Linear transport device

Abstract

A linear transport device comprises a transport carriage and a stator-side platform. The transport carriage includes: a carriage base structure that carries an object; a first roller and a second roller arranged on the carriage base structure; a rotor-side magnetic element arranged on a side face on each of the two sides of the carriage base structure in the width direction, which drives the carriage base structure relative to the stator-side platform; and a rotor-side counter-torque generating element that generates a counter-torque against tilting of the transport carriage between the rotor-side counter-torque generating element and the stator-side platform.The stator-side platform comprises: a first guide arranged on a platform structure that is positioned along a movement path of the transport carriage and that is in contact with the first roller; a second guide arranged on the platform structure and that is in contact with the second roller; a stator-side magnetic element arranged on the platform structure and paired with the rotor-side magnetic element to generate a magnetic attraction in the horizontal direction; and a stator-side counter-torque generating element arranged on the platform structure that generates the counter-torque between the stator-side counter-torque generating element and the rotor-side counter-torque generating element paired with it.

Description

Area

[0001] The present disclosure relates to a linear transport device that moves a transport carriage along a stator-side platform using a linear motor. background

[0002] A linear transport device is a transport device comprising a base and a trolley that moves on the base. A stator arranged on the base and a slider arranged on the trolley constitute a linear motor. Driving force is generated between the stator and slider by controlling the excitation of the stator or slider to drive the trolley. Regarding the shape of a track of the trolley, there is not only a straight track but also a curved track, a closed track obtained by combining them, and there may be a branch from a certain track to several other tracks.

[0003] In a linear motor transport system described in Patent Document 1, magnetic elements for driving are mounted on both side surfaces 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 substantially in the left or right direction perpendicular to both the traveling direction of the transport carriage and the up-down direction, and includes a magnetic element corresponding to the magnetic element mounted on the transport carriage, and upper and lower guides in contact with the upper and lower rollers. Note 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 shape.In such a configuration, the movement characteristics of the trolley in the up-down direction are restricted by the rollers and guides, and its movement characteristics in a lateral direction with respect to the travel direction are restricted by the rollers and guides and a magnetic attraction force. At a branching area, stator-side platforms are located on both the left and right sides of the trolley. By holding the trolley by the magnetic force of the magnetic element of the stator-side platform on either side or both the left and right sides to the left or right stator-side platform, the trolley is caused to move along the stator-side platform to which the trolley is held. Thus, a track branching is realized. List of citationsPatent literature

[0004] Patent document 1: WO 2018 / 161 160 A Brief description of the inventionProblem to be solved by the invention

[0005] When the trolley is in a "cantilevered state" in which the trolley is held by the magnetic attraction force between the trolley and one of the left-side or right-side stator-side platforms, the technique described in Patent Document 1 has a problem in balancing a torque around the lowest part of the contact surface between the lower roller and the lower guide. A tilting moment acts around the lowest part of the contact surface. The tilting moment is a moment resulting from the product of a load in the up-down direction, such as the gravity of the trolley, and the horizontal distance from the lowest part of the contact surface to the center of gravity of the entire trolley. This tilting moment causes the trolley to tilt around the lowest part of the contact surface.On the other hand, a counter-torque moment is a moment resulting from the product of a magnetic attraction force in the horizontal direction by the magnetic elements of the trolley and the stator-side platform and the distance in the up-down direction from the lowest part of the contact surface to the center of the magnetic attraction force of the trolley. If the overturning moment exceeds the counter-torque moment, the torque balance around the lowest part of the contact surface cannot be achieved, causing the trolley to tip. To prevent such tipping of the trolley, the technology described in Patent Document 1 requires limiting the weight or center of gravity of an object to be transported, which is a problem.

[0006] The present disclosure has been made in view of the above, and an object is to provide a linear transfer device in which tilting of a transfer carriage due to a tilting moment resulting from a load of the transfer carriage in the up-down direction when the transfer carriage is in a cantilevered state can be reduced. Means of solving the problem

[0007] In order to solve the above-described problem and achieve the object, a linear transport device of the present disclosure is a device that moves a trolley that transports an object by means of a linear motor along a stator-side platform arranged in a width direction perpendicular to both the traveling direction of the trolley and the up-down direction, and includes a portion in which the stator-side platform is arranged on only one side in the width direction.The trolley comprises: a trolley base structure that supports the object; a first roller arranged on the trolley base structure; a second roller arranged on the trolley base structure at a height different from the height at which the first roller is arranged; a rotor-side magnetic element arranged on a side surface on each of the widthwise two sides of the trolley base structure and driving the trolley base structure relative to the stator-side platform; and a rotor-side counter-torque generating element that generates a counter-torque against tipping of the trolley between the rotor-side counter-torque generating element and the stator-side platform.The stator-side platform includes: a first guide disposed on a platform structure along a movement path of the trolley and in contact with the first roller; a second guide disposed on the platform structure and in contact with the second roller; a stator-side magnetic element disposed on the platform structure and paired with the rotor-side magnetic element to generate a magnetic attraction force in the horizontal direction; and a stator-side counter-torque generating element disposed on the platform structure and generating a counter-torque between the stator-side counter-torque generating element and the rotor-side counter-torque generating element paired with the stator-side counter-torque generating element. Effects of the invention

[0008] The linear transport device according to the present disclosure achieves an effect that tilting of a transport carriage due to a tilting moment resulting from a load of the transport carriage in the up-down direction when the transport carriage is in a cantilevered state can be reduced. Short description of the characters Fig. 1 is a perspective view showing an example of the configuration of a linear conveying device according to a first embodiment. Fig. 2 is a cross-sectional view showing an example of the configuration of a linear conveying device according to the first embodiment. Fig. 3 is a diagram for explaining an effect of a linear transport device according to the first embodiment. Fig. 4 is a plan view showing an example of the vicinity of a branching portion of a linear conveying device according to the first embodiment. Fig. 5 is a perspective view showing an example of the configuration of a linear conveying device according to a second embodiment. Fig. 6 is a cross-sectional view showing an example of the configuration of a linear conveying device according to the second embodiment at the position of a portion other than the branch portion. Fig. 7 is a cross-sectional view showing an example of the configuration of a linear conveying device according to the second embodiment at the position of a branch portion. Fig. 8 is a diagram for explaining an effect of a linear transport device according to the second embodiment. Fig. 9 is a plan view showing another example of the vicinity of a branching portion of a linear conveying apparatus according to the second embodiment. Fig. 10 is a cross-sectional view showing an example of the configuration of a linear conveying device according to a third embodiment at the position of a portion other than a branch portion. Fig. 11 is a cross-sectional view showing an example of the configuration of a linear conveying device according to the third embodiment at the position of a branch portion. Fig. 12 is a diagram for explaining an effect of a linear transport device according to the third embodiment. Fig. 13 is a cross-sectional view showing another example of the configuration of a linear conveying device according to the third embodiment. Fig. 14 is a cross-sectional view showing another example of the configuration of a linear conveying device according to the third embodiment. Description of embodiments

[0009] Hereinafter, a linear transport device according to each embodiment of the present disclosure will be described in detail with reference to the figures. First embodiment

[0010] Fig. Fig. 1 is a perspective view showing an example of the configuration of a linear transport device according to a first embodiment, and Fig. 2 is a cross-sectional view illustrating an example of the configuration of a linear transport device according to the first embodiment. Hereinafter, the traveling direction 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 one example, the Y direction is the vertical direction. Furthermore, in the following description, a relationship between two relative positions in the Y direction may be expressed by using "up" or "down."A linear transport device 1 is a device in which a transport carriage 10, which carries an object to be transported (not shown), is moved by means of a linear motor along a stator-side platform 20 arranged in the width direction of the transport carriage 10 and includes a region in which the stator-side platform 20 is arranged on one side in the width direction. The linear transport device 1 comprises the transport carriage 10 and the stator-side platform 20.

[0011] The transport carriage 10 comprises a transport carriage base structure 11, upper V-rollers 12, lower flat rollers 13, rotor-side drive magnetic elements 14 and counter-torque generating rotor-side magnetic elements 15.

[0012] The transport carriage base structure 11 is a component that supports an object to be transported. In particular, the transport carriage base structure 11 is a component on which the object to be transported along the stator-side platform 20 can be placed or secured. In the examples of Fig. 1 and Fig. 2, the transport carriage base structure 11 consists of a plate-like element. In the transport carriage base structure 11, the side surfaces parallel to the Z and Y directions are larger than the front and rear surfaces perpendicular to the Z direction and the top and bottom surfaces perpendicular to the Y direction.

[0013] The upper V-rollers 12 are arranged at an upper area of ​​the transport carriage base structure 11. In the X-direction, the size of the upper V-rollers 12 is larger than the size of the transport carriage base structure 11. Fig. 1 and Fig. 2, the stator-side platform 20 is arranged in the X-direction only on one side of the transport carriage 10, but the stator-side platform 20 can also be arranged in the X-direction on the other side of the transport carriage 10 or on both sides of the transport carriage 10. Regardless of which side the stator-side platform 20 of the transport carriage 10 is located on in the X-direction, each of the upper V-rollers 12 can rest against an upper V-groove guide 22 of the stator-side platform 20. In the example of Fig. 1, two upper V-rollers 12 are arranged at a distance in the Z direction, but any number of upper V-rollers 12 may be provided. Each upper V-roller 12 is supported by a rotation axis 121 arranged at the upper portion of the transport carriage base structure 11 and rotates about the rotation axis 121. The rotation 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 rotation axis 121, the rolling 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.

