Mobile Transportation Systems

Abstract

To provide a movable body movement system capable of moving a movable body with a simple configuration.SOLUTION: A movable body movement system includes movable bodies 10 which travel on a rail and a push device 82 which pushes the movable bodies. The push device includes a movement zone and a push part fitted to the movement zone. The movable bodies are each provided with a contact receiving part which abuts on the push part, and the movement zone is moved to convey the movable bodies while the push part is brought into contact with the contact receiving parts. The push device can push the movable bodies so that the movable body leading in the moving direction of the movable bodies has been pushed completely in conjunction with the start of pushing of the movable body following in the moving direction of the movable bodies.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a mobile body movement system for moving a mobile body. [Background technology]

[0002] BACKGROUND ART Conventionally, there is a technique for providing gears on a moving body that runs on a rail to move the moving body (see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2020-179797 Summary of the Invention [Problem to be solved by the invention]

[0004] An object of the present invention is to provide a mobile body movement system that can move a mobile body running on rails with a simple configuration. [Means for solving the problem]

[0005] The first mobile body movement system of the present invention comprises: A moving object running on a rail; a pressing device that presses the moving body, The pressing device includes a moving belt and a pressing portion provided on the moving belt, The movable body is provided with a contact receiving portion that contacts the pressing portion, The moving band is moved to transport the moving body while the pressing portion is brought into contact with the contact receiving portion.

[0006] The second mobile body movement system of the present invention comprises: A plurality of moving bodies running on rails; a pressing device that presses the moving body, The pressing device includes a moving belt and a pressing portion provided on the moving belt, A plurality of moving bodies are connected in series at predetermined intervals by connectors, The movable body is provided with a contact receiving portion that contacts the pressing portion, A moving body moving system that moves the moving band and transports the moving body while bringing the pressing portion into contact with the contact receiving portion.

[0007] In the first and second mobile body movement systems of the present invention, The abutment receiving portion can be configured so that the abutment surface that abuts against the pressing portion of the abutment receiving portion extends in a direction that intersects with the movement direction of the moving body, and can be configured so that it faces the movement direction of the moving body as it approaches the pressing device.

[0008] In the first and second mobile body movement systems of the present invention, The moving band may extend in a direction away from the moving body as it moves in the moving direction in a pressing section in which the pressing portion presses the contact receiving portion of the moving body.

[0009] In the second mobile body movement system of the present invention, There may be a step in which, for two adjacent moving bodies, the moving body behind the moving body in the moving direction of the moving body is pressed and the moving body in front of the moving body is pressed in the moving direction of the moving body.

[0010] In the second mobile body movement system of the present invention, The pressing of the preceding moving body in the moving direction of the moving body can be completed in conjunction with the start of pressing of the following moving body in the moving direction of the moving body.

[0011] In the second mobile body movement system of the present invention, The length of a pressing section in the movement direction, in which the pressing portion presses the contact receiving portion of the moving body, can be set to be greater than the interval between adjacent contact receiving portions in the movement direction of the moving body.

[0012] In the second mobile body movement system of the present invention, The interval between adjacent pressing portions in the movement direction can be larger than the interval between the contact receiving portions in the movement direction of the moving body.

[0013] In the first and second mobile body movement systems of the present invention, In a pressing section in which the pressing portion presses the contact receiving portion of the moving body, the angle formed between the extending direction of the moving band and the moving direction of the moving body can be 45 degrees or less.

[0014] In the first and second mobile body movement systems of the present invention, The angle formed between the direction in which the contact surface of the contact receiving portion extends and the direction in which the moving body moves may be 90 degrees or less.

[0015] In the first and second mobile body movement systems of the present invention, The contact receiving portion may be provided with a stopper at its top to prevent the pressing portion from coming off in the upward direction.

[0016] In the first and second mobile body movement systems of the present invention, The pressing portion includes a main pressing portion and a support portion that supports the main pressing portion, One end of the main pressing portion is fixed to the moving band, and the other end thereof abuts against the abutment receiving portion, The support portion may have one end fixed to the moving band and the other end rotatably fixed to the main pressing portion.

[0017] In the first and second mobile body movement systems of the present invention, The moving band can be a circumferential rotating band.

[0018] In the first and second mobile body movement systems of the present invention, The moving belt has a direction change section, The direction changing portion may be configured to rotate about an axis at a point where the support portion is connected to the main pressing portion.

[0019] The pressing device of the present invention comprises: A pressing device that presses a moving body running on a track to move the moving body, the pressing device includes a rotating body, the rotating body includes an engaging portion that engages with the moving body, the track has a curved portion; When the moving body is in the curved portion, the rotating body presses the moving body, The bending center of the bending portion is misaligned with the rotation center of the rotating body, a rotation center of the rotating body is located closer to the track of the curved portion than the curved center; The diameter of the rotating body is smaller than the diameter of the curved portion.

[0020] In the present invention, A plurality of the moving bodies are provided, The plurality of moving bodies may be connected in series.

[0021] The pressing device of the present invention comprises: A circular rotating body; a plurality of pressing portions provided so as to protrude outward from the rotating body, the plurality of pressing portions press corresponding moving bodies traveling on a rail, a pressing section in which, when one of the plurality of pressing sections presses the moving body, a pressing section adjacent to the one of the plurality of pressing sections presses another moving body, The rail has a curved portion of a circular arc, The pressing portion presses the moving body at a curved portion.

