JPH0493401A - Track construction for magnetic levitation carriage - Google Patents

Abstract

PURPOSE:To allow the stable passage of a body by forming a groove for shutting out a magnetic line of force leaking from a main line track to a transverse shift track on the surface of the transverse shift track faced to a levitation electromagnet in the main line track. CONSTITUTION:Transverse beams 2 are respectively provided at front and rear sides on the top of a body 1 in such a way as to be freely capable of turning and oscillating, and levitation electromagnets 3 and gap sensors are fixed at both ends on the top of both transverse beams 2. Furthermore, main line tracks 9 comprising a strong magnetic substance are laid in parallel at lower both sides of a hollow frame material 7. In addition, grooves 17 are formed along the main line tracks 9 on the lower surface of an inner transverse shift track 15 of a strong magnetic substance between right and left main line tracks 9, or the aforesaid lower surface faced to the levitation electromagnets 3. According to the aforesaid construction, when the electromagnets 3 pass the installation position of the transverse shift tracks 15 and 16 during the travel of the body 1 along the main line tracks 9, a drop in guiding force is prevented with the effect of the grooves 17, thereby preventing the occurrence of a body oscillation or the like.

Description

【発明の詳細な説明】 〔産業上の利用分野〕 この発明は、磁気浮上搬送車の本線用軌道と横シフト用
軌道の交叉部の構造に関する。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a structure of an intersection between a main track and a lateral shift track of a magnetically levitated conveyance vehicle.

（従来の技術〕 一般の磁気浮上搬送車は車体の進行方向に設置された左
右平行の強磁性体からなる軌道と、この軌道に対間して
車体の四隅に取付けられた浮上用１ｉｔｆｆ石と、この
電磁石と軌道との間隔を検出するギャップ検出器および
、このギャンブ検出器で検出されたギャップ信号を演算
して増巾し、浮上用電磁石の励磁をコントロールする浮
上制御回路を有している。(Prior art) A general magnetic levitation guided vehicle has a track made of ferromagnetic material arranged in parallel on the left and right in the direction of movement of the vehicle body, and 1itff stones for levitation attached to the four corners of the vehicle body in pairs between these tracks. , has a gap detector that detects the distance between this electromagnet and the orbit, and a levitation control circuit that calculates and amplifies the gap signal detected by this gamble detector and controls the excitation of the levitation electromagnet. .

また、荷物は車体の下部に吊下げて搬送する形式のもの
が一般的である。Additionally, cargo is generally transported by hanging it from the bottom of the vehicle body.

しかし、高価な荷物を搬送する場合は車体の上部に荷物
を載せる上積式が落下のおそれがないため安全である。However, when transporting expensive cargo, the top-loading system, in which the cargo is placed on top of the vehicle body, is safer because there is no risk of it falling.

また、半導体ウェハのように、高度なりリーン環境を要
する搬送物の場合、上積式の磁気浮上搬送本は、可動体
（車体）の上部に荷物をつむので、ゴミの付着が少なく
なるというメリットがある。In addition, when transporting items such as semiconductor wafers that require a sophisticated or lean environment, the stacking type magnetic levitation transport system has the advantage of reducing the amount of dust attached because the cargo is stacked on top of the movable body (vehicle body). There is.

〔発明が解決しようとする課題〕[Problem to be solved by the invention]

上積式の磁気浮上搬送車は上記のような利点はあるが、
本線用軌道内に設置する横シフト用軌道の両端を密着さ
せて設けると、この部分を浮上用電磁石が通過するとき
、吸引力は変化しないが、案内力が低減され、走行が不
安定となり、車体が揺動するという問題がある。Although the top-loading type magnetic levitation carrier has the advantages mentioned above,
If both ends of the lateral shift track installed in the main line track are placed in close contact with each other, when the levitation electromagnet passes through this part, the attraction force will not change, but the guiding force will be reduced and the running will become unstable. There is a problem with the vehicle body shaking.

また、荷台は軌道の片側を通るアームの上端に片持式に
取付ける必要があるため、本線用軌道と、これに交叉す
る横シフト用軌道の間にはアームを通過させるための間
隙が必要となる。In addition, since the loading platform needs to be cantilevered onto the upper end of the arm that passes through one side of the track, a gap is required between the main line track and the lateral shift track that intersects it to allow the arm to pass through. Become.

