JP2000184513A - Linear system capsule type travel gear and travel motion impossible restoring method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To restore travel motion when travel motion is impossible when a capsule is out of order, in a linear system capsule type travel gear. SOLUTION: When a first capsule having a magnet for position detection at a position facing a first sensor series 3a becomes impossible to travel on account of mechanical trouble, the position of the first capsule which the sensor series 3a shows is stored. A linear motor control unit 9 switches over a sensor series to be used for travel motion control to a second sensor series 3b with a switch 8. A second capsule for rescue having a magnet for position detection at a position facing the second sensor series 3b is made to travel. By using the distance between the stored position of the first capsule and the position of the second capsule, the speed of the second capsule is controlled. Both of the capsule are made to approach coupled. The second capsule pulls the first capsule and moves as far as a place capable of restoration.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a linear capsule type traveling apparatus and a method for restoring traveling impossibility, which can quickly resume traveling when traveling is impossible due to a failure in a narrow linear track or the like. .

[0002]

2. Description of the Related Art A linear capsule in which a traveling body such as a capsule can travel on a track such as a monorail by a linear motor constituted by a rail on which exciting coils are arranged in parallel and a driving permanent magnet attached to the traveling capsule. Driving devices have been developed.

A conventional linear capsule-type traveling device has a configuration in which an exciting coil (electromagnet) is arranged in parallel on a side surface of a monorail as disclosed in, for example, Japanese Patent Application Laid-Open No. 5-322777 (hereinafter referred to as prior art). Technology 1).

FIGS. 5 and 6 show a method of driving a linear synchronous motor having a field mounted on a vehicle and an armature mounted on the ground. Six kinds of detection patterns can be formed by the multi-pole permanent magnet 1 attached to the traveling body (traveling capsule) and the magnetic sensor 3 attached to the center of the exciting coil 2.
The manner of current flow (output pattern) is shown so that a thrust in a certain direction acts on the coil 2 depending on the detection pattern.
When a magnetic flux flows through the coil 2, the thrust acts on the coil 2 according to Fleming's left-hand rule. Permanent magnet 1
This reaction force acts on the (traveling body) side to travel.

FIG. 7 is a diagram showing the configuration of the coil 2 in one feeding section (hereinafter, the feeding section is referred to as a "section"). A plurality of power supply lines 4 from the linear motor driving device are connected in parallel through a power supply switch 5 for each section. The wiring is configured by a star connection that connects terminals in series for every three phases. 1 section coil 2
Is composed of an integral multiple of a plurality of phases × 2, and the coils 2 and the sensors 3 corresponding to the phases are connected in series.

[0006] Signals of the sensor 3 corresponding to three phases are transmitted to a linear motor driving device through an amplifier circuit 6. In addition, by connecting this signal to the OR circuit 7, the detection can be performed as long as the capsule exists in the section. This signal turns on the switch 5 of the three-phase power supply, and continues to transmit the signal addressed to each section to the linear motor driving device. As a result, current can flow only in the section where the capsule exists, and the position signal of the capsule can be sent to know the position. If there are two capsules in the section, it becomes impossible to run because the detection pattern cannot be created.

If the sensor 3 fails, the capsule cannot travel in that section. Therefore, the synchronous sensors for traveling are arranged in the two systems 3a and 3b,
When a failure occurs in one system, the vehicle can be switched to another system and run. However, although there is no problem with the sensor 3, if a failure occurs in a wheel or the like that guides the traveling capsule and the vehicle becomes unable to travel, the object to be detected (permanent magnet 1) is the same even if the sensor 3 has two systems. Since the second capsule is detected by both the sensors 3a and 3b, a detection pattern cannot be formed and the vehicle cannot travel in the same section. In this case, it is necessary for the worker to rush to the site and repair the vehicle.

[0008]

In a linear synchronous motor, the position of a permanent magnet on a vehicle is detected by a sensor, and the energization of a coil on the ground is controlled so as to be synchronized therewith. Further, since it is more efficient to energize only the coil in the portion where the traveling body (capsule) is present, the section of the coil to be energized at the same time is divided. Only one capsule can be controlled in this energizing section.

If the sensor fails, the capsule will not be able to run in that section. Therefore, two series of synchronous sensors for traveling are arranged so that if one series fails, the system can be switched to another series for traveling. However, although there is no problem with the sensor, if a wheel or the like that guides the traveling capsule becomes faulty and cannot travel, the object to be detected (permanent magnet) is the same even in the two series of sensors, so the second Since the capsule is detected by both sensors, a detection pattern cannot be created and the vehicle cannot travel on the same section. In this case, it is necessary for the worker to rush to the site and repair the vehicle.

[0010] However, when the linear capsule-type traveling device is used for long-distance transportation or used for monitoring movement in a tunnel, and travels in a narrow space, it takes time for an operator to go to the failure site. And it is difficult to work. In particular, when gas pipes are laid in tunnels, the atmosphere is in a nitrogen gas atmosphere due to the necessity of explosion protection. Had to be time consuming and costly.

Accordingly, it is an object of the present invention to enable a second capsule for retrieval to run in the same section,
It is an object of the present invention to provide a linear capsule-type traveling apparatus and a method for restoring the impossibility of traveling, in which the capsules that cannot travel can be connected to each other and pulled to a maintenance station, and the collection of the capsules that has been manually performed can be automated.