[0022] In the present invention, The center of the circular rotating body may be located closer to the rail of the curved portion than the center of the arc of the rail of the curved portion.

[0023] In the present invention, The center of the circular rotating body may be located on the curved portion rail side relative to the center of the innermost arc of the curved portion rail by 15 to 35% of the radius of the innermost arc of the curved portion rail.

[0024] In the present invention, The center of the circular rotating body may be located on the curved portion rail side relative to the center of the innermost arc of the curved portion rail by 15 to 35% of the radius of the innermost arc of the curved portion rail.

[0025] In the present invention, the curved portion may be semicircular, and the center of the circular rotor may be located on a line connecting the center of the arc of the innermost rail of the curved portion and the center of the arc of the innermost rail of the curved portion.

[0026] In the present invention, The radius of the circular rotating body may be within a range of 70 to 90% of the radius of the arc of the innermost rail in the curved portion.

[0027] In the present invention, A roller may be provided at the tip of the pressing portion.

[0028] In the present invention, the rotating body is rotatable in a first direction and a second direction opposite to the first direction; the pressing portion includes a first pressing portion that presses the moving body when the rotating body is rotated in the first direction; The rotary body may include a second pressing portion that presses the moving body when the rotating body is rotated in the second direction.

[0029] In the present invention, The first pressing portion and the second pressing portion may be provided adjacent to each other.

[0030] The pressing device of the present invention comprises: a rotating band or body of revolution; a plurality of pressing portions provided so as to protrude outward from the rotating band or rotating body, the plurality of pressing portions press corresponding moving bodies traveling on a rail, The device has a pressing section in which, when one of the plurality of pressing portions presses the moving body, a pressing portion adjacent to the one of the plurality of pressing portions presses another moving body. [Effects of the Invention]

[0031] According to the mobile body movement system of the present invention, it is possible to move a mobile body with a simple configuration. [Brief explanation of the drawings]

[0032] [Figure 1] FIG. 1 is a perspective view schematically illustrating a mobile object movement system. [Figure 2] FIG. 1 is a functional diagram of a mobile object movement system. [Figure 3] FIG. 1 is a diagram illustrating a mobile object movement system. [Figure 4] FIG. 2 is a perspective view schematically showing a pressing device. [Figure 5] FIG. 2 is a diagram schematically illustrating a pressing device. [Figure 6] FIG. 4 is an enlarged view of a pressing portion of the pressing device. [Figure 7] FIG. 2 is a perspective view schematically showing a moving body. [Figure 8] FIG. 2 is a schematic diagram of a platform for a moving body as viewed from above. [Figure 9] FIG. 2 is a schematic diagram of the transported article placement platform of the moving body as viewed from above. [Figure 10] 1A and 1B are diagrams for explaining the pressing principle of the moving body movement system. [Figure 11] 1A and 1B are diagrams for explaining the pressing principle of the moving body movement system. [Figure 12] 1A and 1B are diagrams for explaining the pressing principle of the moving body movement system. [Figure 13] 10A and 10B are diagrams for explaining the relationship between a moving body and a pressing device. [Figure 14]FIG. 1 is a diagram schematically illustrating an example of a moving object. [Figure 15] FIG. 1 is a perspective view schematically illustrating an example of a moving body. [Figure 16] FIG. 1 is a diagram schematically illustrating an example in which a plurality of moving bodies are connected in series. [Figure 17] FIG. 1 is a diagram schematically illustrating an example in which a plurality of moving bodies are connected in series. [Figure 18] (A) is a diagram showing a schematic example of an object being transported suspended from a moving body. (B) is a diagram seen from the side in relation to (A). (C) is a diagram showing a schematic view of the moving body and rail support member in (A). (D) is a diagram seen from the side in relation to (C). [Figure 19] FIG. 2 is a diagram schematically illustrating a conductive contact portion. [Figure 20] 10A and 10B are diagrams illustrating an example of attaching a conductive contact portion. [Figure 21] 10A and 10B are diagrams illustrating an example of attaching a conductive contact portion. [Figure 22] (A) is a diagram showing a schematic diagram of an example of electrical connection between a second conductive contact portion and a conductor, and (B) is a schematic diagram showing an enlarged view of the second conductive contact portion and the conductor from the side of (A). [Figure 23] FIG. 1 is a diagram schematically illustrating a moving object. [Figure 24] FIG. 1 is a diagram schematically illustrating a moving object. [Figure 25] FIG. 1 is a diagram schematically illustrating a moving object. [Figure 26] FIG. 1 is a diagram schematically illustrating a moving object. [Figure 27] 10A and 10B are diagrams for explaining a manner in which a moving body moves around a curved section. [Figure 28] FIG. 10 is a diagram for explaining a locus of intersections. [Figure 29] FIG. 2 is a diagram schematically illustrating a wheel of a moving body. [Figure 30] 1A and 1B are diagrams illustrating an example of use of a rail and a moving body. [Figure 31] 1A and 1B are diagrams illustrating an example of use of a rail and a moving body. [Figure 32]1A and 1B are diagrams illustrating an example of use of a rail and a moving body. [Figure 33] 1A and 1B are diagrams illustrating an example of use of a rail and a moving body. [Figure 34] FIG. 2 is a diagram schematically illustrating an example of a pressing device. [Figure 35] FIG. 1A is a plan view schematically showing an example of a pressing device, FIG. 1B is a perspective view schematically showing an example of a pressing device, and FIG. 1C is a side view schematically showing an example of a pressing device. [Figure 36] 1A to 1C are diagrams showing an example of the relationship between a pressing device and a moving body pressed by the pressing device, in which (A) is a plan view, (B) is a perspective view, and (C) is a side view. [Figure 37] 10A and 10B are diagrams illustrating an example of the relationship between a pressing device and a moving body pressed by the pressing device. [Figure 38] The circle inside the curved portion of the rail indicates the pressing device, and the circle on the circumference indicates the position of the pressing part. The position of the pressing part when pressing the moving body is shown. [Figure 39] FIG. 10 is a diagram schematically illustrating a modified example of the pressing device. [Figure 40] FIG. 10 is a diagram schematically illustrating a modified example of the pressing device. [Figure 41] FIG. 10 is a diagram schematically illustrating a modified example of the pressing device. DETAILED DESCRIPTION OF THE INVENTION

