Transportation system of a floated-carrier type

A transportation system of a floated-carrier type, according to the present invention, comprises a guide rail composed of main lines and branch lines, intersecting one another, a coupling section connecting the main and branch lines, and a carrier for carrying cargo, the carrier being capable of running along the guide rail. The carrier is kept floating, in a non-contact manner, from the guide rail, by means of an electromagnetic attractive force. A transfer apparatus is provided at the coupling section. At the coupling section, the carrier, having so far been running along the main lines, is stopped, and is then transferred from the coupling section to the branch lines, all in a non-contact manner. Thus, the mounting space of the transfer apparatus is small, and the carrier can be transferred from the main lines to the branch lines, without producing dust or noise.

BACKGROUND OF THE INVENTION 
The present invention relates to a transportation system of a 
floated-carrier type, and more particularly, to a transportation system of 
a floated-carrier type which comprises a guide rail, composed of main and 
branch lines, in order that a carrier can be transferred from the main 
lines to the branch lines. 
To increase office or factory automation, transportation systems have 
recently been installed in some buildings. Such systems are used to 
transport slips, documents, cash, samples, or the like, between a 
plurality of locations in the buildings. 
In order to avoid spoiling the environment of the offices or factories, 
transportation systems of this type are expected not to produce dust or 
high levels of noise. Thus, in one such conventional transportation 
system, described in U.S. patent application No. 726,975, filed previously 
by the inventor hereof, a carrier is kept floating, in a non-contact 
manner, above a guide rail, by means of an electromagnetic attractive 
force acting between the carrier and the rail, when the carrier is 
propelled along the rail. 
The carrier must be transported smoothly to various locations in a 
building, and, to attain this, the guide rail is composed of main lines, 
connecting principal locations in the building, and branch lines, which 
diverge from the main lines and connect various secondary locations 
therein. 
It is necessary, therefore, to provide means for transferring the carrier, 
running along the main lines, to the branch lines, and vice versa. Prior 
art examples of a transfer means or apparatus are disclosed in the 
following publications: 
U.S. Pat. No. 4,109,584 describes a transportation system, which is 
provided with a rail-switching device at a diverging section, where branch 
lines diverge from main lines. When the switching device is operated 
mechanically, the main lines are disconnected from one another, and are 
connected to the branch lines, so that a carrier can be transferred from 
the main lines to the branch lines. 
In a system described in Japanese Patent Disclosure No. 50-150112, no 
rail-switching device is provided, and main and branch lines are connected 
directly at a diverging section. A guide plate is provided at the 
diverging section, whereby the rollers of a carrier are guided from the 
diverging section to the branch lines. As the rollers slide along the 
guide plate, the carrier is transferred from the main lines to the branch 
lines. 
As has been described above, however, the apparatus for transferring the 
carrier, from the main lines to the branch lines, requires a mechanical 
switching device. Therefore, the transfer apparatus is increased in size, 
thereby reducing the available space in the office. Moreover, the 
switching device is operated mechanically, and, especially in the system 
described in Japanese Patent Disclosure No. 50-150112, the rollers of the 
carrier are in contact with the guide plate while the carrier is being 
transferred. As a result, noise is produced by the transfer apparatus. 
Thus, such a transfer apparatus is liable to spoil the environment of the 
office, in which case the main lines should not be provided with transfer 
apparatuses. In this therefore, the carrier cannot run smoothly along the 
guide rail, and can reach its destination only after a long period of 
time. 
SUMMARY OF THE INVENTION 
The object of the present invention is to provide a transportation system 
of a floated-carrier type, in which a small-sized apparatus is used to 
transfer a carrier from main lines to branch lines, and in which noise is 
prevented from being produced by the transfer apparatus. 