[0014] The lower flat rollers 13 are arranged at the lower portion 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 rest 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. 1, two lower flat rollers 13 are arranged at a distance in the Z direction, but any number of lower flat rollers 13 may be provided. Each lower flat roller 13 is supported by a rotation axis 131 arranged at the lower portion of the trolley base structure 11 and rotates about the rotation axis 131. The rotation 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 rotation axis 131, the rolling surface shape is flat in a radial edge region.

[0015] Here, the upper V-rollers 12 each correspond to a first roller arranged on the transport carriage base structure 11, and the lower flat rollers 13 each correspond to a second roller arranged on the transport carriage base structure 11 at a height different from the height at which the first roller is arranged. In addition, the upper V-rollers 12 each correspond to a V-roller, and the lower flat rollers 13 each correspond to a flat roller. Fig. 1 and Fig. 2, 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 may be opposite. In this case, the basic structure of the transport trolley 11 comprises upper flat rollers and lower V-rollers.

[0016] The rotor-side drive magnet elements 14 are arranged on X-direction side surfaces 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 Fig. 1 and Fig. 2, the rotor-side drive magnet elements 14 are arranged between the upper V-rollers 12 and the lower flat rollers 13 on X-direction side surfaces on both sides of the transport carriage base structure 11. In one example, the rotor-side drive magnet elements 14 are permanent magnets or electromagnets. The rotor-side drive magnet elements 14 correspond to rotor-side magnetic elements.

[0017] The counter-torque generating rotor-side magnetic elements 15 are arranged at upper regions of the X-direction side surfaces on both sides of the trolley base structure 11 and each generate a counter-torque against tipping of the trolley 10 between the counter-torque generating rotor-side magnetic element 15 and the stator-side platform 20. When the trolley 10 is in a "cantilevered state", the counter-torque generating rotor-side magnetic elements 15 specifically generate a counter-torque with respect to the trolley 10, which is a moment against a tipping moment resulting from a load of the trolley 10 in the up-down direction. In the examples of Fig. 1 and Fig. 2, the counter-torque-generating magnetic elements 15 on the rotor side are arranged above the upper V-rollers 12. In one example, the counter-torque-generating magnetic elements 15 on the rotor side are permanent magnets or electromagnets. Permanent magnets and electromagnets are examples of magnetic elements. The counter-torque-generating magnetic elements 15 on the rotor side correspond to counter-torque-generating elements on the rotor side.

[0018] 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.

[0019] The platform structure 21 is a holding element that holds the transport carriage 10 during the movement of the transport carriage 10. The platform structure 21 is arranged along a movement path of the transport carriage 10.

[0020] The upper V-groove guide 22 is a guide arranged at the upper portion of the platform structure 21 and has a V-shaped running surface. The upper V-groove guide 22 is arranged at a position corresponding to the upper V-rollers 12 of the transport carriage 10 and is in contact with the upper V-rollers 12.

[0021] The lower flat guide 23 is a guide arranged at the lower portion of the platform structure 21 and having a flat running surface. The lower flat guide 23 is arranged at a position corresponding to the lower flat rollers 13 of the transport carriage 10, on a main surface of the platform structure 21 on the side where the transport carriage 10 is arranged, and is in contact with the lower flat rollers 13.

[0022] Here, the upper V-groove guide 22 is arranged on the platform structure 21 and corresponds to a first guide that contacts the upper V-rollers 12, which are first rollers, and the lower flat guide 23 is arranged on the platform structure 21 and corresponds to a second guide that contacts the lower flat rollers 13, which are second rollers. Furthermore, the upper V-groove guide 22 corresponds to a V-groove guide, and the lower flat guide 23 corresponds to a flat guide. Note 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 trolley 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.

[0023] 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. 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 magnetic element.

[0024] The counter-torque generating stator-side magnetic element 25 is arranged at the upper portion of the platform structure 21 and generates a counter-torque by 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. 2, the stator-side counter-torque-generating 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 stator-side counter-torque-generating magnetic element 25 is an electromagnet or a permanent magnet. Permanent magnets and electromagnets are examples of magnetic elements. The stator-side counter-torque-generating 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 rotor-side counter-torque-generating magnetic element 15, which is a rotor-side counter-torque-generating element arranged in pairs with the latter.

[0025] The stator-side platform 20 may 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, and is arranged at a region in the X direction different from the branching area on one side of the transport carriage 10.

[0026] 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, whereby the transport carriage 10 can thus 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) enables control of a drive force in the Z direction, i.e., a direction in which the stator-side platform 20 extends, and the magnetic attraction force in the X direction.

[0027] 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. In addition, the upper V-rollers 12 and the lower flat rollers 13 of the transport carriage 10 touch the upper V-groove guide 22 and the lower flat guide 23, respectively, whereby the magnetic attraction force in Fig. 2 toward the left side, that is, the negative side of the X direction, to press the transport carriage 10 against the stator-side platform 20 in the figure by the rotor-side driving magnet element 14 and the stator-side driving magnet element 24, thereby restricting the movement characteristics of the transport carriage 10 in the lateral direction. The configurations and operations of the first embodiment described here are the same as those in Patent Document 1.

[0028] However, in the first embodiment, the transport carriage 10 also includes the counter-torque-generating rotor-side magnetic elements 15, which are attractive force-generating elements located at the upper portions 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 attractive force-generating element located at the upper portion of the platform structure 21. A magnetic attraction force is generated in the horizontal direction between the counter-torque-generating rotor-side magnetic element 15 and the counter-torque-generating stator-side magnetic element 25.Therefore, when the stator-side platform 20 is arranged on one side of the trolley 10 in the X direction, and the trolley 10 is located at a position other than the branching area, for example, the rotor-side counter-torque generating magnetic element 15 generates an attractive force between the rotor-side counter-torque generating magnetic element 15 and the stator-side counter-torque generating magnetic element 25 in the example where the trolley 10 is located at a position other than the branching area. Consequently, the upper part of the trolley 10 is attracted to the stator-side platform 20, and it is possible to reduce the tilting of the trolley 10 due to a tilting moment resulting from its load in the up-down direction when the trolley 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, wherein the control device can control the excitation of the electromagnet synchronously with the control of the excitation of the linear motor.

[0029] In the Fig. 1 and Fig. 2, a case where the attractive force generating element is a magnetic element is considered as an example, however, the attractive force generating element may be an element other than a magnetic element and may be based on a different technique. There is a technique in which air pressure is used as an attractive force generating element. In one example, an attractive force generating element is arranged at an upper portion of the transport carriage 10, and the attractive force generating element sucks air between the upper portion of the transport carriage 10 and the upper portion of the stator-side platform 20. Compared with such a technique in which air pressure or the like is used, a method in which a magnetic element is used eliminates the need for electric power or the like to generate the attractive force.

[0030] Fig. Figure 3 is a diagram for explaining an effect of a linear transport device according to the first embodiment. This diagram considers the compensation of the torque by a value Fig. 3, which is the lowest area of ​​the contact surface between the lower flat roller 13 and the lower flat guide 23. The point P corresponds to a center of rotation, which is the center of the trolley 10 when the trolley 10 is tilting while it is in contact with the stator-side platform 20. A tilting moment Mt acts around the point P, where the tilting moment Mt is a moment resulting from the product of the force of gravity F g of the transport carriage 10 in the Y direction, which is the top-bottom direction, and the horizontal distance x g from point P to the center of gravity G of the entire trolley 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 around the point P. In Patent Document 1, a counter-torque 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 horizontal direction and a distance y mag.d in the Y direction from the point P to the center of magnetic attraction F mag.d of the trolley 10. However, in Patent Document 1, the trolley 10 tilts when the tilting moment Mt exceeds the counter moment. Therefore, in Patent Document 1, it is necessary to specify the weight of the object to be transported or the horizontal distance x g between the center of gravity of the trolley 10 and point P.

[0031] On the other hand, in the first embodiment, a magnetic attraction force F mag.addin the horizontal direction between the counter-torque-generating rotor-side magnetic element 15 and the counter-torque-generating stator-side magnetic element 25, which are arranged at upper regions 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.

[0032] A condition for preventing the tipping of the transport trolley 10 as described above is now formulated. As a condition for preventing the tipping of the transport trolley 10, the following formula (1) is established, in which the gravitational force exerted on the transport trolley 10 is F g is designated, the horizontal distance from the point P to the position of the center of gravity G of the entire transport carriage 10 with x g is designated, the magnetic attraction force in the horizontal direction by the rotor-side drive magnet element 14 and the stator-side drive magnet element 24 with F mag.dis the distance in the Y direction, which is the top-bottom direction, from point P to the center of magnetic attraction F mag.d of the transport carriage 10 with y mag.d is designated, 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 and the distance in the Y direction from point P to the center of magnetic attraction F mag.add by the counter-moment generating elements by y mag.add is designated. xgFg <ymag.dFmag.d+ymag.addFmag.add

[0033] As can be seen from the formula (1), in order to greatly reduce a limitation of the weight of the object to be transported or the distance between the center of gravity of the trolley 10 and the point P, it is only necessary to increase the magnetic attraction force F mag.addin the counter-moment generating elements or to increase the distance y mag.add from point P to the center of magnetic attraction F mag.add of the counter-torque generating elements.