[0033] Preferred embodiments of the present invention will be described in detail below. In this specification, "A to B" means A or more and B or less.

[0034] 1. Mobile Transportation Systems A mobile object movement system 80 will be described with reference to FIGS.

[0035] The mobile body moving system 80 transports the mobile body 10 by pressing it with a pressing device 82. The mobile body 10 can run on rails 30a and 30b, for example. A plurality of mobile bodies 10 can be provided, and adjacent mobile bodies 10 can be connected by connectors 64.

[0036] The moving body movement system 80 can include a pressing device 82 that presses the moving body 10. The pressing device 82 can include a moving band 82a and a pressing portion 84. The moving body 10 can be provided with an abutting receiving portion 90 that abuts against the pressing portion 84. The moving body movement system 80 can move the moving band 82a and transport the moving body 10 while bringing the pressing portion 84 into abutment against the abutting receiving portion 90.

[0037] In particular, the mobile body moving system can be configured such that multiple mobile bodies 10 running on rails are connected in series at predetermined intervals by connectors, and the mobile bodies 10 are transported by moving the mobile belt 82a and abutting the pressing portion 84 against the abutting receiving portion 90.

[0038] The pressing device 82 will be described in more detail with reference to FIGS.

[0039] The moving belt 82a of the pressing device 82 can be a circumferential rotating belt. The moving belt 82a can be, for example, a moving belt 82a. The moving belt 82a can be, for example, a chain or belt.

[0040] In the pressing section Z1 in which the pressing portion 84 presses the contact receiving portion 90 of the moving body 10, the moving band 82a can extend in a direction away from the moving body 10 as it approaches the moving direction F1 of the moving body.

[0041] The contact receiving portion 90 may be provided with a stopper 90a at its top to prevent the pressing portion 84 from coming off in the upward direction.

[0042] The pressing portion 84 may include a main pressing portion 84a and a support portion 84b that supports the main pressing portion 84a. One end of the main pressing portion 84a is fixed to the moving band 82a and the other end is in contact with the abutment receiving portion 90, and the support portion 84b may have one end fixed to the moving band 82a and the other end rotatably fixed to the main pressing portion 84a. The rotatable attachment of the main pressing portion 84a to the support portion 84b has the following advantages, for example: The outer periphery of the moving band 82a expands where the moving band 82a bends. The pressing portion 84 follows this expansion, and the portion where the main pressing portion 84a is connected to the moving band 82a and the portion where the support portion 84b is connected to the moving band 82b expand. When the moving band 82a has a direction change portion, it can rotate around the axis at the direction change portion where the support portion 84b is connected to the main pressing portion 84a.

[0043] The tip of the main pressing portion 84a can be a roller 84c, which makes it easier to press while sliding when it comes into contact with the contact receiving portion 90, and can further prevent the pressing portion 84 from bouncing.

[0044] When the moving belt 82a is configured circumferentially and is a chain, sprockets 82b are provided at the four corners, and the moving belt 82a can be rotated by a moving belt drive unit 82c connected to one of the sprockets 82b while the moving belt 82a is engaged with the sprockets 82b. It was confirmed that when 20 moving bodies 10, each weighing 70 kg including the load placed on it, were placed on the rail, a force of 25 kgf could be applied to move the 20 moving bodies 10, totaling 1.4 tons. Therefore, it was confirmed that the moving belt drive unit 82c could be driven by a motor of 200 W.

[0045] The width W4 (see FIG. 10) of the moving band 82a in the longitudinal direction varies depending on the interval between the moving bodies 10, but can be set within a range of 1.0 to 3.0 m, for example. The width W5 (see FIG. 10) of the moving band 82a in the lateral direction varies depending on the interval between the moving bodies 10, but can be set within a range of 0.5 to 2.5 m, for example.

[0046] The moving object 10 will be described with reference to FIGS.

[0047] The abutment receiving portion 90 of the moving body 10 can be arranged so that the abutment surface 90b that abuts against the pressing portion 84 of the abutment receiving portion 90 extends in a direction intersecting the moving direction F1 of the moving body, and can be arranged so that it faces the moving direction F1 of the moving body as it approaches the pressing device 82.

[0048] After contacting the contact receiving portion 90, the pressing force of the pressing portion 84 may be gradually reduced toward the end of the contact receiving portion 90 on the moving band 82a side.

[0049] An example of the transport principle of the moving body 10 will be described with reference to FIGS.