A transportation system of a floated-carrier type, according to the present 
invention, comprises a guide rail formed of main lines and branch lines 
intersecting one anotter, a coupling section connecting the main and 
branch lines, and a carrier for carrying cargo, the carrier being capable 
of running along the guide rail. The carrier is kept floating, i.e., in a 
non-contact manner, from the guide rail, by means of an electromagnetic 
attractive force. Transfer means is provided at the coupling section. At 
the coupling section, the carrier, having so far been running along the 
main lines, is stopped, and then transferred to the branch lines, all in a 
non-contact manner.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS 
In a transportation system of a floated-carrier type, as shown in FIGS. 1 
and 2, guide rail 1, including main lines 32 and branch lines 33, is 
arranged in an office. Carrier 2 is kept floating, in a non-contact 
manner, below rail 1, by means of a magnetic attractive force acting 
between carrier 2 and rail 1, as the carrier is propelled along the rail. 
As is shown in FIG. 2, carrier 2 is provided with rectangular plate 11, 
facing the underside of guide rail 1. Magnetic units 12-1, 12-2, 12-3, and 
12-4 are arranged on the four corners of the upper surface of plate 11. 
They serve to cause carrier 2 to float below rail 1. Carrier box 13 is 
supported by the lower surface of plate 11. Reaction plate 14 is located 
in the center of the upper surface of plate 11, so as to face stators 
43-1, 43-2, and 43-3 of the three linear induction motors of transfer 
apparatus 43, which will be described in detail later. 
As is shown in FIG. 3, magnetic units 12-1 to 12-4 are each provided with 
yokes 25 and 26, facing guide rail 1. Conducting wires are wound around 
yokes 25 and 26, thus forming coils 27 and 28. Air gap P is defined 
between the top face of each yoke and the lower surface of rail 1. 
Permanent magnet 24 is used to couple yokes 25 and 26 magnetically. Thus, 
magnet 24, yokes 25 and 26, gaps P, and rail 1 constitute a magnetic 
circuit. 15. Each magnetic unit is further provided with a gap sensor 29 
for detecting the amount of clearance of gap P. 
Carrier 2 is suspended floating from guide rail, in a non contact manner, 
by means of a magnetic attractive force acting between magnetic units 12-1 
to 12-4 and guide rail 1. In this embodiment, units 12-1 to 12-4 are 
controlled by zero-power control device 30, so that the minimum necessary 
electric current is supplied to coils 27 and 28 when carrier 2 is made to 
float. In other words, four permanent magnets 24 always generate an 
attractive force equal to the total weight of carrier 2 itself and the 
load. At the same time, coils 27 and 28 are excited, so as to maintain the 
air gap clearance at which the attractive force between the magnetic units 
and rail 1 balances with the total weight of the carrier itself and the 
load. Coils 27 and 28 serve to subordinately cause carrier 2 to float. If 
the total weight of carrier 2 is changed by the load, the supply of 
current to coils 27 and 28 is controlled so that gap P is adjusted to a 
distance such that the attractive force from magnet 24 is equal to the 
total weight of carrier 2. In other words, by controlling the current 
supply to the coils, gap P is adjusted to a distance such that carrier 2 
is caused to float by means of the magnetic energy of magnet 24 only, 
despite the existence of disturbances. (The zero-power control device is 
described in detail in U.S. patent application No. 726,975, filed 
previously by the inventor hereof.) 
Guide rail 1, formed of ferromagnetic material, as shown FIGS. 2 and 4, is 
composed of paired main lines 32 which extend parallel to each other, and 
paired parallel branch lines 33 which extend substantially at right angles 
to the main lines. The distance between lines 32 is equal to that between 
magnetic units 12-1 and 12-2 (or 12-3 and 12-4). The distance between 
lines 33 is equal to that between magnetic units 12-3 and 12-1 (or 12-4 
and 12-2). The width of each main line 32 is equal to the distance between 
yokes 25 and 26. The width of each branch line 33 is equal to the width of 
each yoke. 
As shown in FIG. 4, moreover, main and branch lines 32 and 33 are connected 
by coupling plate 34. Plate 34 is formed with a pair of main-line 
connecting portions 35 and a pair of branch-line connecting portions 36. 