このため、車体が横シフトするときに車体が不安定とな
り、揺動するという問題もある。Therefore, there is a problem in that the vehicle body becomes unstable and shakes when the vehicle body shifts laterally.

この発明のｉｓは上記の問題点を解決して本線用軌道と
横シフト用軌道の交叉部においても車体が安定した状態
で通過できる軌道構造を提供することである。The object of this invention is to solve the above-mentioned problems and provide a track structure that allows a vehicle body to pass in a stable state even at the intersection of the main line track and the lateral shift track.

〔課題を解決するための手段］ 上記の課題を解決するために、この発明は荷物を上積み
する荷台を有する片持ち構造の車体と、同車体に設けた
浮上用電磁石に作用して浮上刃を与える左右一対の本線
用軌道と、この本線用軌道に交叉せしめて設けた横シフ
ト用軌道からなり、本線用軌道内の横シフト用軌道にお
ける浮上用電磁石に対する面に、本線用軌道から横シフ
ト軌道へ漏れる磁力線を絶つ溝を設けた磁気浮上搬送車
の軌道構造を提供する。[Means for Solving the Problems] In order to solve the above problems, the present invention includes a cantilever structure vehicle body having a loading platform for loading cargo, and a levitation blade that acts on a levitation electromagnet provided on the vehicle body. It consists of a pair of left and right main line tracks, and a lateral shift track provided to intersect with the main line track. To provide a track structure for a magnetically levitated conveyance vehicle that is provided with grooves that cut off lines of magnetic force leaking into the magnetic field.

また、本線用軌道の外側に位置する横シフト用軌道を本
線用軌道に向けて可動とし、本線用軌道の外側と横シフ
ト用軌道の端部とを接近離反自在とした磁気浮上搬送車
の軌道構造も提供する。In addition, the lateral shift track located on the outside of the main line track is movable towards the main line track, and the track of the magnetically levitated vehicle is made so that the outside of the main line track and the end of the lateral shift track can approach and separate from each other. It also provides structure.

〔作用］ この発明は上記の構造であるから磁気浮上搬送車が本線
用軌道と横シフト用軌道の交叉部を本線方向に通過する
さい、本線用軌道内の横シフト用軌道に設けた溝により
磁力線の横シフト軌道方向への洩れが防止される。[Function] Since the present invention has the above structure, when the magnetically levitated conveyance vehicle passes the intersection of the main line track and the lateral shift track in the main line direction, the groove provided in the lateral shift track within the main line track allows Leakage of magnetic lines of force in the direction of the lateral shift trajectory is prevented.

従って、車体は殆んど動揺せずに通過する。Therefore, the vehicle passes through with almost no movement.

また、このとき、本線用軌道の外側の可動式の横シフト
用軌道は本線用軌道から離れて、本線用軌道の外側と横
シフト用軌道の端部の間に間隙を形成しているため、車
体の側方の荷台支持アームは支障なく通過する。Also, at this time, the movable lateral shift track on the outside of the main line track is separated from the main line track, forming a gap between the outside of the main line track and the end of the lateral shift track. The carrier support arms on the sides of the vehicle pass through without any problem.

また、車体を横シフトする際は、可動式の横シフト用軌
道を本線用軌道に接近させてその端部を本線用軌道に接
触させることにより車体は安定した状態で横シフトでき
る。Furthermore, when the vehicle body is laterally shifted, the movable lateral shift track is brought close to the main line track and its end is brought into contact with the main line track, so that the vehicle body can be shifted laterally in a stable state.

〔実施例〕〔Example〕

第１図ないし第４図に示す第１の発明の実施例において
、１は車体で、その上面の前後にそれぞれ横梁２を旋回
および揺動自在に取付け、この両横梁２の上面両端に浮
上用電磁石３とギャップセンサ４をそれぞれ固定する。In the embodiment of the first invention shown in FIGS. 1 to 4, reference numeral 1 denotes a vehicle body, and cross beams 2 are attached to the front and rear of the upper surface of the vehicle body so as to be able to rotate and swing freely. The electromagnet 3 and the gap sensor 4 are each fixed.