[0034] In one example, the attractive force between the counter-torque generating rotor-side magnetic element 15 and the counter-torque generating stator-side magnetic element 25 and the distance between the center of the attractive force and the point P in the Y direction are determined based on the magnetic attractive force between the rotor-side drive magnetic elements 14 and the stator-side drive magnetic element 24 and the distance between the center of the magnetic attractive force and the point P in the Y direction.

[0035] Fig. 4 is a plan view illustrating an example of the surroundings of a branching section of a linear conveying device according to the first embodiment. In the first embodiment, in a branching section 32, the stator-side platforms 20 are provided on both sides of the transfer carriage 10 in the X direction. In the branching section 32, the transfer carriage 10 is controlled by a control device (not shown) so that it is not supported on both sides of the stator-side platforms 20 at the same time, but is supported only on one of the stator-side platforms 20. When the transfer carriage 10 is in the "cantilevered state", such as when the transfer carriage 10 is in the "cantilevered state",In the cases of a pre-branch path 31, which is a path before the branching section 32, and a post-branch path 33, which is a path after the branching section 32, the magnetic attraction force is generated by the rotor-side driving magnet element 14 and the stator-side driving magnet element 24 to press the trolley 10 against the stator-side platform 20, thereby restricting the movement characteristics of the trolley 10 in the lateral direction with respect to the traveling direction. This is the same configuration and operation as in Patent Document 1.

[0036] 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 the entire path. Except for the branching region 32, on the pre-branch path 31 and the post-branch path 33, a magnetic attraction force 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.Consequently, the tilting moment generated by the load of the trolley 10 in the up-down direction is canceled by a counter-torque including a moment generated by the magnetic attraction force between the rotor-side driving magnetic element 14 and the stator-side driving magnetic element 24, and a moment generated by the magnetic attraction force between the counter-torque generating rotor-side magnetic element 15 and the counter-torque generating stator-side magnetic element 25. This achieves the effect of reducing the tilting of the trolley 10 due to the tilting moment generated by the load of the trolley 10 in the up-down direction when the trolley 10 is in the "cantilevered state." Second embodiment

[0037] A load in the up-down direction is always applied to the transport carriage 10 by gravity or the like. In the technique described in Patent Document 1, depending on the weight of an object to be transported, a U-roller or V-roller that receives a load in the up-down direction may fall off or wear out significantly. Therefore, Prior Art 1 described below discloses a linear motor in which stator-side platforms are always arranged on both sides of a transport carriage on all tracks except for a branch portion, and upper and lower rollers arranged on both sides of the transport carriage in the width direction contact with corresponding guides of the stator-side platforms located on both sides in the width direction.Furthermore, in Prior Art 1, a structure is used in which rollers are mounted on the upper portions of the trolley on both the left and right sides thereof, the rollers contacting with guides mounted on the upper surfaces of the stator-side platforms support the trolley in the up-down direction, thereby improving the load support of the trolley in the up-down direction. (State of the art 1) US 2020 / 0028427 A

[0038] In the technique described in Prior Art 1, in track areas other than the branching area, the trolley is in a "double-supported state" in which rollers on both widthwise side surfaces of the trolley contact guides arranged on the stator-side platforms on both sides of the trolley, preventing the trolley from tipping. However, in the branching area, the stator-side platforms on both sides of the trolley diverge in the widthwise direction, and the trolley is temporarily held on only one of the stator-side platforms by the magnetic attraction force of the magnetic element of the stator-side platform on one side.At this time, the roller for supporting the load in the up-down direction on the opposite side does not engage with the guide, and the trolley is in a "cantilevered state" in which the load in the up-down direction is supported only by the guide of the stator-side platform on the holding side and the roller in contact with it.

[0039] When the trolley is in the "cantilevered state" at the branching portion, the technique described in Prior Art 1 has a problem in balancing the torque around the lowest portion of the contact surface between a lower roller and a lower guide. Even if there is an effect that a frictional force in the horizontal direction between the auxiliary roller and the guide forms a counter-torque, an effect of reducing the tilting of the trolley cannot be expected because 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 trolley due to a tilting moment resulting from a load in the up-down direction of the trolley can be reduced when the trolley is in the "cantilevered state" of the technique described in Prior Art 1.

[0040] Fig. 5 is a perspective view illustrating an example of the configuration of a linear conveying device according to the second embodiment. Fig. 6 is a cross-sectional view showing an example of the configuration of a linear conveying device according to the second embodiment at the position of a portion other than a branch portion. Fig. 7 is a cross-sectional view showing an example of the configuration of a linear conveying device according to the second embodiment at the position of a branch portion. Fig. 5 illustrates the state of a linear transport device 1A at the branching area. Fig. 6 and Fig. 7 each illustrate 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 "double-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 at a region other than the branching region, and the trolley 10A is in the branching region in the “cantilevered state” in which the trolley 10A is supported by the stator-side platform 20Aa on an X-direction side, as shown in the Fig. 5 and Fig. 7. The linear transport device 1A comprises the transport carriage 10A and the stator-side platforms 20Aa and 20Ab.

[0041] The transport carriage 10A comprises a transport carriage base structure 11A, upper V-rollers 12A, lower flat rollers 13A, rotor-side drive magnetic elements 14Aa and 14Ab, counter-torque generating rotor-side magnetic elements 15Aa and 15Ab and additional rollers 16A.

[0042] The transport trolley base structure 11A is a component that carries an object to be transported. In the examples of Fig. 5 to 7, the trolley base structure 11A has a T-shape when viewed in the Z direction. The trolley base structure 11A includes a base body portion 111 having a plate shape in which the YZ plane has a larger area than the other planes, and two plate-shaped protruding portions 112 arranged at upper end portions of the base body portion 111 so as to protrude from both sides thereof in the X direction.

[0043] The upper V-rollers 12A are arranged in the X direction on both sides of the trolley base structure 11A and each rotate about a rotation axis 121A, which is an axis extending in the Y direction. In the examples of Fig. 5 to 7, the upper V-rollers 12A are arranged at the upper portion of the transport carriage base structure 11A. Specifically, the upper V-rollers 12A are arranged on the side surfaces of the base body portion 111 perpendicular to the X direction, below the protruding portions 112 of the transport carriage base structure 11A. Two upper V-rollers 12A are arranged at a distance in the X direction, and two upper V-rollers 12A are arranged at a distance 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 rotary shaft 121A arranged at the upper portion of the base body portion 111 of the transport carriage base structure 11A. The upper V-roller 12A rotates in a horizontal plane.In a cross section of the upper V-roller 12A passing through the rotation axis 121A, the rolling surface shape in a radial edge region is a V-shape adapted to a guide of the stator-side platform 20A, which will be described later.

[0044] The lower flat rollers 13A are arranged in the X direction on both sides of the trolley base structure 11A and each rotate about a rotation axis 131A, which is an axis extending in the Y direction. In the examples of Fig. 5 to 7, the lower flat rollers 13A are arranged at the lower portion of the main body portion 111 of the trolley base structure 11A. Two lower flat rollers 13A are arranged at a distance in the X direction, and two lower flat rollers 13A are arranged at a distance in the Z direction. That is, there are four lower flat rollers 13A. However, the number of lower flat rollers 13A is not limited. Each lower flat roller 13A is supported by a rotation axis 131A arranged at the lower portion of the main body portion 111 of the trolley 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 rotation axis 131A, the rolling surface shape is flat in a radial edge portion.

[0045] Here, the upper V-rollers 12A each correspond to a first roller arranged on the transport carriage base structure 11A, and the lower flat rollers 13A each correspond to a second roller arranged on the transport carriage base structure 11A at a height different from the height at which the first roller is arranged. In addition, the upper V-rollers 12A each correspond to a V-roller, and the lower flat rollers 13A each correspond to a flat roller. Fig. 5 to 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 may be opposite. In this case, the trolley base structure 11A includes upper flat rollers and lower V-rollers.

[0046] 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 Fig. 5 to 7, the rotor-side drive magnet element 14Aa is arranged on the X-direction side surface 111a of the main body portion 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 Fig. 5 to 7, the rotor-side driving magnet element 14Ab is arranged on the side surface 111b of the main body portion 111 of the trolley 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 driving magnet elements 14Aa and 14Ab are permanent magnets or electromagnets. The rotor-side driving magnet elements 14Aa and 14Ab correspond to the rotor-side magnetic elements. Note that in the following description, the rotor-side driving magnet element 14Aa and the rotor-side driving magnet element 14Ab are each referred to as the rotor-side driving magnet element 14A unless individually distinguished.

[0047] 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 protruding region 112 of the transport carriage base structure 11A, which extends 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 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 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 protruding portion 112 of the trolley base structure 11A, which is 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 trolley 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 trolley 10A, which is a moment against a tilting moment resulting from a load of the trolley 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.

[0048] The additional rollers 16A are arranged in the X-direction on both sides of the trolley base structure 11A and each rotate about a rotation axis 161A, which is an axis extending in the X-direction. In the examples of Fig. 5 to 7, the additional rollers 16A are arranged on the lower surfaces of the protruding portions 112 of the trolley base structure 11A. At each of the protruding portions 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 supported by a rotation axis 161A arranged on the protruding portion 112. The additional roller 16A rotates in a YZ plane. In a cross-section of the additional roller 16A passing through the rotation axis 161A, the rolling surface shape is flat in a radial edge region.