[0050] As shown in Fig. 10, while the moving band 82a is rotating, the first pressing portion 84a presses the contact receiving portion 90a of the first moving body 10a in the pressing section Z1. As shown in Fig. 11, while the first pressing portion 84a is pressing (for example, just before the pressing is completed), the second pressing portion 84b begins to press the contact receiving portion 90b of the second moving body 10b. At this stage, the first pressing portion 84a and the second pressing portion 84b press the corresponding contact receiving portions 84a and 84b, respectively. This means that the first pressing portion 84a has moved the first moving body 10a by the width W3 of the pressing section Z1 and is now away from the contact receiving portion 84a. As shown in FIG. 12, when the second pressing portion 84b moves the second moving body 10b by the pressing section Z1, the next third pressing portion 84c starts to press the contact receiving portion 90c of the third moving body 10c.

[0051] The following aspect may also be used. (1) There may be a stage in which the rear moving body 10 in the moving direction F1 of the moving bodies and the front moving body 10 in the moving direction F1 of the moving bodies are both pressed. In other words, there may be a stage in which two pressing units 84 press the corresponding moving bodies 10 at the same time. (2) In conjunction with the start of pressing of the rear moving body 10 in the moving direction F1 of the moving body, pressing of the leading moving body 10 in the moving direction F1 of the moving body can be completed. In other words, when the pressing portion 84 is in the final stage of the pressing section Z1, the pressing portion 84 of the adjacent moving body 10 can also have a stage of pressing the contact receiving portion 90b at the same time.

[0052] In this way, when one pressing portion 84 is moving away from the contact receiving portion 90, the other pressing portion 84 is pressing against the contact receiving portion 90 of another movable body 10, so it is possible to prevent one pressing portion 84 from bouncing away from the contact receiving portion 90. Specifically, if the pressing portion 84 is released from the contact receiving portion 90 while under force, it is conceivable that the pressing portion 84 will bounce or the moving band (e.g., chain) 82a will become distorted. The inventors of the present application have discovered that by having a stage in which adjacent pressing portions 84 press simultaneously, it is possible to prevent the pressing portion 84 from bouncing away when the pressing ends.

[0053] The relationship between the moving body 10 and the pressing device 82 will be described with reference to Fig. 13. The moving body 10 and the pressing device 82 can be set to satisfy the following conditions, for example.

[0054] The first condition is that the width W3 of the pressing section Z1 in which the pressing portion 84 presses the contact receiving portion 90 of the moving body 10 in the moving direction F1 is larger than the interval W1 between adjacent contact receiving portions 90 in the moving direction F1 of the moving body.

[0055] The second condition is that the interval W2 between adjacent pressing portions 84 in the movement direction F1 must be larger than the interval W1 between the contact receiving portions 90 in the movement direction F1 of the moving body.

[0056] The third condition is that in the pressing section Z1 where the pressing portion 84 presses the contact receiving portion 90 of the moving body 10, the angle θ1 formed between the extension direction of the moving band 82a and the moving direction F1 of the moving body is 45 degrees or less.

[0057] The fourth condition is that the angle θ3 formed between the direction in which the contact surface of the contact receiving portion 90 extends and the direction perpendicular to the moving direction F1 of the moving body is 90 degrees or less.

[0058] The width W3 of the pressing section Z1 of the pressing section 84 can be set by the spacing W1 between the contact receiving portions 90, the spacing W2 between the pressing portions 84, the angle θ1 between the extension direction of the moving band 82a in the pressing section Z1 and the movement direction F1 of the moving body, the angle θ2 between the extension direction of the main pressing portion 84a and the extension direction of the moving band 82a, and the angle θ3 between the extension direction of the contact surface 90b of the contact receiving portion 90 and the direction perpendicular to the movement direction F1 of the moving body. The pressing section Z1 refers to the section from the point where the pressing section 84 starts to contact the contact surface 90b of the contact receiving portion 90 to the point where it moves away from the contact surface 90b.

[0059] The mobile body movement system 80 can be applied even if the rails are not conductive. As an application example of the mobile body movement system 80, when a plant cultivation device 92 is mounted on the mobile body 10, an LED lighting device can be installed at a predetermined position. As a result, when it is desired to irradiate the plants in the plant cultivation device 92 with LED light, the mobile body 10 can be moved to the plant cultivation device 92, and the plants in the plant cultivation device 92 can be irradiated with LED light.

[0060] In the moving body movement system 80, as shown in FIG. 2, a chemical spraying device 94 and an LED lighting device 96 for plant cultivation may be provided near the conveyance track of the moving body 10.

[0061] The controller 86a can control the control device 86c based on instructions from the controller 86a. The controller 86c can control, for example, the LED lighting device, the driving device, the stabilized power supply 86b, and electrical elements on the moving body 10, as shown in FIG.

[0062] The mobile body movement system allows a mobile body to move with a simple configuration.

[0063] 2. Specific examples of the moving body 10 and rails Specific examples of the moving body 10 and the rails will be described with reference to FIGS.

[0064] The moving body 10 can be, for example, movable by human power. More specifically, the moving body 10 can be initially moved by a force of 100 N or less.

[0065] The moving body 10 moves on at least two rails and may include at least one first conductive contact portion 50a, at least one second conductive contact portion 50b, and an electrical element 62. The at least two rails are conductive, and the first conductive contact portion 50a and the second conductive contact portion 50b are in contact with the corresponding first and second conductive rails 36a, 36b, respectively. The first and second conductive rails 36a, 36b may be provided on the bottom surface of the ground or floor in an insulated manner.