５は車体１の片側に固定した複数のアームで、その上端
に荷台６を片持ち式に固定する。Reference numeral 5 denotes a plurality of arms fixed to one side of the vehicle body 1, and a loading platform 6 is fixed in a cantilevered manner to the upper end of the arms.

７は中空の枠材でその下面両側に強磁性体からなる本線
用軌道９を平行に取付ける。7 is a hollow frame member, and main line tracks 9 made of ferromagnetic material are attached in parallel to both sides of the lower surface thereof.

上記枠材７の一側には適当な間隔で片持部材１０を固定
し、この部材１０を建物の天井などに取付けた梁１１に
固定する。A cantilever member 10 is fixed to one side of the frame member 7 at an appropriate interval, and this member 10 is fixed to a beam 11 attached to the ceiling of a building or the like.

また、車体１上にはリアクションプレート１２を設け、
枠材７内の中央部には上記リアクションプレート１２に
作用して推進力を与える一次コイル１３を設ける。In addition, a reaction plate 12 is provided on the vehicle body 1,
A primary coil 13 is provided in the center of the frame member 7 to act on the reaction plate 12 to provide a propulsion force.

１５は左右の本線用軌道Ｓの間に取付けた強磁性体から
なる内側の横シフト用軌道で、その下面、すなわち、浮
上用を磁石３に対する面に、溝１７を設ける。Reference numeral 15 denotes an inner lateral shift track made of a ferromagnetic material attached between the left and right main line tracks S, and a groove 17 is provided on its lower surface, that is, the surface facing the magnet 3 for levitation.

上記の溝１７は第３図のように、本線用軌道９に沿って
設ける。The above-mentioned groove 17 is provided along the main line track 9 as shown in FIG.

また、上記各軌道１５の外側には適当な間隔で強磁性体
からなるギヤツブセンサ用軌道１Ｓを設ける。Furthermore, gear sensor tracks 1S made of ferromagnetic material are provided at appropriate intervals on the outside of each track 15.

１６は前記片持部材１０と反対の側の本線用軌道９の外
側に設けた一対の横シフト用軌道で、前記各横シフト用
軌道１５と一線に揃い、その外側にも前記ギャップセン
サ用軌道１Ｓと一線上に揃うギャップセンサ用軌道２０
を設ける。A pair of lateral shift tracks 16 are provided on the outside of the main line track 9 on the side opposite to the cantilever member 10, and are aligned with each lateral shift track 15, and the gap sensor track 16 is also provided on the outside thereof. Gap sensor track 20 aligned with 1S
will be established.

また、横シフト用軌道１６およびギャップセンサ用軌道
２０の端部と本線用軌道９の外側の間にはアーム５の通
過を許す間隙１４を設ける。Further, a gap 14 is provided between the ends of the lateral shift track 16 and the gap sensor track 20 and the outside of the main track 9 to allow the arm 5 to pass therethrough.

第２図の２１は横シフト用の駆動手段で、例えば地上側
にストロークの長い多段式の油圧シリンダを取付け、そ
の先端に機械的な把持機構または電磁石を設け、車体１
には把持機構に係合する保合片または電磁石に吸着する
鉄片を固定して、把持機構を保合片に係合させるか電磁
石で鉄片を吸着して車体１を駆動手段２１の方に引張り
込むようにする。Reference numeral 21 in FIG. 2 is a drive means for lateral shifting, for example, a multi-stage hydraulic cylinder with a long stroke is installed on the ground side, and a mechanical gripping mechanism or an electromagnet is provided at the tip of the hydraulic cylinder.
To do this, a retaining piece that engages with the gripping mechanism or an iron piece that is attracted to an electromagnet is fixed, and the gripping mechanism is engaged with the retaining piece or the iron piece is attracted by the electromagnet to pull the vehicle body 1 toward the driving means 21. Make sure to include it.

ただし、駆動手段２１はランクビニオン機構や電動シリ
ンダ、チェノ、ローブ、ベルトの巻取方式などの任意の
機構のものを採用し得る。However, the driving means 21 may be any mechanism such as a rank-binion mechanism, an electric cylinder, a chino, a lobe, or a belt winding system.