Connecting portions 35, which are connected to main lines 32, are spaced 
at a distance equal to that between lines 32. Connecting portions 36, 
which are connected to branch lines 33, are spaced at a distance equal to 
that between lines 33. Portions 35 intersect portions 36 substantially at 
right angles, at crossings B. Corner pad portions 37 are formed 
individually at the junctions of crossings B and lines 33, and at the 
junctions of crossings B and connecting portions 36. Portions 37 have a 
low magnetic resistance. When carrier 2 is stopped under plate 34, 
therefore, it is attracted to plate 34 at portions 37. Thus, carrier 2 is 
positioned accurately, with respect to coupling plate 34, when the carrier 
is stopped. Projections 38 are formed individually at crossings B, on the 
opposite side thereof to connecting portions 36, thereby lowering the 
magnetic resistance of crossings B. Thus, when carrier 2, attracted by 
crossings B, is located under plate 34, projections 38 prevent the carrier 
from yawing by being attracted to the side of branch lines 33, which have 
a low magnetic resistance. 
As is shown in FIG. 1, main and branch lines 32 and 33 and coupling plate 
34 are fitted with guide rail cover 31 for protection. Opening 39 is 
formed in the center of cover 31. Support plate 41 for supporting stators 
43-1, 43-2, and 43-3 is situated over opening 39. 
As is shown in FIGS. 1 and 4, stators 43-1 to 43-3 of the three linear 
induction motors are fixed to the lower surface of support plate 41. They 
constitute transfer apparatus 43 for transferring carrier 2 from main 
lines 32 to branch lines 33. Stator 43-2 is situated so as to apply a 
propelling force, along the main lines, to carrier 2. On the other hand, 
stators 43-1 and 43-3 are arranged so as to apply a propelling force, 
along the branch lines, to carrier 2. 
As is shown in FIG. 4, main-line connecting portions 35 and branch-line 
connecting portions 36 are fitted with reflector-type optical sensors 
44-1, 44-2, and 44-3, respectively. Each of these sensors emits light to 
irradiate reaction plate 14 of carrier 2, and senses light reflected from 
plate 14. Thus, sensors 44-1 to 44-3 detect the position of carrier 2 
relative to coupling plate 34. 
In control device 45 of transfer apparatus 43, as is shown in FIG. 5, 
stators 43-1, 43-2, and 43-3 are connected with solid-state relays 54-1, 
54-2, and 54-3, respectively, for switching their corresponding stators. 
Stators 43-1 to 43-3 and relays 54-1 to 54-3 are connected to three-phase 
AC power source 52, by means of variable resistor 53. Detection signals 
from optical sensors 44-1 to 44-3 are applied to the input of 
microcomputer 51. Then, microcomputer 51 delivers commands to relays 54-1 
to 54-3. 
In control device 45, microcomputer 51 determines the timing for the 
application of the propelling force to carrier 2 or the timing for the 
stopping of carrier 2, in accordance with the position of carrier 2, 
detected by optical sensors 44-1 to 44-3. In response to commands based on 
the judgment of microcomputer 51, solidstate relays 54-1 to 54-3 supply 
stators 43-1 to 43-3, respectively, with current, in the predetermined 
direction. If stator 43-2, for example, is supplied with current, a 
traveling field is generated in stator 43-2, so that the current is 
induced to reaction plate 14. Through an interaction between the traveling 
field and the induced current, plate 14 is subjected to thrust from 
stators 43-2, and a propelling force along the main lines is applied to 
carrier 2. By changing the phase of the current supplied to the stators, 
the respective directions of the traveling field in the stators and the 
thrust on plate 14 can be varied, thus producing a braking force. If, on 
the other hand, stators 43-1 and 43-3 are supplied with the current, a 
propelling force along the branch lines is applied to carrier 2. Thus, the 
stators to be energized are selected by microcomputer 51, and carrier 2 is 
transferred in the desired direction. 