[0066] The first conductive contact portion 50a and the second conductive contact portion 50b are electrically connected to an electric element 62, and the electric element 62 can be supplied with electricity through the first conductive contact portion 50a and the second conductive contact portion 50b. The electric element 62 can be an electric driving portion (such as a motor), an electric circuit, an electronic device, a light-emitting device, or an electric control device. The electric element 62 can be one that is not used to drive the moving object 10. The light-emitting device may emit light when the moving object 10 is moving.

[0067] The moving body 10 rolls on a first conductive rail 36a and a second conductive rail 36b. The moving body 10 may be provided with wheels 22 that are provided so as to be able to roll freely on the rails.

[0068] The first and second conductive contacts 50a, 50b may have conductive rollers at their tips, and may be, for example, cantilevered conductive plates or conductive metal pieces.

[0069] The first and second conductive contacts 50a, 50b may be rotatably mounted. The mounting positions of the first and second conductive contacts 50a, 50b are not particularly limited as long as they are in contact with the rails. They may be mounted between the front and rear wheels of the movable body 10, or behind the rear wheels. Considering the movement resistance of the movable body 10, the first and second conductive contacts 50a, 50b may be mounted so as to extend rearward in the direction of movement of the movable body 10 from the positions where they are fixed to the movable body 10. The first conductive contact 50a may be mounted so as to contact the first conductive rail 36a and press against the first conductive rail 36a at the contacting portion. The second conductive contact 50b may be mounted so as to contact the second conductive rail 36b and press against the second conductive rail 36b at the contacting portion. Specifically, the first and second conductive contact portions 50a, 50b (hereinafter collectively referred to as "conductive contact portions 50") can be configured to be rotatably mounted on the mounting base 16 and biased downward about the rotation axis, as shown in FIG. 19, for example. The conductive contact portion 50 can be rotatably mounted so that it can be biased to its initial position when rotated. More specifically, the first and second conductive contact portions 50a, 50b can be fixed to the mounting base 16 via spring-biased hinges, for example, and configured to press against the rail. The conductive contact portion 50 can be attached to a wheel support member, as shown in FIGS. 20 and 21.

[0070] A rotating body 56 may be provided on the mounting table 16. By placing an object to be transported on the rotating body 56, the object can be rotated. An example of the object to be transported is a plant cultivation device. A slip ring 52 may be provided on the shaft of the rotating body 56, and electricity may be supplied to the electrical element 62 via the slip ring 52.

[0071] The conductive contact portion 50 and the slip ring 52 are electrically connected through wiring 54. The slip ring 52 and the pump 62 are also electrically connected through wiring 54. The slip ring 52 is provided on the moving body 10. When the transported object includes a drive unit, the wiring 54 can be reliably routed to the drive unit even if the transported object rotates.

[0072] Taking the case where the transported object is a plant cultivation device as an example, if a storage tank 58 is provided below the culture medium tank 60, a pump 62 can be provided to pump water into the culture medium tank 60, and electricity can be supplied from the conductive contact part 50 to drive this pump 62.

[0073] A pump 62 can be used to pump water from the reservoir 58 into the medium tank 60 .

[0074] A DC voltage of 12 V can be applied between the first conductive rail 36a and the second conductive rail 36b. Wiring 54 may be laid along the connector 64 to electrically connect the drive units of adjacent mobile bodies 10. If the rail is circular, the inside can be positive and the outside negative, for example.

[0075] The wiring 54 may be laid along the connecting body 64 to electrically connect the electrical elements 62 of adjacent moving bodies 10 .

[0076] As a modified example, as shown in FIG. 22, the first conductive contact 50a may be in electrical contact with a conductive rail, and the second conductive contact 50b may be in contact with a conductor 70 that functions as a power line and is arranged parallel to the rail. The electrical element 62 may be capable of receiving electricity from the first conductive contact 50a and the second conductive contact 50b. The second conductive contact 50b may be in contact with the underside of the conductor 70. The end of the second conductive contact 50b that is in electrical contact with the conductor 70 may be formed of a conductive roller. The second conductive contact 50b may also receive electricity from an overhead wire.

[0077] A group of moving bodies obtained by connecting multiple moving bodies 10 can be configured so that one of the multiple moving bodies 10 can supply electricity to the other moving bodies 10. The multiple moving bodies 10 are connected in series via connectors 64, and the connectors 64 can be provided in a position that covers one of the conductive rails when the multiple moving bodies 10 are running in a straight line. In this case, if a conductive object straddles the conductive rails, a short circuit will occur, but this short circuit can be prevented. The connectors 64 are preferably provided on the positive side rail.

[0078] The inventors of the present application have confirmed that when multiple moving bodies 10 are connected in series and placed on a rail, and the weight applied to the entire rail through the multiple moving bodies 10 is 1.4 tons, initial movement is possible with a force of 400 N or less.

[0079] When transporting an object using the moving body 10, the object may be suspended as shown in FIG. 18. The conductive rail may be installed across multiple rail support sections. If the rail support sections are made of a conductive material, the conductive rail may be installed insulated from the rail support sections. A slip ring 52 may be installed below the mounting table 16 of the moving body 10. The object may be installed rotatably using a rotary bearing.

[0080] According to this moving body 10, electricity can be supplied to the electrical element 62 provided in the moving body 10.

[0081] 3. Wheel configuration of the vehicle 23 to 26, the movable body 10 can move on a track 30 in which an inner rail 32 and an outer rail 34 are arranged in parallel while maintaining an equal distance between them. The track 30 can have a curved portion 30a that is an arc centered at point O1, and a straight portion 30b.