上記の実施例の場合、車体１が本線用軌道９に沿って走
行中において、電磁石３が横シフト用軌道１５．１６の
設！部を通過した際、溝１７の作用で案内力の低下が防
止されるので、動揺などが防止される。In the case of the above embodiment, while the vehicle body 1 is traveling along the main line track 9, the electromagnet 3 is connected to the lateral shift track 15, 16. When passing through the section, the guide force is prevented from decreasing due to the action of the groove 17, so that shaking is prevented.

また、車体１に搭載しているバッテリへの充電などの目
的で車体１を横シフトさせる場合は車体１を横シフト用
軌道１５上に−たん停止させ、ついで駆動手段２１によ
り車体１を第２図の矢印方向に移動させる。In addition, when the vehicle body 1 is to be shifted laterally for the purpose of charging the battery mounted on the vehicle body 1, the vehicle body 1 is temporarily stopped on the lateral shift track 15, and then the vehicle body 1 is moved to the second position by the driving means 21. Move it in the direction of the arrow in the figure.

この横シフトのとき、浮上用電磁石３を作用させて磁気
浮上させながら車体１を目的の場所まで移動させる。During this lateral shift, the levitation electromagnet 3 is activated to magnetically levitate the vehicle body 1 while moving it to the target location.

上記の実施例において、第３図に示す電磁石３の鉄心の
厚みａ＝９．０閣の場合、実験によれば、溝１７の巾ｗ
＝４．５１、溝１７の深さ８■で本線の進行方間の案内
力は有効である。また、横シフトも可能である。In the above embodiment, when the thickness a of the core of the electromagnet 3 shown in FIG. 3 is 9.0 mm, the width of the groove 17 is
= 4.51, the depth of the groove 17 is 8cm, and the guiding force between the main lines is effective. Lateral shifts are also possible.

従って溝１７の巾Ｗは電磁石３の鉄心厚の約２とし、溝
１７の深さは軌道１５の厚みが約８閣の場合、板厚の全
てについて切り欠く。Therefore, the width W of the groove 17 is about 2 times the iron core thickness of the electromagnet 3, and the depth of the groove 17 is cut out over the entire plate thickness when the thickness of the raceway 15 is about 8 mm.

第５図、第６図は横シフト用軌道１６を可動にした場合
の実施例である。FIGS. 5 and 6 show an embodiment in which the lateral shift track 16 is movable.

この場合左右の横シフト用軌道１６とギャップセンサ用
軌道２０は可動枠２２の下部に平行に固定し、同可動枠
２２上にＴ形横断面のガイドレール２３を平行に固定す
る。In this case, the left and right lateral shift tracks 16 and the gap sensor track 20 are fixed in parallel to the lower part of a movable frame 22, and a guide rail 23 having a T-shaped cross section is fixed in parallel on the movable frame 22.

また、上記可動枠２２の上方には天井などを利用して枠
２４を取付け、この枠２４に上端を固定した４本の支持
棒２５の下端に前後の横枠２６の両端をそれぞれ固定し
、この各横枠２６の両端下部に固定したガイド部材２７
のＴ形溝２Ｓに前記両ガイドレール２３を摺動自在に装
着する。Further, a frame 24 is attached above the movable frame 22 using the ceiling or the like, and both ends of the front and rear horizontal frames 26 are respectively fixed to the lower ends of four support rods 25 whose upper ends are fixed to the frame 24. Guide members 27 fixed to the lower part of both ends of each horizontal frame 26
Both guide rails 23 are slidably mounted in the T-shaped grooves 2S.

そして、上記ガイド部材２７にベローズ３０を被せてそ
の上部を部材２７に固定し、ベローズ３０の下部で部材
２７とレール２３の係合部を覆って摺動部に発生する塵
埃を外部に洩らさない構造とする。Then, the guide member 27 is covered with a bellows 30 and its upper part is fixed to the member 27, and the lower part of the bellows 30 covers the engagement part between the member 27 and the rail 23 to prevent dust generated on the sliding part from leaking to the outside. The structure shall be such that no

また、上記ガイドレール２３の両端にはストッパ３１を
固定する。Further, stoppers 31 are fixed to both ends of the guide rail 23.