[0049] In the second embodiment, the stator-side platforms 20Aa and 20Ab are arranged in a region other than a branching region in the X direction on both sides of the transfer carriage 10A. Therefore, the transfer carriage 10A is in a "doubly supported state" on the stator-side platforms 20Aa and 20Ab in a region other than a branching region. Accordingly, there are the stator-side platform 20Aa, which faces the side surface 111a of the main body portion 111, and the stator-side platform 20Ab, which faces the side surface 111b of the main body portion 111. Note that in the following description, the stator-side platform 20Aa and the stator-side platform 20Ab are each referred to as the stator-side platform 20A unless individually distinguished.

[0050] The stator-side platform 20A includes 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.

[0051] The platform structure 21A is a support member that supports the trolley 10A while the trolley 10A is moved. The platform structure 21A is arranged along a movement path of the trolley 10A. In the second embodiment, the platform structure 21A includes a main body portion 211A and a side wall portion 212A arranged at the upper portion of the main body portion 211A on a side opposite to the side on which the trolley 10A is arranged. The side wall portion 212A is arranged on the upper surface of the main body portion 211A so as to protrude in the Y direction. The protruding portions 112 of the trolley main structure 11A can each extend through the free space above the main body portion 211A surrounded by the upper surface of the main body portion 211A and the side wall portion 212A.

[0052] The upper V-groove guide 22A is a guide arranged at the upper portion of the main body portion 211A of the platform structure 21A and has a V-shaped running surface. The upper V-groove guide 22A is arranged at a position corresponding to the upper V-rollers 12A of the transport carriage 10A and is in contact with the upper V-rollers 12A.

[0053] The lower flat guide 23A is a guide disposed at the lower portion of the main body portion 211A of the platform structure 21A and having a flat running surface. The lower flat guide 23A is disposed on a side surface of the platform structure 21A at a position corresponding to the lower flat rollers 13A of the trolley 10A, with the side surface facing the trolley 10A, and is in contact with the lower flat rollers 13A.

[0054] Here, the upper V-groove guide 22A is arranged on the platform structure 21A and corresponds to a first guide that contacts the upper V-rollers 12A, which are first rollers, and the lower flat guide 23A is arranged on the platform structure 21A and corresponds to a second guide that contacts the lower flat rollers 13A, which are second rollers. Furthermore, the upper V-groove guide 22A corresponds to a V-groove guide, and the lower flat guide 23A corresponds to a flat guide. Note that the V-groove guide and the flat guide are arranged to match 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.

[0055] The stator-side driving magnet element 24A and the rotor-side driving magnet element 14A are arranged in pairs to generate a magnetic attraction force in the horizontal direction. In the examples of Fig. 5 to 7, the stator-side driving magnet element 24A is arranged on a side surface of the main body portion 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 transfer carriage 10A. In one example, the stator-side driving magnet element 24A is a permanent magnet or an electromagnet. Note that in the following description, in a case where the stator-side driving magnet element 24A of the stator-side platform 20Aa and that of the stator-side platform 20Ab are distinguished from each other, the stator-side driving magnet element 24A of the stator-side platform 20Aa is referred to as the stator-side driving magnet element 24Aa, and the stator-side driving magnet element 24A of the stator-side platform 20Ab is referred to as the stator-side driving magnet element 24Ab. The stator-side drive magnet elements 24A correspond to stator-side magnet elements.

[0056] The counter-torque generating stator-side magnetic element 25A is arranged at the upper portion of the platform structure 21A and generates a counter-torque in the horizontal direction by an attractive force generated between the counter-torque generating stator-side magnetic element 25A and the counter-torque generating rotor-side magnetic element 15A arranged in pairs with it. In the examples of Fig. 5 to 7, the stator-side counter-torque-generating magnetic element 25A is arranged on a side surface of the side wall portion 212A of the platform structure 21A, with the side surface facing the transport carriage 10A. In one example, the stator-side counter-torque-generating magnetic element 25A is an electromagnet or a permanent magnet. The stator-side counter-torque-generating 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 rotor-side counter-torque-generating magnetic element 15A, which is a rotor-side counter-torque-generating element arranged in pairs with the rotor-side counter-torque-generating element.It is noted 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 the 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 the counter-torque generating stator-side magnetic element 25Ab.

[0057] The additional guide 26A is a guide arranged on the upper surface of the main body portion 211A of the platform structure 21A and has a flat running surface. The additional guide 26A is in contact with the additional rollers 16A.

[0058] 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 region, 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 a region that is not a branching region.

[0059] In the second embodiment, similar to the prior art 1, the rotor-side driving 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. At sections other than the branching area, as shown in Fig. 6, the stator-side platforms 20Aa and 20Ab are provided in the X direction on both sides of the transfer carriage 10A, and a linear motor is formed by the rotor-side driving magnet elements 14Aa and 14Ab and the stator-side driving magnet elements 24Aa and 24Ab. In this case, the rotor-side driving magnet elements 14Aa and 14Ab and / or the stator-side driving magnet elements 24Aa and 24Ab are electromagnets. Furthermore, in the second embodiment, the additional rollers 16A, each having a rotation axis 161A extending in the X direction, are attached to the transfer carriage 10A, and the additional guides 26A are attached to the upper surfaces of the main body portions 211A of the stator-side platforms 20A.At this time, 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.

[0060] On sections of the route other than the junction area, the transport car 10A is located, as shown in Fig. 6, in 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 transfer 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, there is no problem regarding tilting of the transfer carriage 10A. However, when the stator-side platform 20A is arranged only on one side of the transfer carriage 10A, such 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 transfer carriage 10A. As a result, as shown in Fig. 7, the transport carriage 10A is driven from the stator-side platforms 20A on both X-direction sides only on one side by a magnetic attraction force 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 being held on the stator-side platform 20Aa only on one side.

[0061] At this time, 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 auxiliary rollers 16A are not in contact with the upper V-groove guide 22A, the lower flat guide 23A, and the auxiliary guide 26A, respectively. That is, the transfer carriage 10A is in the "cantilevered state" in which the transfer carriage 10A is held on a holding 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 auxiliary rollers 16A and the auxiliary guide 26A. In the branching section where the transfer carriage 10A is in the "cantilevered state," it is necessary to consider tilting of the transfer carriage 10A, similar to the first embodiment.

[0062] In the second embodiment, the transport carriage 10A has the counter-torque-generating rotor-side magnetic elements 15Aa and 15Ab, which are attractive force-generating elements, at the upper regions of the transport carriage base structure 11A, and the stator-side platforms 20A have the counter-torque-generating stator-side magnetic elements 25Aa and 25Ab, which are attractive force-generating elements, at the side wall portions 212A at the upper regions of the platform structures 21A. In the horizontal direction, a magnetic attractive 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.As a result, the upper part of the trolley 10A is attracted to the stator-side platform 20A even when the trolley 10A is in the "cantilevered state," and it is possible to reduce tipping of the trolley 10A due to a tipping moment resulting from its load in the up-down direction. Note 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 may be electromagnets, and the control device may control the excitation of the electromagnets synchronously with the control of the excitation of the linear motor.

[0063] Fig. Fig. 8 is a diagram for explaining an effect of a linear transport device according to the second embodiment. Similar to the first embodiment, the balancing of the torque around a point P1, which is the lowest region of the contact surface between the lower flat roller 13A and the lower flat guide 23A, is considered. A tilting moment Mt acts around the point P1, where the tilting moment Mt is a moment resulting from the product of the gravity F g of the transport carriage 10A in the Y direction, which is the top-bottom direction, and a horizontal distance x g from point P1 to the center of gravity G1 of the entire trolley 10A. In this example, the horizontal direction corresponds to the X-direction. The tilting moment Mt causes the trolley 10A to tilt around point P1. A counter-moment related to the tilting moment Mt is a moment resulting from the product of a magnetic attraction force F mag.dby the rotor-side drive magnet element 14Aa and the stator-side drive magnet element 24Aa in the horizontal direction and a distance y mag.d in the Y direction, which is the top-bottom direction, from point P1 to the center of magnetic attraction F mag.d of the transport trolley 10A.

[0064] In addition, in the second embodiment, a moment resulting from the product of a lateral friction 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, also results in a counter-torque. The structure and action described so far are similar to those of Prior Art 1, wherein the transport carriage 10A tilts similarly to the first embodiment when the tilting moment Mt exceeds the counter-torque. Therefore, even in the technique described in Prior Art 1, it is necessary to adjust the weight of the object to be transported or the horizontal distance x g between the center of gravity of the trolley 10A and point P1.

[0065] On the other hand, in the second embodiment, a magnetic attraction force F 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 at upper portions 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.

[0066] A condition for preventing the tipping of the transport carriage 10A described above is now formulated. As the condition for preventing the tipping of the transport carriage 10A, the following formula (2) is established, in which, in addition to the variable definition of the first embodiment, the lateral friction force between the additional roller 16A and the additional guide 26A is F fric.add and the distance from the point P1 to the additional guide 26A in the Y direction with y fric.add is designated. xgFg <ymag.d Fmag.d+yfric.add Ffric.add+ymag.add Fmag.add

[0067] Similar to the first embodiment, in order to limit the weight of the object to be transported or the horizontal distance x g between the center of gravity of the trolley 10A and the point P1, it is only necessary to reduce the magnetic attraction force F fric.add of the counter-moment generating elements or to increase the distance y fric.add from the point P1 to the center of magnetic attraction Ffric.add in the counter-torque generating elements.

