axes 131Ca and 131Cb, the roller surface shape is flat in a radial edge region.

[0114] The counter-torque-generating stator-side additional guides 28C are arranged on the lower side wall regions 213B of the platform structures 21B, where the counter-torque-generating stator-side lower magnet elements 27B are arranged, and have flat running surfaces. The counter-torque-generating stator-side additional guides 28C are arranged in positions corresponding to the counter-torque-generating rotor-side additional rollers 18Ca and 18Cb of the transport carriage 10B.

[0115] In this case too, similar to in Fig. 9, the counter-moment generating stator-side additional guides 28C are installed exclusively in the branching area 32 and they can be omitted, i.e. they cannot be arranged on the pre-branch track 31 and the post-branch track 33, which are other track sections.

[0116] When magnetic elements are used as counter-torque-generating elements that produce repulsive forces, the magnetic repulsive forces vary greatly depending on the distance between the magnetic elements, and it is therefore necessary to consider the distance separately. As in Fig. As shown in Figure 13, it is no longer necessary to consider the distance if the counter-moment generating elements are replaced by rollers and guides. On the other hand, if the counter-moment generating elements are implemented by rollers and guides, it is necessary to compensate for the frictional resistance between the rollers and the guides with a driving force in the direction of movement of the transport carriage 10B.

[0117] Fig. Figure 14 shows a cross-sectional view illustrating another example of the configuration of a linear transport device according to the third embodiment. The same components as in the Fig. 10, Fig. 11, Fig. 12 to Fig. 13 are provided with the same reference numerals and their descriptions are not repeated. For the linear transport device 1D from Fig. 14. The configurations of the magnetic repulsion-generating elements are different from those in Fig. Figure 13 shows that the transport carriage 10B has counter-torque-generating rotor-side additional guides 19Da and 19Db instead of the counter-torque-generating rotor-side additional rollers 18Ca and 18Cb. Each of the stator-side platforms 20B includes a counter-torque-generating stator-side additional roller 29D instead of the counter-torque-generating stator-side additional guide 28C. It should be noted that the platform structure 21B has a structure that does not include a lower side wall section 213B. In this case, it is necessary to arrange several counter-torque-generating stator-side additional rollers 29D on the stator-side platform 20B in the direction of travel. Each counter-torque-generating stator-side additional roller 29D is supported by a pivot axis 291D arranged on the platform structure 21B.

[0118] The counter-torque-generating additional guides 19Da and 19Db on the rotor side correspond to rotor-side repulsion force-generating elements. The counter-torque-generating additional roller 29D on the stator side corresponds to a stator-side repulsion force-generating element.

[0119] Furthermore, similar to in Fig. 9, the counter-moment generating stator-side additional roller 29D is installed exclusively in the branching area 32 and it can be omitted, i.e. it can not be arranged on the pre-branch track 31 and the post-branch track 33, which are other track sections.

[0120] As described above, by mounting the guides instead of the rollers on the transport trolley 10B, the weight of the transport trolley 10B can be reduced compared to, for example, Fig. 13 will be reduced.

[0121] The third embodiment can also achieve a similar effect to the first embodiment.

[0122] In the first, second and third embodiments described above, the holding forces of the transport carriage 10, 10A and 10B in the "cantilevered state" are each the sum of the horizontal components of the magnetic attraction force F. mag.d , which is generated by the drive magnet elements, and the magnetic attraction force F mag.add of the elements that generate the counter-torque. In conventional techniques, all holding forces of the transport carriages 10, 10A and 10B must be generated solely by the drive magnet elements; however, in the first, second and third embodiments, the drive magnet elements do not need to provide the horizontal components of the magnetic attraction forces of the counter-torque-generating elements.