[0082] The moving body 10 may include a first inner wheel 12a, a second inner wheel 12b, a first outer wheel 14a, and a second outer wheel 14b. The first inner wheel 12a and the second inner wheel 12b may be provided rotatably or pivotably relative to the moving body 10, and may be provided rollably along the inner rail 32. The first outer wheel 14a and the second outer wheel 14b may be provided rotatably or pivotably relative to the moving body 10, and may be provided rollably along the outer rail 34.

[0083] As shown in FIG. 25, the distance I between the first outer wheel 14a and the second outer wheel 14b is out is the distance I between the first inner wheel 12a and the second inner wheel 12b. in As shown in Fig. 27, when the moving body 10 passes through the curved section 30a, the first inner wheel 12a, the first outer wheel 14a, the second inner wheel 12b, and the second outer wheel 14b are arranged such that a locus T1 of an intersection P1 between a first extension line L1 of a line connecting the first outer wheel 14a and the first inner wheel 12a and a second extension line L2 of a line connecting the second outer wheel 14b and the second inner wheel 12b has a radius r that satisfies Equation 1. cr The arrangement may be such that the distances are in a circle or arc. (Formula 1) (r in +r out ) / 2-{(r in +r out ) / 2}×3 / 10≦r cr ≦(r in +r out ) / 2+{(r in +r out ) / 2}×3 / 10 R in : Radius of the inner rail 32 at the bend 30a R out : Radius of the outer rail 34 at the bend 30a It is preferable that the locus T1 of the intersection point P1 satisfies the following formula (2). (Formula 2) (r in +r out ) / 2-{(r in +r out) / 2}×2 / 10≦r cr ≦(r in +r out ) / 2+{(r in +r out ) / 2}×2 / 10 It is preferable that the locus T1 of the intersection point P1 satisfies the following formula (3). (Formula 3) (r in +r out ) / 2-{(r in +r out ) / 2}×1 / 10≦r cr ≦(r in +r out ) / 2+{(r in +r out ) / 2}×1 / 10 The shape obtained by connecting the intersection point P1 with the first outer wheel 14a and the second outer wheel 14b can be an isosceles triangle with the line connecting the first outer wheel 14a and the second outer wheel 14b as the base. In other words, the shape obtained by connecting the intersection point P1 with the first outer wheel 14a and the second outer wheel 14b can be an isosceles triangle in which the length of the line connecting the first outer wheel 14a and the intersection point P1 is equal to the length of the line connecting the second outer wheel 14b and the intersection point P1.

[0084] As shown in FIG. 25, when the first outer wheel 14a and the second outer wheel 14b are on the straight section 30b of the rail, and either the first outer wheel 14a or the second outer wheel 14b is on the boundary between the straight section 30b and the curved section 30a, the distance D1 between the intersection point P1 in the direction A1 in which the straight section 30b extends and the intersection point P1 from the center of the arc is smaller than the interval I between the first outer wheel 14a and the second outer wheel 14b. out It can be half or substantially half of the

[0085] As shown in FIG. 29, the first inner wheel 12a, the second inner wheel 12b, the first outer wheel 14a, and the second outer wheel 14b can be configured by wheels 22 rotatably mounted around an axle 20. Both ends of the axle 20 can be fixed to a support member 18. As shown in FIG. 29, the support member 18 is attached to the mounting base 16 so as to be rotatable or pivotable. A gap 26 can be provided in the axle 20 to ensure a predetermined distance from the support member 18. The radius r of the locus T1 (see FIG. 28) of the intersection point P1 cr is (r in +r out ) / 2 is most preferable, but depending on the size of the gap 26, (r in +r out ) / 2 is determined. In other words, the size of the gap 26 determines the relative positions of the first inner wheel 12a, the second inner wheel 12b, the first outer wheel 14a, and the second outer wheel 14b.

[0086] The axle 20 may be provided with a flange 24 at least at one or both ends of the rolling surface 22a of the wheel 20 to restrict movement in directions toward both sides of the rail (directions perpendicular to the rail as viewed in a plan view).

[0087] The rolling surface 22a has a diameter r when viewed from the axial direction of the axle 20. rot However, the diameter of the grooves can be set so that it becomes smaller from the edge toward the center, or so that it has the same diameter from the edge to the center.

[0088] The moving body 10 may include, for example, a platform 16 for placing some kind of object thereon. The moving body 10 may be used not only to transport objects but also to transport people by carrying them on board.

[0089] The inventors have determined that the distance I between the first outer wheel 14a and the second outer wheel 14b out is the distance I between the first inner wheel 12a and the second inner wheel 12b. inWhen the moving body 10 moves around the curved section 30a, the first inner wheel 12a, the first outer wheel 14a, the second inner wheel 12b, and the second outer wheel 14b are arranged such that a locus T1 of an intersection P1 between a first extension line L1 of a line connecting the first outer wheel 14a and the first inner wheel 12a and a second extension line L2 of a line connecting the second outer wheel 14b and the second inner wheel 12b has a radius r that satisfies Equation 1. cr It has been found that by providing an arrangement relationship that forms an arc of the curved portion 30a, the mobile unit 10 can travel reliably at the curved portion 30a. (Formula 1) (r in +r out ) / 2-{(r in +r out ) / 2}×3 / 10≦r cr ≦(r in +r out ) / 2+{(r in +r out ) / 2}×3 / 10 R in : Radius of the inner rail 32 at the bend 30a R out : Radius of the outer rail 34 at the bend 30a The inventors recognized the problem that when four wheels are installed on the moving body 10 so that they are positioned at the vertices of a square, the moving body 10 will not turn at the curved section 30a of the two rails. Based on this problem recognition, the inventors discovered that by installing wheels on the moving body 10 so that the above conditions are met, the moving body 10 is less likely to derail at the curved section 30a, and can run smoothly.