[0068] In one example, the attractive force between the counter-torque generating rotor-side magnetic element 15A and the counter-torque generating stator-side magnetic element 25A and the distance in the Y direction between the center of the attractive force and the point P1 are determined based on the magnetic attractive force between the rotor-side driving magnetic element 14A and the stator-side driving magnetic element 24A and the distance in the Y direction between the center of the magnetic attractive force and the point P1.

[0069] It should be noted that the lateral friction force F fric.add between the additional roller 16A and the additional guide 26A acts as a counter-torque, the lateral friction force F fric.add However, overall it is very small compared to the other components and the effect as a counter-torque is very small.

[0070] As in Fig. As shown in Figure 6, the stator-side platforms 20A are arranged in a section other than the branching portion on both X-direction sides of the transfer carriage 10A, and the transfer carriage 10A is in a "double-supported state." However, since only one of the stator-side platforms 20A arranged on both sides in the X-direction exists in the branching portion, the transfer carriage 10A is locally in a "cantilevered state." Since there is a possibility of the transfer carriage 10A tipping in the branching portion, the weight or center of gravity of the entire transfer carriage 10A is limited in Prior Art 1. However, in the second embodiment, a horizontal magnetic attraction force is generated by the counter-torque generating elements, thereby preventing the transfer carriage 10A from tipping and alleviating the limitation on the weight or center of gravity of the entire transfer carriage 10A.

[0071] Fig. Fig. 9 is a plan view illustrating another example of the vicinity of the branching portion 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 portion 32. Therefore, as shown in Fig. 9, the counter-torque generating stator-side magnetic elements 25A can be arranged on the stator-side platforms 20A only in the branching area 32, in which the transport carriage 10A is in the "cantilevered state", and they can be omitted and therefore not arranged on other track sections, ie the pre-branch track 31 and the post-branch track 33.

[0072] In the second embodiment, a similar effect to that in the first embodiment can also be achieved. Third embodiment

[0073] In the prior art 2 described below, a transport system is disclosed in which stator-side platforms are always provided on both sides of a transport carriage on all tracks except for a branching area, rollers whose rolling surfaces have equal inclination angles 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 / 042409 A

[0074] In the technique described in Prior Art 2, when the trolley is in a "cantilevered state" in the branching area, there is a problem in compensating for rotation around the center of a tangent circle, which is a circle in contact with the respective contact surfaces of the upper and lower rollers. A moment acting around the center of the tangent circle is a tilting moment, which results from the product of a load of the trolley in the up-down direction and a horizontal distance from the center of the tangent circle to the center of gravity of the entire trolley. This tilting moment causes the trolley to tilt around the center of the tangent circle.In the design, since the distance in the up-down direction from the center of the tangent circle to the center of the magnetic attraction force of the trolley is zero or very small, the counter-torque due to the magnetic attraction force in the horizontal direction by the magnetic elements of the trolley and the stator-side platform is very small. Furthermore, since the counter-torque due to frictional forces between the rollers and the guides is similarly small as in Prior Art 1, the trolley easily tilts around the center of the tangent circle. That is, the trolley slides on the contact surfaces of the upper and lower rollers and falls downward in a rotating motion. As a result, 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 poses a problem.In a third embodiment, a linear transport device is described which can further reduce the tilting of a transport carriage about the center of a tangent circle when the transport carriage is in the "cantilevered state" than ever before, wherein the transport carriage comprises rollers arranged at upper and lower regions on both the left and right sides of the transport carriage, and wherein the rolling surfaces of the rollers have equal inclination angles with respect to the vertical direction.

[0075] Fig. 10 is a cross-sectional view showing an example of the configuration of a linear conveying device according to the third embodiment at the position of a portion other than a branch portion. Fig. Fig. 11 is a cross-sectional view showing an example of the configuration of a linear transport device according to the third embodiment at the position of a branching section. Fig. 10 and Fig. 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 in a section other than the branching area is in the "double-supported state" as shown in Fig. 10, and in the branch area in the “cantilevered state”, as shown in Fig. 11. The linear transport device 1B comprises a transport carriage 10B and stator-side platforms 20Ba and 20Bb.

[0076] The transport carriage 10B comprises a transport carriage base structure 11B, upper flat rollers 12Ba and 12Bb, lower flat rollers 13Ba and 13Bb, rotor-side drive magnetic elements 14Ba and 14Bb, counter-torque generating rotor-side upper magnetic elements 15Ba and 15Bb and counter-torque generating rotor-side lower magnetic elements 17Ba and 17Bb.

[0077] The transport trolley base structure 11B is a component that carries an object to be transported. In the examples of Fig. 10 and Fig. 11, in the trolley base structure 11B formed of 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.

[0078] The upper flat roller 12Ba is arranged at the upper portion of the trolley base structure 11B in the X direction, specifically at the upper portion of the trolley base structure 11B on the stator-side platform 20Ba side. The upper flat roller 12Ba is supported by a rotation axis 121Ba inclined at a predetermined angle to the Y direction and rotates around the rotation axis 121Ba. The upper flat roller 12Bb is arranged at the upper portion of the trolley base structure 11B in the X direction, specifically at the upper portion of the trolley base structure 11B on the stator-side platform 20Bb side. The upper flat roller 12Bb is supported by a rotation axis 121Bb inclined at a predetermined angle to the Y direction and rotates around the rotation axis 121Bb. The rotation axes 121Ba and 121Bb extend in the direction of a predetermined inclination angle, which is more than 0 degrees and less than 90 degrees, from the Y direction to the X direction.The rotation axis 121Ba and the rotation axis 121Bb are arranged to have predetermined angles in opposite directions from the vertical direction on an XY plane. 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 rotation 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 first rollers arranged on the trolley base structure 11A. The rotation axis 121Ba and the rotation axis 121Bb correspond to upper rotation axes.

[0079] The lower flat roller 13Ba is arranged at the lower portion of the transport carriage base structure 11B in the X direction, specifically at the lower portion of the transport carriage base structure 11B on the side of the stator-side platform 20Ba.

[0080] The lower flat roller 13Ba is supported by a rotation axis 131Ba inclined at a predetermined angle to the Y direction and rotates around the rotation axis 131Ba. The lower flat roller 13Bb is arranged at the lower portion of the trolley base structure 11B in the X direction, specifically, at the lower portion of the trolley base structure 11B on the stator-side platform 20Bb side. The lower flat roller 13Bb is supported by a rotation axis 131Bb inclined at a predetermined angle to the Y direction and rotates around the rotation axis 131Bb. The rotation axes 131Ba and 131Bb extend in the direction of a predetermined inclination angle that is greater than 0 degrees and smaller than 0 degrees from the Y direction to the X direction. The rotation axis 131Ba and the rotation axis 131Bb are arranged to have predetermined angles in opposite directions from the negative Y direction in an XY plane.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 rotation 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 trolley base structure 11B at a height different from the height of the first rollers. The rotation axis 131Ba and the rotation axis 131Bb correspond to the lower rotation axes.

[0081] 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 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 Fig. 10 and Fig. 11, the traveler-side driving magnet element 14Ba is arranged on the X-direction side surface 111d of the trolley base structure 11B between the upper flat roller 12Bb and the lower flat roller 13Bb. In one example, the traveler-side driving magnet elements 14Ba and 14Bb are permanent magnets or electromagnets. The traveler-side driving magnet elements 14Ba and 14Bb correspond to traveler-side magnetic elements. The traveler-side driving magnet elements 14Ba and 14Bb are each referred to as the traveler-side driving magnet element 14B unless individually distinguished.

[0082] The counter-torque generating rotor-side upper magnetic element 15Ba is arranged at the outer end portion of the rotation axis 121Ba of the upper flat roller 12Ba and generates an attractive force between the counter-torque generating rotor-side upper magnetic element 15Ba and the stator-side platform 20Ba. The counter-torque generating rotor-side upper magnetic element 15Bb is arranged at the outer end portion of the rotation axis 121Bb of the upper flat roller 12Bb and generates an attractive force between the counter-torque generating rotor-side upper magnetic element 15Bb and the stator-side platform 20Ba. In one example, the counter-torque generating rotor-side upper magnetic elements 15Ba and 15Bb are electromagnets or permanent magnets.When the trolley 10B is in the "cantilevered state," the counter-torque generating rotor-side upper magnetic elements 15Ba and 15Bb generate a counter-torque with respect to the trolley 10B, which is a moment that counteracts a tilting moment resulting from a load of the trolley 10B in the up-down direction. The counter-torque generating rotor-side upper magnetic elements 15Ba and 15Bb correspond to rotor-side attraction force generating elements.

[0083] The counter-torque-generating rotor-side lower magnetic element 17Ba is arranged at the outer end portion of the rotation axis 131Ba of the lower flat roller 13Ba and generates a repulsion force between the counter-torque-generating rotor-side lower magnetic element 17Ba and the stator-side platform 20Ba. The counter-torque-generating rotor-side lower magnetic element 17Bb is arranged at the outer end portion of the rotation axis 131Bb of the lower flat roller 13Bb and generates a repulsion force between the counter-torque-generating rotor-side lower magnetic element 17Bb and the stator-side platform 20Bb. In one example, the counter-torque-generating rotor-side lower magnetic elements 17Ba and 17Bb are electromagnets or permanent magnets.When the trolley 10B is in the "cantilevered state," the counter-torque generating rotor-side lower magnetic elements 17Ba and 17Bb generate a counter-torque with respect to the trolley 10B, which is a moment that counteracts a tilting moment resulting from the load of the trolley 10B in the up-down direction. The counter-torque generating rotor-side lower magnetic elements 17Ba and 17Bb correspond to rotor-side repulsion force generating elements.

