Conveying system and method for constructing conveying equipment
A conveying system includes at least one guide unit and a carrier. The guide unit includes a traveling surface, at least one guide rail, and a magnetic member formed of a soft magnetic material and including a plurality of salient poles aligned along a conveying path. The carrier includes at least one roller coming in contact with the guide rail from a side direction, at least one wheel coming in contact with the traveling surface, and a plurality of coils provided to overlap with the magnetic member in plan view, and configured to generate thrust along the conveying path and attraction toward the magnetic member by generating a moving magnetic field acting on the magnetic member in accordance with supply of power.
1. A conveying system comprising:
at least one guide unit constituting a conveying path; and
a carrier configured to move along the conveying path,
wherein the guide unit includes:
a traveling surface;
at least one guide rail arranged along the conveying path; and
a magnetic member containing a soft magnetic material and including a plurality of salient poles aligned along the conveying path,
the carrier includes:
at least one roller coming in contact with the guide rail from a side direction;
at least one wheel coming in contact with the traveling surface; and
a plurality of coils provided so as to overlap with the magnetic member in plan view and configured to generate thrust along the conveying path and attraction toward the magnetic member by generating a moving magnetic field acting on the magnetic member in accordance with supply of power.
2. The conveying system according to claim 1 ,
wherein the traveling surface is provided on two traveling lines sandwiching the magnetic member in a direction orthogonal to the conveying path and each being arranged along the conveying path, and
the carrier includes a plurality of wheels sandwiching the coil in a direction orthogonal to the conveying path and being dispersedly arranged so as to correspond to the two traveling lines.
3. The conveying system according to claim 2 , wherein the guide rail is provided outside the two traveling lines.
4. The conveying system according to claim 2 , wherein the magnetic member is embedded between the two traveling lines so as to decrease a height difference between a protruding end portion of the salient pole and the traveling surface.
5. The conveying system according to claim 1 , comprising a plurality of the guide units being continuous along the conveying path,
wherein a joint between the traveling surfaces of the guide units is inclined with respect to the conveying path in plan view.
6. The conveying system according to claim 2 , comprising a plurality of the guide units being continuous along the conveying path,
wherein a joint between the traveling surfaces of the guide units is inclined with respect to the conveying path in plan view, and
the position of the two joints each being formed at two positions on the two traveling lines is shifted from each other in a direction along the conveying path.
7. The conveying system according to claim 1 , comprising, as the guide unit: a linear-type guide unit constituting a straight conveying path; and a curve-type guide unit constituting a curved conveying path,
wherein the carrier includes two first casters aligned along the conveying path, and
the first caster includes:
a first wheel as the wheel;
the two rollers sandwiching the guide rail; and
a first base configured to hold the first wheel and the two rollers, and being turnable so as to change the orientation of the first wheel.
8. The conveying system according to claim 7 ,
wherein the carrier further includes a second caster,
the second caster includes:
a second wheel as the wheel; and
a second base configured to hold the second wheel and turnable so as to change the orientation of the second wheel, and
a turning center of the second base and a rotation center of the first wheel are separated from each other viewed from a direction along the turning center of the second base.
9. The conveying system according to claim 8 , wherein the carrier includes two pieces of the second caster aligned along the conveying path.
10. The conveying system according to claim 7 , wherein the carrier further includes a third wheel, as the wheel, positioned between the two first casters in a direction along the conveying path and positioned separated from the first wheel in a direction orthogonal to the conveying path.
11. The conveying system according to claim 7 ,
wherein the guide rail of the linear-type guide unit is provided at a position of a first distance from a curvature center of the curved conveying path, and the guide rail of the curve-type guide unit is provided on more toward the outer circumferential side of the conveying path as compared with the position of the first distance from the curvature center.
12. The conveying system according to claim 1 ,
wherein the guide unit includes a plurality of conductive rails along the conveying path,
the carrier includes a plurality of brushes each coming in contact with each of the plurality of conductive rails, and
the plurality of conductive rails is arranged on one side with respect to the magnetic member as a reference.
13. The conveying system according to claim 1 , further comprising:
a magnetic sensor configured to detect magnetism varying with a movement of the carrier; and
a circuitry configured to execute
position detection of a first method of obtaining a position of the carrier on the basis of inductance variation of the coil, and execute position detection of a second method of obtaining a position of the carrier on the basis of an output of the magnetic sensor.
14. The conveying system according to claim 1 , comprising a plurality of carriers including the carrier and further comprising a circuitry configured to execute detection of a collision between the carriers on the basis of an increase in the thrust in the carrier.
15. The conveying system according to claim 1 , further comprising:
a magnetic sensor configured to detect magnetism varying with a movement of the carrier;
a means for executing position detection of a first method of obtaining a position of the carrier on the basis of inductance variation of the coil; and
a means for executing position detection of a second method of obtaining a position of the carrier on the basis of an output of the magnetic sensor.
16. The conveying system according to claim 1 , further comprising; a plurality of carriers including the carrier; and
a means for executing detection of a collision between the carriers on the basis of an increase in the thrust in the carrier.