Meanwhile, carrier 2, made to float by means of magnetic unit 12, is 
propelled along main or branch lines 32 or 33, by a transportation system 
(not shown) for main- or branch-line transportation, which includes 
induction motors (not shown). Thus, reaction plate 14 is subjected to an 
electromagnetic force from the stators of the induction motors of the 
transportation system, and carrier 2 is urged by a propelling force along 
main or branch lines 32 or 33. 
While it is running along main lines 32, carrier 2 is transferred to branch 
lines 33 in accordance with the flow chart of FIG. 14. First, carrier 2 is 
stopped under coupling plate 34. Then, whether or not carrier 2 is stopped 
at a proper position, for propelling carrier 2 from coupling plate to 
branch lines, is determined. If not, the stop position of carrier 2 is 
adjusted. When carrier 2 is stopped at the predetermined stop position, it 
is transferred from coupling plate 34 to branch lines 33. Referring now to 
FIG. 14, the individual steps of the flow chart will be described in 
detail. 
In step 101, all the solid-state relays (SSRs) are turned off, in response 
to the commands from microcomputer 51, before carrier 2 reaches the 
location of coupling plate 34. In this state, none of stators 43-1 to 43-3 
are energized, and a timer is reset. The outputs of all optical sensors 
44-1 to 44-3 are read. 
When carrier 2 reaches the location of coupling plate 34, as is shown in 
FIG. 6, whether or not all the optical sensors are off is determined in 
step 102. If any of the sensors is found to be on, microcomputer 51 
concludes that carrier 2 is at the location of plate 34. 
In such a case, whether or not carrier 2 is expected to be transferred from 
main lines 32 to branch lines 33 is determined in step 103. If there is a 
demand for such transfer, carrier 2 is controlled, in steps 104 to 108, so 
as to be stopped at the predetermined position in which it is transferred 
from the coupling plate to branch lines. 
If there is no such demand, carrier 2 is made to pass coupling plate 34 and 
keep on running along main lines 32. In this case, therefore, the SSR 
which causes carrier 2 to keep on running along the main lines, is 
selected and turned on, in step 131. Stators 43-2 is energized in the 
direction indicated by the arrows in FIG. 6. In step 132, the outputs of 
all the optical sensors are read. If all the sensors are found to be off, 
in step 133, microcomputer 51 concludes that carrier 2 has passed coupling 
plate 34. 
In step 104, the SSR for stopping carrier 2 is selected, the timer is set, 
and the selected SSRs are turned on. Thus, stators 43-2 is energized to 
apply a thrust force to the running carrier. As a result, carrier 2 is 
running to the predetermined stop position. 
Thereupon, in step 105, the outputs of optical sensors 44-1 and 44-3 are 
read. In step 106, whether or not carrier 2 has reached the predetermined 
stop position is determined. In other words, whether or not sensors 44-1 
and 44-3 are both on is determined. If either of these sensor is off, the 
flow from step 121 through 105 to 106 is repeated endlessly. If the two 
sensors are found to be simultaneously on, it is concluded that carrier 2 
has reached the predetermined stop position. 
If the two sensors are both on, all the SSRs are turned off, in step 107. 
Thus, stators 43-2 ceases to be energized, so that carrier 2 is stopped. 
The timer is reset, and the stators are kept off for a predetermined 
period of time. This is because even if carrier 2 is somewhat deviated 
from the predetermined stop position, it is attracted thereto by the 
action of corner pad portions B, whose magnetic resistance is relatively 
low. In step 108, thereafter, the outputs of optical sensors 44-1 and 44-3 
are read. In step 109, whether or not carrier 2 is stopped at the 
predetermined position is determined. In other words, whether or not 
optical sensors 44-1 and 44-3 are both on is determined. If the two 
sensors are simultaneously on, it is concluded that carrier 2 is stopped 
at the predetermined position, as is shown in FIG. 7. 
If either of the two sensors is off, in step 109, it is concluded that 
carrier 2 is deviated from the predetermined stop position. If the force 
of inertia of carrier 2 is great, as is shown in FIG. 8, for example, the 
carrier may sometimes be stopped after passing the predetermined position. 