[0084] 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 represent rotor-side counter-torque generating elements. The rotor-side counter-torque generating elements are arranged on X-direction side surfaces on both sides of the transport carriage base structure 11B and generate counter-torques against tipping of the transport carriage 10B between the rotor-side counter-torque generating elements and the stator-side platforms 20B.

[0085] In the third embodiment, similar to the second embodiment, the stator-side platforms 20Ba and 20Bb are arranged on both X-direction sides of the transfer carriage 10B in a section other than the branching area. Accordingly, the transfer carriage 10B is in a "doubly supported state" on the stator-side platforms 20Ba and 20Bb in a section other than the branching area. Therefore, the stator-side platform 20Ba is arranged opposite the side surface 111c of the transfer carriage base structure 11B, and the stator-side platform 20Bb is arranged opposite the side surface 111d of the transfer carriage base structure 11B. Note that the stator-side platform 20Ba and the stator-side platform 20Bb are each referred to as the stator-side platform 20B in the following description unless individually distinguished.

[0086] Each stator-side platform 20B includes 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.

[0087] The platform structure 21B is a support member that supports the transport carriage 10B during movement of the transport carriage 10B. The platform structure 21B is arranged along a movement path of the transport carriage 10B. In the third embodiment, the platform structure 21B includes a main body portion 211B having a trapezoidal cross-section perpendicular to the Z direction, an upper side wall portion 212B arranged at the upper portion of the main body portion 211B on a side opposite to the side on which the transport carriage 10B is arranged, and a lower side wall portion 213B arranged at the lower portion of the main body portion 211B on a side opposite to the side on which the transport carriage 10B is arranged.The upper flat rollers 12Ba and 12Bb and the counter-torque-generating rotor-side upper magnetic elements 15Ba and 15Bb can extend through free spaces above the base body portions 211B, which are surrounded by the upper surfaces of the base body portions 211B that intersect the Y direction, and the upper sidewall portions 212B. The lower flat rollers 13Ba and 13Bb and the counter-torque-generating rotor-side lower magnetic elements 17Ba and 17Bb can extend through free spaces below the base body portions 211B, which are surrounded by the lower surfaces of the base body portions 211B that intersect the Y direction, and the lower sidewall portions 213B.

[0088] Each of the upper flat guides 22B is a guide disposed on the upper surface of the main body portion 211B of the platform structure 21B, which intersects the Y direction and has a flat running surface. The upper flat guides 22B are disposed 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 disposed on the platform structures 21B and correspond to first guides that are in contact with the upper flat rollers 12Ba and 12Bb, which are first rollers.

[0089] Each of the lower flat guides 23B is a guide disposed on the lower surface of the main body portion 211B of the platform structure 21B, which intersects the Y direction and has a flat running surface. The lower flat guides 23B are disposed 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 disposed 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.

[0090] The stator-side driving magnet element 24B is arranged in pairs with the rotor-side driving magnet element 14B to generate a magnetic attraction force in the horizontal direction. In the examples of Fig. 10 and Fig. 11, each stator-side driving magnet element 24B is arranged on a side surface of the main body portion 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 driving magnet element 24B is a permanent magnet or an electromagnet. Note that in the following description, in a case where the stator-side driving magnet element 24B of the stator-side platform 20Ba and that of the stator-side platform 20Bb are distinguished from each other, the stator-side driving magnet element 24B of the stator-side platform 20Ba is referred to as the stator-side driving magnet element 24Ba, and the stator-side driving magnet element 24B of the stator-side platform 20Bb is referred to as the stator-side driving magnet element 24Bb. The stator-side drive magnet elements 24B correspond to stator-side magnet elements.

[0091] The counter-torque generating stator-side upper magnetic elements 25B are arranged in pairs with the counter-torque generating rotor-side upper magnetic 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. 11, each counter-torque-generating stator-side upper magnetic element 25B is arranged on a side surface of the upper sidewall portion 212B of the platform structure 21B, with the side surface facing the transport carriage 10B. In one example, the counter-torque-generating stator-side upper magnetic element 25B is an electromagnet or a permanent magnet. The counter-torque-generating stator-side upper magnetic element 25B corresponds to a stator-side attractive force-generating element.It should be noted that in the following description, in a case where the counter-torque generating stator-side upper magnetic 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 magnetic element 25B of the stator-side platform 20Ba is referred to as the counter-torque generating stator-side upper magnetic element 25Ba, and the counter-torque generating stator-side upper magnetic element 25B of the stator-side platform 20Bb is referred to as the counter-torque generating stator-side upper magnetic element 25Bb.

[0092] The counter-torque generating stator-side lower magnetic elements 27B are arranged in pairs with the counter-torque generating rotor-side lower magnetic elements 17Ba and 17Bb to generate repulsive forces in the directions of the rotation axes 131Ba and 131Bb. In the examples of Fig. 10 and Fig. 11, each counter-torque-generating stator-side lower magnetic element 27B is arranged on a side surface of the lower sidewall portion 213B of the platform structure 21B, with the side surface facing the transport carriage 10B. In one example, the counter-torque-generating stator-side lower magnetic element 27B is an electromagnet or a permanent magnet. The counter-torque-generating stator-side lower magnetic 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 magnetic 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 magnetic element 27B of the stator-side platform 20Ba is referred to as the counter-torque generating stator-side lower magnetic element 27Ba, and the counter-torque generating stator-side lower magnetic element 27B of the stator-side platform 20Bb is referred to as the counter-torque generating stator-side lower magnetic element 27Bb.

[0093] 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 represent stator-side counter-torque-generating elements. The 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.

[0094] A difference of the linear transfer device 1B of the third embodiment from the second embodiment will now be described. In the second embodiment, the load of the transfer carriage 10A in the up-down direction is supported by the upper V-rollers 12A and the auxiliary rollers 16A arranged on the transfer carriage 10A, and the upper V-groove guide 22A and the auxiliary guide 26A of the stator-side platform 20A corresponding thereto. On the other hand, in the third embodiment, the load of the transfer carriage 10B in the up-down direction is supported by the upper flat rollers 12Ba and 12Bb and the lower flat rollers 13Ba and 13Bb, whose rolling surfaces have equal inclination angles with respect to the Y direction, which is the up-down direction.

[0095] Regarding the counter-torque generating magnetic elements, in the second embodiment, the counter-torque generating rotor-side magnetic elements 15Aa and 15Ab arranged at the upper portions of the trolley 10A and the counter-torque generating stator-side upper magnetic elements 25Aa and 25Ab arranged at the upper portions 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 trolley 10B and the counter-torque generating stator-side upper magnetic elements 25Ba and 25Bb of the stator-side platforms 20B generate magnetic attraction forces on the upper flat rollers 12Ba and 12Bb in the directions of the rotation axes 121Ba and 121Bb.In addition, the counter-torque generating rotor-side lower magnetic elements 17Ba and 17Bb of the transport carriage 10B and the counter-torque generating stator-side lower magnetic 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 rotation axes 131Ba and 131Bb.

[0096] On other railway sections than a branch line, as in Fig. 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 arranged on both sides of the transport carriage 10B in the X direction, with their rolling surfaces having predetermined inclination angles 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 sides of the X direction, and there is no problem with tilting of the transport carriage 10B. In the Fig. 11 or the like, however, the stator-side platforms 20Ba and 20Bb diverge on both sides of the transport carriage 10B in the X direction, and the stator-side platform 20B is arranged in the X direction only on one side of the transport carriage 10B. In the example of Fig. 11, the transport carriage 10B moves along the stator-side platform 20Ba, and the stator-side platform 20Ba is accordingly arranged in the X direction on one side of the transport carriage 10B. In this case, the transport carriage 10B is driven by a magnetic attraction force 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 being held only on the stator-side platform 20Ba. The rotor-side drive magnet element 14Ba and the stator-side drive magnet element 24Ba 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 time, the upper flat roller 12Bb and the lower flat roller 13Bb on the side opposite to the side of the trolley 10B held on the stator-side platform 20Ba are not in contact with the upper flat guide 22B and the lower flat guide 23B. That is, the trolley 10B is in the "cantilevered state" in which the trolley 10B 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 on the holding side. In the branching portion where the trolley 10B is in the "cantilevered state", similar to the first and second embodiments, it is necessary to consider tilting of the trolley 10B.

[0097] In the third embodiment, the transport carriage 10B comprises 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. The stator-side platforms 20Ba and 20Bb comprise 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. Between the counter-torque generating rotor-side upper magnetic element 15Ba and the counter-torque generating stator-side upper magnetic element 25Ba and between the counter-torque generating rotor-side upper magnetic element 15Bb and the counter-torque generating stator-side upper magnetic 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, repulsion forces, in this case, magnetic repulsion forces, are generated between the counter-torque generating rotor-side lower magnetic element 17Ba and the counter-torque generating stator-side lower magnetic element 27Ba, as well as between the counter-torque generating rotor-side lower magnetic element 17Bb and the counter-torque generating stator-side lower magnetic element 27Bb in the directions of the rotation axes 131Ba and 131Bb of the lower flat rollers 13Ba and 13Bb, respectively. Consequently, the upper part of the trolley 10B is attracted to the stator-side platform 20B, and it is possible to reduce the tilting of the trolley 10B due to a tilting moment resulting from its load in the up-down direction when the trolley 10B is in the "cantilevered state."It should be noted that the counter-torque-generating upper rotor-side magnetic elements 15Ba and 15Bb and / or the counter-torque-generating upper stator-side magnetic elements 25Ba and 25Bb may be electromagnets, and the control device may control the excitation of the electromagnets synchronously with the control of the excitation of the linear motor. Similarly, the counter-torque-generating lower rotor-side magnetic elements 17Ba and 17Bb and / or the counter-torque-generating lower stator-side magnetic elements 27Ba and 27Bb may be electromagnets, and the control device may control the excitation of the electromagnets synchronously with the control of the excitation of the linear motor.