[0123] For example, in the case of the first embodiment, the magnitude of the magnetic attraction force generated between the rotor-side drive magnet element 14 and the stator-side drive magnet element 24 can be a value obtained by subtracting the horizontal component of the magnetic attraction force between the counter-torque-generating rotor-side magnet element 15 and the counter-torque-generating stator-side magnet element 25 from the value of the holding force required to hold on the stator-side platform 20, which is arranged on one side of the transport carriage 10 in the X direction.

[0124] In the first, second, and third embodiments, the rotor-side counter-torque generating elements and / or the stator-side counter-torque generating elements can consist of electromagnets, and the linear transport devices 1, 1A, and 1B can further include a control device that controls the excitation of the electromagnets to change the forces acting between the rotor-side counter-torque generating elements and the stator-side counter-torque generating elements. The counter-torque generating rotor-side magnetic elements 15, 15Aa, and 15Ab, the counter-torque generating rotor-side upper magnetic elements 15Ba and 15Bb, and the counter-torque generating rotor-side lower magnetic elements 17Ba and 17Bb correspond to the rotor-side counter-torque generating elements in the first, second, and third embodiments.The counter-torque-generating stator-side magnetic elements 25, 25Aa and 25Ab, the counter-torque-generating stator-side upper magnetic elements 25Ba and 25Bb, and the counter-torque-generating stator-side lower magnetic elements 27Ba and 27Bb correspond in the first, second, and third embodiments to the stator-side counter-torque-generating elements. The forces acting between the rotor-side counter-torque-generating elements and the stator-side counter-torque-generating elements include a magnetic attraction force or a magnetic repulsion force. Consequently, the magnetic attraction force or the magnetic repulsion force between the rotor-side counter-torque-generating elements and the stator-side counter-torque-generating elements can be varied by the excitation control.As a result, it is possible to change the magnetic attraction or the magnetic repulsion force generated depending on the weights and the center of gravity positions of the transport carriages 10, 10A and 10B, or on variations in the distances between the rotor-side counter-torque generating elements and the stator-side counter-torque generating elements, or similar.

[0125] The configurations described in the above embodiments are merely examples and can be combined with other known technologies, the embodiments can be combined with each other, and part of the configurations can be omitted or modified without deviating from their core. Reference symbol list 1, 1A, 1B, 1C, 1D linear transport device; 10, 10A, 10B Transport trolleys; 11, 11A, 11B Transport trolley basic structure; 12, 12A upper V-roller; 12Ba, 12Bb upper flat pulley; 13, 13A, 13Ba, 13Bb lower flat roller; 14, 14A, 14Aa, 14Ab, 14B, 14Ba, 14Bb rotor-side drive magnet element; 15, 15A, 15Aa, 15Ab counter-torque generating rotor-side magnetic element; 15Ba, 15Bb counter-torque generating rotor-side upper magnet element; 16A additional roll; 17Ba, 17Bb counter-torque generating rotor-side lower magnet element; 18Ca, 18Cb counter-moment generating additional roller on the runner side; 19Da, 19Db counter-moment generating additional runner-side guidance; 20, 20A, 20Aa, 20Ab, 20B, 20Ba, 20Bb stator-side platform; 21, 21A, 21B platform structure; 22, 22A upper V-groove guide; 22B upper flat guide; 23, 23A, 23B lower flat guide; 24, 24A, 24Aa, 24Ab, 24B, 24Ba, 24Bb stator-side drive magnet element; 25, 25A, 25Aa, 25Ab counter-torque generating stator-side magnetic element; 25B, 25Ba, 25Bb counter-torque generating stator-side upper magnet element; 26A additional guide; 27B, 27Ba, 27Bb counter-torque generating stator-side lower magnet element; 28C counter-torque generating additional stator-side guidance; 29D counter-torque generating additional stator-side roller; 31 Pre-junction railway; 32 Branching area; 33 Post-junction railway; 111, 211A, 211B Basic body area; 111a, 111b, 111c, 111d, 112a, 112b Side surface; 112 protruding area; 121, 121A, 121Ba, 121Bb, 131, 131A, 131Ba, 131Bb, 131Ca, 131Cb, 161A, 291D Rotation axis; 212A Side wall area; 212B upper side wall area; 213B lower side wall area.