In such a case, the flow is returned to step 104. Stator 43-2 is energized 
in the direction indicated by the arrows in FIG. 8, to adjust the stop 
position of carrier 2. 
Finally, if carrier 2 is found to be stopped at the predetermined position, 
the SSRs for transferring it to the branch lines is selected, the timer is 
set, and the selected SSR is turned on, in step 110. Thereupon, stators 
43-1 and 43-3 are energized in the direction indicated by the arrows in 
FIG. 9, so that carrier 2 is transferred to the branch lines. In step 111, 
the outputs of all the optical sensors are read. In step 112, whether or 
not all the optical sensors are off is determined. If all the sensors are 
found to be off, it is concluded that carrier 2 is running along the 
branch lines, after leaving coupling plate 34. Thus, carrier 2 is 
transferred from the main lines to the branch lines. 
If YES is given in any of steps 121, 134, and 141, that is, if the timer is 
found to have counted for one minute or more, it is concluded that carrier 
2 is at a standstill. In this case, therefore, carrier 2 is regarded as 
out of order, and in step 122, all the SSRs are turned off, and an alarm 
is given. 
Whether carrier 2 approaches coupling plate 34 from the right-hand side of 
FIGS. 6 to 9, or whether it travels along branch lines 33 when it comes to 
plate 34, the carrier is transferred to the branch or main lines by 
transfer apparatus 43. 
In the embodiment described above, only a very small setting space is 
required by the transfer apparatus for transferring carrier 2, from main 
lines 32 to branch lines 33. Therefore, a number of branch lines can be 
arranged so as to diverge from a single main line, so that a number of 
carriers 2 can run in their respective directions, with less possibility 
of stagnation. Thus, the travelling time of carrier 2 can be reduced. 
Since the transfer apparatus does not have any mechanical elements, 
moreover, neither noise nor dust can be produced when carrier 2 is 
transferred from the main lines to the branch lines. 
In the embodiment described above, furthermore, the branch lines extend 
only in one direction from the main lines. Alternatively, however, branch 
lines 45 may be arranged so as to extend from both sides of main lines 32, 
as is shown in FIG. 10. 
As is shown in FIG. 11, moreover, transfer apparatus 43 may include stator 
61-2, located in the center of coupling plate 34, and stators 61-1 and 
61-3 on either side of stator 61-2. Stator 61-2 applies a propelling force 
alcng the branch lines, to carrier 2, while stators 61-1 and 61-3 apply a 
propelling force along the main lines, to the carrier. In this 
arrangement, the range is wider in which transfer apparatus 43 or stators 
61-1 and 61-3 apply the propelling force along the main lines, to carrier 
2. 
The carrier transfer apparatus may alternatively be designed so as to 
transfer carrier 2 by utilizing air pressure. As is shown in FIG. 12, for 
example, air nozzles 62 may be arranged so that they can blow air against 
carrier 2, thereby transferring the carrier from coupling plate 34 to 
branch lines 46. In this case, no space is required for stators, so that 
reinforcing member 63 can be provided instead. 
As is shown in FIG. 13, furthermore, transfer apparatus 43 may include 
stator 70 of a linear induction motor for bi-directional transport, which 
is situated in the center of coupling plate 34. In this case, carrier 2 is 
driven along both main and branch lines, by the single stator, so that the 
setting space for the transfer apparatus, in plate 34, is narrower. 
According to the aforementioned embodiment, moreover, the guide rail 
includes a pair of main lines and a pair of branch lines. Alternatively, 
however, the main or branch lines used may be one, or three, or more, in 
number. Also, the magnetic unit may be constructed so that the carrier is 
caused to float by means of the magnetic force of the coils only, without 
using the permanent magnet. 
In the embodiment described above, furthermore, the main lines are 
distinguished from the branch lines. This distinction, however, is made 
for convenience only. Thus, the transportation system of a floated-carrier 
type, according to the present invention, may be applied to a crossing 
carrier-transporting path, in which there is no distinction between main 
and branch lines.