[0098] Here, the case where the element generating the repulsive force is a magnetic element is taken as an example, but the repulsive force generating element may be an element other than a magnetic element and based on a different technique. There is a technique in which air pressure is used as a repulsive force generating element. For example, there is a case in which a repulsive force generating element for supplying air is arranged at the upper portion of the transport carriage 10B to increase the air pressure between the lower flat rollers 13Ba and 13Bb and the lower side wall portions 213B. Compared with such a technique in which air pressure or the like is used, a method in which a magnetic element is used eliminates the need for electrical power or the like to generate the repulsive force.

[0099] Fig. 12 is a diagram for explaining an effect of a linear transfer device according to the third embodiment. Here, a case where the transfer carriage 10B is held on the stator-side platform 20Ba is considered as an example. In the compensation of a torque considered in the third embodiment, unlike the first and second embodiments, there is a problem in compensating for rotation around the center 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 on the XY plane.

[0100] 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 the gravitational force F gof the transport carriage 10B in the Y direction, which is the top-bottom direction, and the horizontal distance x g from the center point O of the tangent circle C to the center of gravity of the entire transport carriage 10B. The tipping moment Mt causes the transport carriage 10B to tip around the center point O of the tangent circle C. The horizontal direction corresponds to the X direction.

[0101] Similar to the first and second embodiments, a counter moment with respect to the tilting moment Mt is a moment resulting from the product of the magnetic attraction force F mag.d in the horizontal direction by 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 top-bottom direction, from the center O of the tangent circle C to the center of the magnetic attraction force Fmag.d of the trolley 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 force F mag.d of the trolley 10B is zero or a very small value. As a result, a counter-torque caused by the magnetic attraction force F mag.d in the horizontal direction by the rotor-side driving magnet element 14Ba and the stator-side driving magnet element 24Ba, according to the third embodiment, zero or very small.

[0102] Next, a counter moment 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 is considered. First, 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 around 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 friction force F fric.3A in the contact area between the upper flat roller 12Ba and the upper flat guide 22B and the friction force F fric.4Ain the contact surface between the lower flat roller 13Ba and the lower flat guide 23B and the radius R of the tangent circle C. However, as described in the second embodiment, the friction forces at the contact surfaces between the rollers and the guides are very small compared to the tilting moment.

[0103] As a result, the tipping moment of the transport trolley 10B of the prior art 2 exceeds the counter-torque, and the transport trolley 10B easily tips around the center point O of the tangent circle C. Specifically, the transport trolley 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 downward in a rotational motion. Therefore, it is necessary to significantly restrict the weight of the object to be transported or the distance xg between the center of gravity of the transport trolley 10B and the center point O of the tangent circle C.

[0104] On the other hand, in the third embodiment, a magnetic attraction force in the direction of the rotation axis 121Ba of the upper flat roller 12Ba is generated between the counter-torque generating rotor-side upper magnetic element 15Ba and the counter-torque generating stator-side upper magnetic element 25Ba, which are arranged at upper portions of the trolley 10B and the stator-side platform 20Ba, respectively. In addition, a magnetic repulsion force in the direction of the rotation axis 131Ba of the lower flat roller 13Ba is generated between the counter-torque generating rotor-side lower magnetic element 17Ba and the counter-torque generating stator-side lower magnetic element 27Ba, which are arranged at lower portions of the trolley 10B and the stator-side platform 20Ba, respectively. Consequently, it is possible to increase the counter-torque with respect to the tilting moment.

[0105] A condition for preventing the tipping of the transport carriage 10B described above is now formulated. As the condition for preventing the tipping of the transport carriage 10B, the following formula (3) is established, in which the radius of the tangent circle C of 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 is denoted by R, the friction force in the contact surface between the upper flat roller 12Ba and the upper flat guide 22B is denoted by F fric.3 is designated, the friction force in the contact surface between the lower flat roller 13Ba and the lower flat guide 23B with F fric.4is designated, the radius from the center O of the tangent circle C to the center of the magnetic attraction force between the counter-torque generating rotor-side upper magnetic element 15Ba and the counter-torque generating stator-side upper magnetic element 25Ba with R m is designated, the magnetic attraction force between the counter-torque generating rotor-side upper magnetic element 15Ba and the counter-torque generating stator-side upper magnetic element 25Ba with F mag.3A and the magnetic repulsion force between the counter-torque generating rotor-side lower magnetic element 17Ba and the counter-torque generating stator-side lower magnetic element 27Ba is F mag.4A It should be noted that R mis also 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 lower magnet element 17Ba on the rotor side and the counter-torque generating lower magnet element 27Ba on the stator side. xgFg <ymag.dFmag.d+R(Ffric.3A+Ffric.4A)+Rm(Fmag.3A+Fmag.4A)

[0106] Similar to the first embodiment, in order to greatly reduce the limitation of the weight or the center of gravity of the entire trolley 10B, it is only necessary to increase the magnetic attraction force F mag.3A and the magnetic repulsion force F mag.4A of the counter-torque 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 of the counter-torque generating magnetic elements.

[0107] In one example, the sum of the magnetic attraction forces between the counter-torque generating rotor-side upper magnetic elements 15Ba and 15Bb and the counter-torque generating stator-side upper magnetic elements 25Ba and 25Bb and the magnetic repulsion forces between the counter-torque generating rotor-side lower magnetic elements 17Ba and 17Bb and the counter-torque generating stator-side lower magnetic elements 27Ba and 27Bb and the distance between the center O of the tangent circle C and the respective centers of the magnetic attraction force and the magnetic repulsion force are calculated based on the magnetic attraction force between the rotor-side drive magnetic element 14B and the stator-side drive magnetic element 24B, the distance between the center of the magnetic attraction force and the center O of the tangent circle C,the sum of the friction force in the contact area between the upper flat roller 12Ba and the upper flat guide 22B and the friction 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.

[0108] A plan view of the vicinity of the branching portion of the linear transport device 1B according to the third embodiment is similar to the plan view of the vicinity of the branching portion of Fig. 9 of the second embodiment and is therefore omitted. Similar to the second embodiment, 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 may be disposed only in the branching section 32 where the transport carriage 10B is in the "cantilevered state," and may be omitted, that is, they may not be disposed on the pre-branch line 31 and the post-branch line 33, which are other track sections.

[0109] In the examples of Fig. 10 to 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. Fig. 13 is a cross-sectional view showing another example of the configuration of a linear transport device according to the third embodiment. The same components as those of Fig. 10 to 12 are provided with the same reference numerals, and their description is omitted. In the linear transport device 1C of Fig. 13 are distinguished repulsion force generating elements that generate magnetic repulsion forces, of which the Fig. 10 to 12. That is, the transport carriage 10B has counter-torque-generating rotor-side additional rollers 18Ca and 18Cb instead of the counter-torque-generating rotor-side lower magnetic elements 17Ba and 17Bb that 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 magnetic 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.

[0110] The rotational axis 131Ca, which supports the lower flat roller 13Ba, has a hook-shaped bent structure, and the counter-torque-generating rotor-side auxiliary roller 18Ca is supported by a hook-shaped bent outer end portion. Similarly, the rotational axis 131Cb, which supports the lower flat roller 13Bb, has a hook-shaped bent structure, and the counter-torque-generating rotor-side auxiliary roller 18Cb is supported by a hook-shaped bent outer end portion. In each of the cross sections of the counter-torque-generating rotor-side auxiliary rollers 18Ca and 18Cb passing through the rotational axes 131Ca and 131Cb, the rolling surface shape is flat in a radial edge region.

[0111] The counter-torque-generating stator-side additional guides 28C are arranged on the lower sidewall regions 213B of the platform structures 21B, on which the counter-torque-generating stator-side lower magnetic elements 27B are arranged, and have flat running surfaces. The counter-torque-generating stator-side additional guides 28C are arranged at positions corresponding to the counter-torque-generating rotor-side additional rollers 18Ca and 18Cb of the transport carriage 10B.

[0112] In this case, too, similar to Fig. 9, the counter-torque generating stator-side additional guides 28C are installed exclusively in the branch area 32 and they can be omitted, ie they cannot be arranged on the pre-branch track 31 and the post-branch track 33, which are other track sections.

[0113] When magnetic elements are used as counter-torque generating elements that generate 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. However, as shown in Figure 13, it is no longer necessary to consider the distance when the counter-torque generating elements are replaced by rollers and guides. On the other hand, in a case where the counter-torque generating elements are implemented by rollers and guides, due to the frictional resistance between the rollers and guides, it is necessary to compensate for this with a driving force in the direction of movement of the transport carriage 10B.

[0114] Fig. Fig. 14 is 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 Figs. Fig. 10 to 13 are provided with the same reference numerals and their description will not be repeated. In the linear transport device 1D of Fig. 14, the configurations of the magnetic repulsion force generating elements are different from those in Fig. 13. That is, 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. Note that the platform structure 21B has a structure that does not include a lower side wall portion 213B. In this case, it is necessary to arrange a plurality of counter-torque-generating stator-side additional rollers 29D on the stator-side platform 20B in the travel direction. Each counter-torque-generating stator-side additional roller 29D is supported by a rotary axis 291D arranged on the platform structure 21B.