[0090] 4.Transportation method There are various ways of providing the moving body and the rails, for example, the following ways. 1) In the first embodiment, the rails 32, 34 are placed directly on the ground or floor (see FIG. 1). In the first embodiment, an article to be transported can be placed on the moving body 10. 2) In the second embodiment, rails 32, 34 are hung on a plurality of support posts 40 that are erected from the ground or floor (see Figures 30 and 31). In the second embodiment, the transported object may be placed on the moving body, or may be suspended from the base of the moving body 10. 3) In a third embodiment, a plurality of rail supports 42 are provided on a ceiling 44, and rails 32, 34 are hung between the rail supports 42 (see Figures 32 and 33). In the third embodiment, by opening the central portion below the rail supports 42, it is possible to transport an object suspended from the moving body 10.

[0091] 5. Pressing device An example of a pressing device will be described with reference to FIGS. The pressing device 100 may include a circular rotating body 110, and a plurality of first pressing portions 112 and a plurality of second pressing portions 114 provided to protrude outward from the rotating body 110. The plurality of first pressing portions 112 and the plurality of second pressing portions 114 press the corresponding moving bodies 10 traveling on rails 160a, 160b. A pressing section may be provided in which, when one of the plurality of first pressing portions 112 is pressing a moving body 10, the first pressing portion 112 adjacent to that one of the plurality of first pressing portions 112 presses another moving body 10. A pressing section may be provided in which, when one of the plurality of second pressing portions 114 is pressing a moving body 10, the second pressing portion 114 adjacent to that one of the plurality of second pressing portions 114 presses another moving body 10. The rail has a curved portion of a circular arc, and the first pressing portion 112 and the second pressing portion 114 press the moving body 10 at the curved portion (curved portion). The curved portion may be a semicircle, although this varies depending on the trajectory of the moving body 10.

[0092] The center V1 of the circular rotor 110 can be located closer to the rail of the curved portion than the center U1 of the arc of the rail of the curved portion. The center V1 of the circular rotor 110 can be located closer to the rail of the curved portion than the center U1 of the arc of the innermost rail 160b of the curved portion by 15 to 35%, preferably 20 to 30%, of the radius of the arc of the innermost rail 160b of the curved portion.

[0093] The center V1 of the circular rotor 110 can be located on a line connecting the center U1 of the arc of the innermost rail 160b of the curved portion and the center of the arc of the innermost rail 160b of the curved portion. The radius of the circular rotor 110 can be within a range of 70 to 90%, preferably 75 to 85%, of the radius of the arc of the innermost rail 160b of the curved portion.

[0094] A first roller 112a can be provided at the tip of each of the first pressing portions 112. This allows the first pressing portion 112 to slide more easily relative to the moving body 10 while pressing the moving body 10, and also makes it easier to separate when separating. A second roller 114a can be provided at the tip of the second pressing portion 114.

[0095] The rotating body 110 can be rotatable in a first direction and a second direction opposite to the first direction, and the pressing portion can include a first pressing portion 112 that presses the moving body 10 when the rotating body 110 is rotated in the first direction, and a second pressing portion 114 that presses the moving body 10 when the rotating body 110 is rotated in the second direction. The first pressing portion 112 and the second pressing portion 114 can be provided adjacent to each other.

[0096] The pressing device 100 is suitable for a device in which a plurality of movable bodies 10 are provided and the movable bodies 10 are connected in series. A cantilever rotation guide 150 may be provided to rotate an object placed on the movable body 10.

[0097] A pressure receiving portion (pressure receiving surface) 120 can be provided on the base of the movable body 10 so that a vertical component of force from the first pressing portion 112 and the second pressing portion 114 is applied. For example, it can be pressed against a cutout portion of the base of the movable body 10. Instead of providing the pressure receiving portion 120 on the base of the movable body 10, a surface that receives the first pressing portion 112 may be provided on the base, and there are no particular limitations as long as it is a portion (pressure surface) that allows the first pressing portion 112 to press the movable body 10. A similar configuration can also be adopted for the surface that receives the second pressing portion 114.

[0098] The rotating body 110 may be rotatable in both the first and second directions, or in only one of the first and second directions. The pressing portion of the rotating body 110 may be either the first pressing portion 112 or the second pressing portion 114 (see FIG. 39). The rotating body 110 can be rotated by a rotary motor 130. It can be composed of a base and a rotary table. A ball bearing can be provided between the base and the rotary table to ensure smooth rotation. By providing a ball bearing, the rotating body 110 rotates smoothly and the axis of the rotating body 110 is less likely to wobble.

[0099] According to such a pressing device 100, when the pressed moving body 10 is released from the pressed state, it is possible to prevent the moving body 10 from bouncing off.

[0100] As shown in Figures 40 and 41, stoppers 140 may be provided in positions covering the rails to prevent the wheels from coming off the rails. Specifically, stoppers 140 may be provided on the outer track to prevent the moving body 10 from derailing. The stoppers 140 may be provided with wheels on the moving body 10 side that encourage movement in the direction of travel.