Claims

[1] Linear transport device (1, 1A, 1B, 1C, 1D) which moves a transport carriage (10, 10A, 10B) carrying an object by means of a linear motor along a stator-side platform (20, 20A, 20Aa, 20Ab, 20B, 20Ba, 20Bb) which is arranged in a lateral direction perpendicular to both the direction of travel of the transport carriage (10, 10A, 10B) and the up-down direction (Y), and which has a section in which the stator-side platform (20, 20A, 20Aa, 20Ab, 20B, 20Ba, 20Bb) is arranged in the lateral direction on only one side, where the transport trolley (10, 10A, 10B) has: a transport trolley basic structure (11, 11A, 11B) that supports the object, a first roller (12, 12A, 12Ba, 12Bb) which is arranged on the transport trolley base structure (11, 11A, 11B), a second roller (13, 13A, 13Ba, 13Bb) which is arranged on the transport trolley base structure (11, 11A, 11B) at a height which differs from the height at which the first roller (12, 12A, 12Ba, 12Bb) is arranged, a rotor-side magnetic element (14, 14A, 14Aa, 14Ab, 14B, 14Ba, 14Bb) which is arranged on a side surface (111a, 111b, 111c, 111d) on one of the two sides in the width direction of the transport carriage base structure (11, 11A, 11B) and drives the transport carriage base structure (11, 11A, 11B) relative to the stator-side platform (20, 20A, 20Aa, 20Ab, 20B, 20Ba, 20Bb), and a rotor-side counter-moment generating element (15, 15A, 15Aa, 15Ab, 15Ba, 15Bb) that generates a counter-moment against tipping of the transport carriage (10, 10A, 10B) between the rotor-side counter-moment generating element (15, 15A, 15Aa, 15Ab, 15Ba, 15Bb) and the stator-side platform (20, 20A, 20Aa, 20Ab, 20B, 20Ba, 20Bb), and the stator-side platform (20, 20A, 20Aa, 20Ab, 20B, 20Ba, 20Bb) has: a first guide (22, 22A, 22B) which is arranged on a platform structure (21, 21A, 21B) arranged along a movement path of the transport carriage (10, 10A, 10B) and is in contact with the first roller (12, 12A, 12Ba, 12Bb), a second guide (23, 23A, 23B) which is arranged on the platform structure (21, 21A, 21B) and is in contact with the second roller (13, 13A, 13Ba, 13Bb), a stator-side magnetic element (24, 24A, 24Aa, 24Ab, 24B, 24Ba, 24Bb) that is arranged on the platform structure (21, 21A, 21B) and is arranged in pairs with the rotor-side magnetic element (14, 14A, 14Aa, 14Ab, 14B, 14Ba, 14Bb) to generate a magnetic attraction in the horizontal direction (X), and a stator-side counter-torque generating element (25, 25A, 25Aa, 25Ab, 25B, 25Ba, 25Bb) which is arranged on the platform structure (21, 21A, 21B) and generates a counter-torque between the stator-side counter-torque generating element (25, 25A, 25Aa, 25Ab, 25B, 25Ba, 25Bb) and the rotor-side counter-torque generating element (15, 15A, 15Aa, 15Ab, 15Ba, 15Bb) arranged in pairs with it, characterized by , that The stator-side counter-torque generating element (25, 25A, 25Aa, 25Ab, 25B, 25Ba, 25Bb) generates the counter-torque by an attractive force that is generated between the stator-side counter-torque generating element (25, 25A, 25Aa, 25Ab, 25B, 25Ba, 25Bb) and the rotor-side counter-torque generating element (15, 15A, 15Aa, 15Ab, 15Ba, 15Bb) arranged in pairs with it. [2] Linear transport device (1) according to claim 1, wherein the first roller (12) is a V-roller that rotates about an axis extending in the top-bottom direction (Y), the second roller (13) is a flat roller that rotates about an axis extending in the top-bottom direction (Y), the runner-side counter-moment generating element (15) is arranged on the upper area of ​​a side surface (111a, 111b, 111c, 111d) on one of the two sides of the transport carriage basic structure (11) in the width direction, the first guide (22) is a V-groove guide which is in contact with the V-roller, the second guide (23) is a flat guide which is in contact