第５図の３２は駆動手段で、油圧シリンダの場合はその
ピストンロッド３３を可動枠２２の上部に連結する。Reference numeral 32 in FIG. 5 is a driving means, and in the case of a hydraulic cylinder, its piston rod 33 is connected to the upper part of the movable frame 22.

ただし、駆動手段３２は油圧シリンダ以外に電動式シリ
ンダ式、ランクビニオン機構、チェノ、ローブ、ベルト
の巻取方式などの任意の方式を利用できる。However, the drive means 32 can be of any type other than a hydraulic cylinder, such as an electric cylinder type, a rank-binion mechanism, a chino, a lobe, or a belt winding type.

他の部分の構成や作用は第１図ないし第４図の実施例と
同しであるから、説明は省略する。The structure and operation of other parts are the same as those of the embodiment shown in FIGS. 1 to 4, and therefore their explanation will be omitted.

上記の実施例では車体１が本線用軌道Ｓ上を通過する際
は駆動手段３２により可動枠２２を第５図のように前部
のストッパ３１がガイド部材２７に当るまで引込んでお
くと、軌道９．１６．２０間に隙間１４が生して車体１
のアーム５は支障なく通過する。In the above embodiment, when the vehicle body 1 passes on the main line track S, the movable frame 22 is retracted by the driving means 32 until the front stopper 31 hits the guide member 27 as shown in FIG. 9.16.20 A gap 14 is created between the car body 1
arm 5 passes through without any problem.

また、車体１を横シフトする場合は、駆動手段３２の作
用で軌道１６．２０を軌道９に向けて移動させ、軌道９
．１６．２０を接触させることにより車体１は横シフト
用軌道１５．１６に沿ってスムーズに横シフトできる。In addition, when the vehicle body 1 is to be shifted laterally, the track 16.20 is moved toward the track 9 by the action of the drive means 32.
．． By bringing 16 and 20 into contact with each other, the vehicle body 1 can be smoothly shifted laterally along the lateral shift track 15 and 16.

（発明の効果］ この発明は上記のように、荷物を上積みする荷台を有す
る片持ち構造の車体と、同車体に設けた浮上用電磁石に
作用して浮上刃を与える左右一対の本線用軌道と、この
本線用軌道に交叉せしめて設けた横シフト用軌道からな
るものにおいて、本線用軌道内の横シフト用軌道におけ
る浮上用電磁石に対する面に、本線用軌道から横シフト
軌道へ漏れる磁力線を絶つ溝を設けたものであるから、
本線用軌道と横シフト用軌道が交叉した部分を通過する
際に車体が動揺するおそれはなく、車体を横シフトさせ
る場合もスムーズに車体の移動が行える。(Effects of the Invention) As described above, the present invention includes a car body with a cantilever structure having a loading platform for loading cargo, and a pair of left and right main line tracks that act on a levitation electromagnet provided on the car body to provide a levitation blade. , consisting of a lateral shift track provided to intersect with the main line track, a groove for cutting off lines of magnetic force leaking from the main line track to the lateral shift track on the surface of the lateral shift track within the main line track facing the levitation electromagnet. Since it has been established,
There is no risk of the vehicle body shaking when passing through the intersection of the main line track and the lateral shift track, and the vehicle body can be moved smoothly even when the vehicle body is shifted laterally.

また、本線用軌道の外側に位置する横シフト用軌道を本
線用軌道に向けて可動とし、本線用軌道の外側と横シフ
ト用軌道の端部とを接近離反自在としたものでは、本線
上を車体が通過するときは本線用軌道と横シフト用軌道
の間に間隙を設けることにより車体のアームは支障なく
通過する。In addition, in the case where the lateral shift track located outside the main line track is movable toward the main line track, and the outside of the main line track and the end of the lateral shift track can be moved toward and away from each other, it is possible to move the track on the main line. When the car body passes, a gap is provided between the main line track and the lateral shift track so that the arm of the car body can pass without any problem.