[0101] 6.Mobile Guidance System An example of a moving body guidance system will be described with reference to FIGS.

[0102] The guide system for the moving body 10 may include at least two rails 160a, 160b, a moving body 10 running on the rails, a regulating path 72 that regulates the direction of movement of the moving body 10 and guides it to move along a predetermined track, and a regulated portion 74 that extends downward from the moving body 10 that is regulated by the regulating path 72. The tip of the regulated portion 74 may be formed by a roller. The regulating path 72 may be provided with a first regulating portion 72a that regulates horizontal movement of the regulated portion 74 and a second regulating portion 72b that regulates upward movement of the regulated portion 74. The regulating path 72 is provided to accommodate movement of the regulated portion 74 of the moving body 10, and may be provided between the rails.

[0103] The inventors of the present application discovered that when multiple moving bodies 10 are connected in a row, if the weight of the load placed on one of the moving bodies 10 is relatively small compared to the others, or if there is no load at all, that moving body 10 will derail at a curve while rotating on a track. They also discovered that similarly, if there is no load on any of the moving bodies 10, the moving body 10 will derail at a curve. They confirmed that such derailments do not occur with the moving body 10 guidance system.

[0104] 7. Variations The transported object is not particularly limited, but may be, for example, a plant cultivation device. In the above example of the wheel configuration of the moving body, the curved portion 30a is an arc, but it may be a circle.

[0105] This embodiment can be modified in various ways within the scope of the present invention, and the above-described components can be combined in any desired manner. [Explanation of symbols]

[0106] 10 Mobile 12a First inner wheel 12b Second inner wheel 14a First outer wheel 14b Second outer wheel 16 Mounting table 18 Support member 20 axles 22 wheels 22a Rolling surface 24 flange 26 Gap 30 orbits 30a bend 30b Straight section 32 Inner rail 34 outer rail 36a First conductive rail 36b Second conductive rail 40 pillars 42 Rail support 44 Ceiling 50 Conductive contact part 50a First conductive contact 50b Second conductive contact 52 slip ring 54 Wiring 56 Rotating Body 58 Reservoir 60 Culture medium tank 62 Electrical elements (pumps) 64 Connectors 70 Conductors 72 Restricted Road 72a First Regulatory Section 72b Second Regulatory Section 74 Regulated part 80 Mobile Transport Systems 82 Pressing device 82a Mobile Zone 82b sprocket 82c Mobile belt drive unit 84 Pressing part 84a Main pressing part 84b Support part 84c Laura 86a Controller 86b regulated power supply 86c controller 90 Contact receiving part 90a stopper 90b Contact surface 92 Plant cultivation equipment 94 Chemical spraying device 96 LED lighting equipment 100 Pressing device 110 Rotating Body 112 First pressing portion (engagement portion) 112a First Roller 114 Second pressing portion (engagement portion) 114a Second Roller 120 Pressure receiving part 130 rotation motor 140 Stopper 150 Cantilevered rotation guide unit 160a Inner rail (track) 160b Outer rail (track) r cr Intersection radius r in Inner rail radius r out Outer rail radius r rot Diameter around the axle O1 Center of the arc of the bend A1 Direction of extension of straight section B1 Boundary between straight and curved sections D1: Distance between the center of the arc and the intersection point in the direction of the straight line F1 Moving direction of the moving object I in Distance between first inner wheels I out Distance between first outer wheels L1 First extension line L2 Second extension line P1 intersection T1 Locus of Intersections U1: The innermost rail arc of the curve V1 Center of rotation W1 Distance between contact receiving parts in the moving direction W2 Distance between pressing parts in the direction of movement W3 Width of the pressing section of the pressing part in the moving direction Z1 pressing section θ1: The angle between the direction of extension of the moving band and the direction of movement of the moving body in the pressing section θ2 Angle between the direction in which the main pressing part extends and the direction in which the moving band extends θ3 is the angle between the direction in which the contact surface of the contact receiving part extends and the direction perpendicular to the direction of movement of the moving body.

Claims

1. A pressing device that presses a moving body running on a track to move the moving body, the pressing device includes a rotating body, the rotating body includes an engaging portion that engages with the moving body, the track has a curved portion; When the moving body is in the curved portion, the rotating body presses the moving body, The bending center of the bending portion is misaligned with the rotation center of the rotating body, the center of rotation of the rotating body is located closer to the bending portion than the center of bending, A pressing device in which the diameter of the rotating body is smaller than the diameter of the curved portion.

2. In claim 1, A plurality of the moving bodies are provided, A pressing device in which the plurality of moving bodies are connected in series.

3. The pressing device according to claim 1, the track includes at least two rails; a regulating path that regulates the moving direction of the moving body and guides the moving body to move along a predetermined trajectory; the movable body includes a restricted portion extending downward from the movable body, The restriction path is provided in the curved portion, The regulated portion is a mobile body guidance system that is regulated by the regulated path.

4. In claim 3, A moving body guide system in which the tip of the regulated part is configured as a roller.

5. In claim 3, The restriction path includes a first restriction portion that restricts horizontal movement of the restricted portion; A moving body guide system including a second restricting portion that restricts upward movement of the restricted portion.

6. In claim 3, A mobile body guide system in which the regulated path is provided to correspond to the movement of the regulated portion of the mobile body and is provided between rails.

7. In claim 1, A mobile body guide system in which a stopper is provided to cover the outermost rail of the curved section to prevent the wheels from coming off the rail.

Images