with the flat roller, and the stator-side counter-moment generating element (25) is arranged at the upper area of ​​the platform structure (21) and generates the counter-moment by an attractive force in the horizontal direction (X) which is generated between the stator-side counter-moment generating element (25) and the rotor-side counter-moment generating element (15) arranged in pairs with it. [3] Linear transport device (1A) according to claim 1, wherein the transport trolley (10A) further comprises an additional roller (16A) which is arranged on each of the two sides of the transport trolley base structure (11A) in the width direction and rotates about an axis which extends in the width direction, the stator-side platform (20A) further comprises an additional guide (26A) which is arranged on an upper surface of the platform structure (21A) and is in contact with the additional roller (16A), the first roller (12A) is a V-roller which is arranged on each of the two sides of the transport trolley base structure (11A) in the width direction and rotates about an axis which extends in the top-bottom direction (Y), the second roller (13A) is a flat roller which is arranged on one of the two sides of the transport trolley base structure (11A) in the width direction and rotates about an axis which extends in the top-bottom direction (Y), the runner-side counter-moment generating element (15A) is arranged on the upper area of ​​a side surface (111a, 111b, 111c, 111d) on one of the two sides of the transport carriage basic structure (11A) in the width direction, the first guide (22A) is a V-groove guide which is in contact with the V-roller, the second guide (23A) is a flat guide which is in contact with the flat roller, and the stator-side counter-moment generating element (25A) is located on the upper part of the platform structure (21A) and generates the counter-moment through an attractive force in the horizontal direction (X) that is generated between the stator-side counter-moment generating element (25A) and the rotor-side counter-moment generating element (15A) arranged in pairs with it. [4] Linear transport device (1B, 1C, 1D) according to claim 1, wherein the first roller (12Ba, 12Bb) is an upper flat roller (12Ba, 12Bb) which is arranged at the upper area on one of the two sides of the transport carriage base structure (11B) in the width direction and rotates about an upper pivot axis (121Ba, 121Bb) which is inclined at a predetermined angle to the top-bottom direction (Y), the second roller (13Ba, 13Bb) is a lower flat roller (13Ba, 13Bb) which is arranged at the lower area on one of the two sides of the transport trolley base structure (11B) in the width direction and rotates about a lower pivot axis (131Ba, 131Bb) which is inclined at the predetermined angle to the top-bottom direction (Y), the first guide (22B) is an upper flat guide (22B) that is in contact with the upper flat roller (12Ba, 12Bb), the second guide (23B) is a lower flat guide (23B) that is in contact with the lower flat roller (13Ba, 13Bb), the runner-side counter-moment generating element (15Ba, 15Bb) comprises: a rotor-side attraction force-generating element (15Ba, 15Bb) arranged at the outer end region of the upper axis of rotation (121Ba, 121Bb) and generating an attraction force between the rotor-side attraction force-generating element (15Ba, 15Bb) and the stator-side platform (20B, 20Ba, 20Bb); and a rotor-side repulsion force-generating element (17Ba, 17Bb) that is arranged at the outer end region of the lower axis of rotation (131Ba, 131Bb) and generates a repulsion force between the rotor-side repulsion force-generating element (17Ba, 17Bb) and the stator-side platform (20B, 20Ba, 20Bb), and The stator-side counter-torque generating element (25B, 25Ba, 25Bb) comprises: a stator-side attraction-generating