[0115] The counter-torque-generating additional guides 19Da and 19Db on the rotor side correspond to rotor-side repulsion-generating elements. The counter-torque-generating additional roller 29D on the stator side corresponds to a stator-side repulsion-generating element.

[0116] In addition, similar to Fig. 9, the counter-torque generating stator-side additional roller 29D can be installed exclusively in the branching area 32 and it can be omitted, ie it can not be arranged on the pre-branch track 31 and the post-branch track 33, which are different track sections.

[0117] As described above, by mounting the guides instead of the rollers on the trolley 10B, the weight of the trolley 10B can be reduced compared to, for example, Fig. 13 can be reduced.

[0118] In the third embodiment, a similar effect to that of the first embodiment can also be achieved.

[0119] In the first, second and third embodiments described above, the holding forces of the trolley 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 the holding forces of the transport carriages 10, 10A, and 10B must be generated only by the drive magnet elements; however, in the first, second, and third embodiments, the drive magnet elements do not need to generate the horizontal components of the magnetic attraction forces of the counter-torque-generating elements.

[0120] For example, in the case of the first embodiment, the magnitude of the magnetic attraction force generated between the rotor-side driving magnetic element 14 and the stator-side driving magnetic element 24 may be a value obtained by subtracting the horizontal component of the magnetic attraction force between the counter-torque generating rotor-side magnetic element 15 and the counter-torque generating stator-side magnetic element 25 from the value of the holding force required for holding to the stator-side platform 20 arranged on one side of the trolley 10 in the X direction.

[0121] In the first, second, and third embodiments, the rotor-side counter-torque generating elements and / or the stator-side counter-torque generating elements may be electromagnets, and the linear transport devices 1, 1A, and 1B may 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 rotor-side counter-torque generating magnetic elements 15, 15Aa, and 15Ab, the rotor-side counter-torque generating upper magnetic elements 15Ba and 15Bb, and the rotor-side counter-torque generating lower magnetic elements 17Ba and 17Bb correspond to the rotor-side counter-torque generating elements in the first, second, and third embodiments.The stator-side counter-torque-generating magnetic elements 25, 25Aa, and 25Ab, the stator-side counter-torque-generating magnetic elements 25Ba and 25Bb, and the stator-side counter-torque-generating magnetic elements 27Ba and 27Bb correspond to the stator-side counter-torque-generating elements in the first, second, and third embodiments. 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 force or the magnetic repulsion force generated depending on the weights and the centers of gravity of the trolleys 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 the like.

[0122] 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 the gist thereof. List of reference symbols 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 roller; 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 magnetic element on the rotor side; 15Ba, 15Bb counter-torque generating upper magnetic element on the rotor side; 16A additional role; 17Ba, 17Bb counter-torque generating lower magnetic element on the rotor side; 18Ca, 18Cb additional roller on the rotor side generating counter-torque; 19Da, 19Db additional guide on the rotor side generating counter-torque; 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 magnetic element; 26A additional guide; 27B, 27Ba, 27Bb counter-torque generating stator-side lower magnetic element; 28C additional guide on the stator side to generate counter-torque; 29D additional roller on the stator side generating counter-torque; 31 Pre-branch track; 32 branching area; 33 Post branch line; 111, 211A, 211B main 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 axis of rotation; 212A side wall area; 212B upper side wall area; 213B lower side wall area.

Claims

[1] A linear transport device that moves a trolley transporting an object by means of a linear motor along a stator-side platform arranged in a width direction perpendicular to both the traveling direction of the trolley and the up-down direction, and that has a portion in which the stator-side platform is arranged on only one side in the width direction, wherein the transport trolley has: a trolley base structure that supports the object, a first roller arranged on the trolley base structure, a second roller arranged on the trolley base structure at a height different from the height at which the first roller is arranged, a rotor-side magnetic element arranged on a side surface on each of the two sides of the trolley base structure in the width direction and driving the trolley base structure relative to the stator-side platform, and a rotor-side counter-torque generating element that generates a counter-torque between the rotor-side counter-torque generating element and the stator-side platform to prevent the trolley from tipping, and the stator-side platform has: a first guide arranged on a platform structure arranged along a path of movement of the transport carriage and in contact with the first roller, a second guide arranged on the platform structure and in contact with the second roller, a stator-side magnetic element arranged on the platform structure and paired with the rotor-side magnetic element to generate a magnetic attraction force in the horizontal direction, and a stator-side counter-torque generating element arranged on the platform structure and generating a counter-torque between the stator-side counter-torque generating element and the rotor-side counter-torque generating element arranged in pairs with it. [2] Linear transport device according to claim 1, wherein the first roller is a V-roller that rotates around an axis extending in the top-bottom direction, the second roller is a flat roller that rotates around an axis extending in the top-bottom direction, the counter-torque generating element on the runner side is arranged at the upper area of ​​a side surface on one of the two sides of the trolley base structure in the width direction, the first guide is a V-groove guide that is in contact with the V-roller, the second guide is a flat guide which is in contact with the flat roller, and the stator-side counter-torque generating element is arranged at the upper region of the platform structure and the counter-torque is generated by an attractive force in the horizontal direction which is generated between the stator-side counter-torque generating element and the rotor-side counter-torque generating element arranged in pairs with it. [3] Linear transport device according to claim 1, wherein the trolley further comprises an additional roller arranged on a respective one of the two sides of the trolley base structure in the width direction and rotating about an axis extending in the width direction, the stator-side platform further comprises an additional guide arranged on an upper surface of the platform structure and in contact with the additional roller, the first roller is a V-roller arranged on each of the two sides of the trolley base structure in the width direction and rotating about an axis extending in the top-bottom direction, the second roller is a flat roller arranged on each of the two sides of the trolley base structure in the width direction and rotating about an axis extending in the top-bottom direction, the counter-torque generating element on the runner side is arranged at the upper area of ​​a side surface on one of the two sides of the trolley base structure in the width direction, the first guide is a V-groove guide that is in contact with the V-roller, the second guide is a flat guide which is in contact with the flat roller, and the stator-side counter-torque generating element is arranged at the upper region of the platform structure and the counter-torque is generated by an attractive force in the horizontal direction which is generated between the stator-side counter-torque generating element and the rotor-side counter-torque generating element arranged in pairs with it. [4] Linear transport device according to claim 1, wherein the first roller is an upper flat roller arranged at the upper portion on each of the two sides in the width direction of the trolley base structure and rotating about an upper rotation axis inclined at a predetermined angle to the up-down direction, the second roller is a lower flat roller arranged at the lower portion on each of the two sides in the width direction of the trolley base structure and rotating about a lower rotation axis inclined at the predetermined inclination angle to the up-down direction, the first guide is an upper flat guide which is in contact with the upper flat roller, the second guide is a lower flat guide which is in contact with the lower flat roller, The rotor-side counter-torque generating element includes: a rotor-side attraction-generating element arranged at the outer end portion of the upper rotation axis and generating an attraction force between the rotor-side attraction-generating element and the stator-side platform; and a rotor-side repulsive force generating element arranged at the outer end portion of the lower rotation axis and generating a repulsive force between the rotor-side repulsive force generating element and the stator-side platform, and the stator-side counter-torque generating element comprises: a stator-side attraction-force generating element paired with the rotor-side attraction-force generating element to generate an attraction force in the direction of the upper rotation axis; and a stator-side repulsive force generating element paired with the rotor-side repulsive force generating element to generate a repulsive force in the direction of the lower rotation axis. [5] The linear transport device according to claim 3 or 4, wherein the stator-side counter-torque generating element is arranged on the stator-side platform in a branching portion in which the stator-side platform branches off at each of the widthwise both sides of the transport carriage, and is not arranged in a portion other than the branching portion. [6] Linear transport device according to one of claims 1 to 4, wherein if a center of rotation is the center of the trolley when tilting the trolley in contact with the stator-side platform, an attractive force between the rotor-side counter-torque generating element and the stator-side counter-torque generating element and a distance in the up-down direction between the center of the attractive force and the rotation center are determined based on the magnetic attractive force between the rotor-side magnetic element and the stator-side magnetic element and the distance in the up-down direction between the center of the magnetic attractive force and the rotation center. [7] The linear transport device according to any one of claims 1 to 4, wherein a magnitude of the magnetic attraction force generated between the rotor-side magnetic member and the stator-side magnetic member is a value obtained by subtracting a horizontal component of the magnetic attraction force between the rotor-side counter-torque generating member and the stator-side counter-torque generating member from the value of the holding force required for holding to the stator-side platform arranged on only one side of the transport carriage in the width direction. [8] Linear transport device according to one of claims 1 to 4, wherein the rotor-side counter-torque generating element and the stator-side counter-torque generating element are realized by permanent magnets or electromagnets. [9] Linear transport device according to claim 8, wherein the rotor-side counter-torque-generating element and / or the stator-side counter-torque-generating element is formed by an electromagnet, and the linear transport device further a control device for controlling the excitation of the electromagnet to change the force acting between the rotor-side counter-torque generating element and the stator-side counter-torque generating element. [10] A linear transport device according to claim 4, wherein the rotor-side repulsive force generating element and the stator-side repulsive force generating element are realized by a combination of a roller and a guide.

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