そして、横シフトの場合は横シフト用軌道を本線用軌道
の方向に移動させることにより両軌道内に隙間がなくな
るので、車体の横シフトがきわめて円滑に行えるなどの
効果がある。In the case of a lateral shift, by moving the lateral shift track in the direction of the main line track, there is no gap between the two tracks, so the lateral shift of the vehicle body can be performed extremely smoothly.

【図面の簡単な説明】[Brief explanation of the drawing]

第１図はこの発明の実施例を示す縦断正面図、第２図は
同上の一部を省略した平面図、第３図は第２図Ａ−Ａ線
の拡大断面図、第４図は軌道のみの平面図、第５図は他
の発明の実施例を示す一部切欠正面図、第６図は同上の
側面図である。 １・・・・・・車体、　　　　　３・・・；・・浮上用
電磁石、４・・・・・・ギャップセンサ、５・・・・・
・アーム、６・・・・・・荷台、　　　　　９・・・・
・・本線用軌道、１４・・・・・・間隙、 １５．１６・・・・・・横シフト用軌道、１７・・・・
・・溝、 １９．２０・・・・・・ギャップセンサ用軌道、２１．
３２・・・・・・駆動手段、 ２２・・・・・・可動枠、　　　　２３・・・・・・ガ
イドレール、２７・・・・・・ガイド部材、　　３０・
・・・・・ベローズ。 特許出願人　　住友電気工業株式会社 同　代理人 鎌 田 文 第３図 第２図 第４図Fig. 1 is a longitudinal sectional front view showing an embodiment of the present invention, Fig. 2 is a partially omitted plan view of the same as above, Fig. 3 is an enlarged sectional view taken along line A-A in Fig. 2, and Fig. 4 is a track. FIG. 5 is a partially cutaway front view showing another embodiment of the invention, and FIG. 6 is a side view of the same. 1... Vehicle body, 3...; Levitation electromagnet, 4... Gap sensor, 5...
・Arm, 6...Cargo platform, 9...
... Main line track, 14... Gap, 15.16... Lateral shift track, 17...
...Groove, 19.20...Gap sensor track, 21.
32... Drive means, 22... Movable frame, 23... Guide rail, 27... Guide member, 30.
...Bellows. Patent applicant Sumitomo Electric Industries, Ltd. Agent Aya Kamata Figure 3 Figure 2 Figure 4

Claims (2)

【特許請求の範囲】[Claims] （１）荷物を上積みする荷台を有する片持ち構造の車体
と、同車体に設けた浮上用電磁石に作用して浮上刃を与
える左右一対の本線用軌道と、この本線用軌道に交叉せ
しめて設けた横シフト用軌道からなり、本線用軌道内の
横シフト用軌道における浮上用電磁石に対する面に、本
線用軌道から横シフト軌道へ漏れる磁力線を絶つ溝を設
けた磁気浮上搬送車の軌道構造。(1) A car body with a cantilever structure that has a loading platform for loading cargo, a pair of left and right main line tracks that act on levitation electromagnets installed on the car body to provide a levitation blade, and a pair of main line tracks that intersect with the main line tracks. A track structure for a magnetically levitated conveyance vehicle, comprising a lateral shift track in which a groove is provided on the surface of the lateral shift track within the main line track facing the levitation electromagnet to cut off lines of magnetic force leaking from the main line track to the lateral shift track. （２）荷物を上積みする荷台を有する片持ち構造の車体
と、同車体に設けた浮上用電磁石に作用して浮上刃を与
える左右一対の本線用軌道と、この本線用軌道に交叉せ
しめて設けた横シフト用軌道からなり、本線用軌道の外
側に位置する横シフト用軌道を本線用軌道に向けて可動
とし、本線用軌道の外側と横シフト用軌道の端部とを接
近離反自在とした磁気浮上搬送車の軌道構造。(2) A cantilevered car body with a loading platform for loading cargo, a pair of left and right main line tracks that act on levitation electromagnets installed on the car body to provide a levitation blade, and a pair of main line tracks that intersect with the main line tracks. The lateral shift track located on the outside of the main line track is movable toward the main line track, and the outside of the main line track and the end of the lateral shift track can move toward and away from each other. Track structure of magnetic levitation vehicle.