element (25B, 25Ba, 25Bb) arranged in pairs with the rotor-side attraction-generating element (15Ba, 15Bb) to generate an attraction force in the direction of the upper axis of rotation (121Ba, 121Bb); and a stator-side repulsion force-generating element (27Ba, 27Bb) which is arranged in pairs with the rotor-side repulsion force-generating element (17Ba, 17Bb) to generate a repulsion force in the direction of the lower axis of rotation (131Ba, 131Bb). [5] Linear transport device (1A) according to claim 3 or 4, wherein the stator-side counter-torque generating element (25A) is arranged on the stator-side platform (20A) in a branching area (32) in which the stator-side platform (20A) branches off to one of the two sides of the transport carriage (10A) in the width direction, and is not arranged in a section different from the branching area (32). [6] Linear transport device (1, 1A, 1B, 1C, 1D) according to any one of claims 1 to 4, wherein if a center of rotation is the center of the transport carriage (10, 10A, 10B) when the transport carriage (10, 10A, 10B) in contact with the stator-side platform (20, 20A, 20Aa, 20Ab, 20B, 20Ba, 20Bb) is tilted, an attractive force between the rotor-side counter-torque generating element (15, 15A, 15Aa, 15Ab, 15Ba, 15Bb) and the stator-side counter-torque generating element (25, 25A, 25Aa, 25Ab, 25B, 25Ba, 25Bb) and a vertical distance (Y) between the center of the attractive force and the center of rotation based on the magnetic attractive force between the rotor-side magnetic element (14, 14A, 14Aa, 14Ab, 14B, 14Ba, 14Bb) and the stator-side magnetic element (24, 24A, 24Aa, 24Ab, 24B, 24Ba, 24Bb) and the vertical distance (Y) between the center of the magnetic The force of attraction and the center of rotation are determined. [7] Linear transport device (1, 1A, 1B, 1C, 1D) according to any one of claims 1 to 4, wherein a magnitude of the magnetic attraction force generated between the rotor-side magnetic element (14, 14A, 14Aa, 14Ab, 14B, 14Ba, 14Bb) and the stator-side magnetic element (24, 24A, 24Aa, 24Ab, 24B, 24Ba, 24Bb) is a value obtained by subtracting a horizontal component of the magnetic attraction force between the rotor-side counter-torque generating element (15, 15A, 15Aa, 15Ab, 15Ba, 15Bb) and the stator-side counter-torque generating element (25, 25A, 25Aa, 25Ab, 25B, 25Ba, 25Bb) is obtained from the value of the holding force required to hold on the stator-side platform (20), which is arranged in the width direction on only one side of the transport carriage (10, 10A, 10B). [8] Linear transport device (1, 1A, 1B, 1C, 1D) according to any one of claims 1 to 4, wherein the rotor-side counter-torque generating element (15, 15A, 15Aa, 15Ab, 15Ba, 15Bb) and the stator-side counter-torque generating element (25, 25A, 25Aa, 25Ab, 25B, 25Ba, 25Bb) are realized by permanent magnets or electromagnets. [9] Linear transport device (1, 1A, 1B, 1C, 1D) according to claim 8, wherein the rotor-side counter-torque generating element (15, 15A, 15Aa, 15Ab, 15Ba, 15Bb) and / or the stator-side counter-torque generating element (25, 25A, 25Aa, 25Ab, 25B, 25Ba, 25Bb) is formed by an electromagnet, and the linear transport device (1, 1A, 1B, 1C, 1D) further a control device for controlling the excitation of the electromagnet in order to change the force acting between the rotor-side counter-torque generating element (15, 15A, 15Aa, 15Ab, 15Ba, 15Bb) and the stator-side counter-torque generating element (25, 25A, 25Aa, 25Ab, 25B, 25Ba, 25Bb). [10] Linear transport device (1C, 1D) according to claim 4, wherein the rotor-side repulsion force generating element (17Ba, 17Bb) and the stator-side repulsion force generating element (27Ba, 27Bb) are realized by a combination of a roller and a guide.

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