[0012]

According to the first aspect of the present invention,
A first traveling capsule having a coupling in front and rear, with a driving permanent magnet and a first position detecting magnet attached, and a coupling in front and rear with a driving permanent magnet and a second position detecting magnet attached. A second traveling capsule, an excitation coil attached to a trajectory of a transportation line at a predetermined interval,
A first magnetic sensor for detecting the first position detecting magnet, a second magnetic sensor for detecting the second position detecting magnet, and a first magnetic sensor attached to each position of the exciting coil. It is characterized by including a control device capable of switching between a sensor series and the second magnetic sensor series and using the same armature series to control traveling.

According to a second aspect of the present invention, a driving permanent magnet and a first position detecting magnet are mounted on a first traveling capsule, and a driving permanent magnet and a second position detecting magnet are mounted on a second traveling capsule. Excitation coils are attached at predetermined intervals to the trajectory of the line, and a first magnetic sensor for detecting the first position detection magnet and a second magnetic sensor for detecting the second position detection magnet are provided for each position of the excitation coil. (2) A control device capable of mounting the magnetic sensor, switching between the first magnetic sensor system and the second magnetic sensor system, and performing travel control using the same armature system is provided, so that the first travel capsule cannot travel. In this case, the second traveling capsule, which can be detected only by the second magnetic sensor series, can travel in the same feeding zone, and the position at which the first traveling capsule becomes inoperable is stored. Controlling the speed of the second traveling capsule by the distance between the stored position and the second traveling capsule, connecting the two traveling capsules by a coupler provided before and after the first and second traveling capsules, It is characterized in that the first traveling capsule is pulled by the second traveling capsule and moves to a place where repair is possible.

In order to detect the position of the driving permanent magnet on the vehicle of the first traveling capsule, the track of the transportation line (traveling path)
A first magnetic sensor is attached along the line. A first position detecting magnet different from the driving permanent magnet is mounted on the capsule vehicle at a position facing the sensor. The first magnetic sensor does not react to the driving permanent magnet.

The second sensor series is mounted at the same pitch as the first magnetic sensor series along the trajectory of the transport line at a position where the magnetic field of the driving permanent magnet and the first position detecting magnet does not reach. A second position detecting magnet is mounted on the rescue second traveling capsule at a position facing the second sensor series. The second magnetic sensor does not react to the driving permanent magnet. Also, the first magnetic sensor does not react to the second position detecting magnet, and the second magnetic sensor does not react to the first position detecting magnet.

Normally, the capsule runs with a first series of sensors. When the first capsule rides on an obstacle or becomes unable to travel due to a failure of a guide wheel, a sensor series for controlling traveling is switched, and a rescue capsule (second capsule) is used as a position / speed signal of the second sensor series. And travels in a section of the first capsule. The position of the first capsule is stored, the running speed is controlled based on the distance from the position of the second capsule for rescue, and the connection is performed without colliding with the first capsule.

Since the coupler is manufactured to have a length (the length in the longitudinal direction of the track of the transportation line) in which the magnets of both capsules can be synchronized with the excitation coil, the thrust can be increased after the connection, and It escapes from an impossible situation and can be towed while connected to a place where it can be repaired.

[0018]

Next, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 shows a linear capsule-type traveling device according to an embodiment of the present invention, and FIG. 2 is a view of the linear capsule-type traveling device as viewed from the front.

Reference numeral 13 denotes a first traveling capsule (capsule type traveling device (hereinafter, referred to as "capsule")), and 14 denotes a second capsule. First capsule 13 and second capsule 14
Comprises a drive unit 15 and a main body 16. The drive unit 15 is attached to the left and right sides of the rail 10 in the longitudinal direction at an appropriate distance from the rail 10. The drive unit 15 includes a plurality of permanent magnets 1 having a width (for example, 2/3 of the coil width) related to the coil width (the “width” refers to the length in the longitudinal direction of the rail 10), and The attached magnet block 18 made of a ferromagnetic back core 23 is attached. Magnet blocks 1 on both left and right sides of rail 10
Attachment 8 cancels the suction power.

On both front and rear sides of these magnet blocks 18, rotatable wheel blocks 19 are provided. The wheel block 19 includes a support roller 20 that supports weight on both left and right sides of the rail 10, and a plurality of side rollers 21 that are in rolling contact with upper and lower end sides of the H-shaped rail 10. The rollers 20 and 21 are connected to the magnet block 18.
The wheel block 19 also has the function of preventing the wheel block 19 from swinging left and right.

A coupler 17 is mounted before and after each of the capsules 13 and 14. Coupler 17
Has a structure in which both capsules are automatically connected by approaching and pressing.

The rail 10 includes a rail main body 10a made of a ferromagnetic material (iron or the like) and a non-magnetic coil case 22 having a plurality of elliptical exciting coils 2 and magnetic sensors 3 attached to side surfaces of the rail. ing. The coil case 22 is attached to one or both sides of the rail body 10a according to the required thrust.

With the above configuration, the first capsule 13 and the second capsule 14 are suspended on the rail 10 so as to run. FIG. 3 shows a configuration of the coil 2 of one section according to the embodiment of the present invention. As shown in FIG. 3, a magnetic sensor 3a is attached to each position of the coil 2 disposed along the rail 10. At a position of the capsule 13 facing the sensor 3a, a position detecting magnet 11 (see FIG. 1) different from the driving permanent magnet 1 is attached. The magnetic sensor 3 a is attached to a position not affected by the magnetic field of the permanent magnet 1 on an extension from the center of the coil 2. The sensor 3a attached in this way constitutes a first sensor series. That is, the sensor 3a
It does not react to the driving permanent magnet 1 and detects the position detecting magnet 11.

Next, the configuration of the second sensor series will be described. At positions where the magnetic field of the permanent magnet 1 and the first position detecting magnet 11 does not reach, the coil 2 disposed along the rail 10
The sensor 3b is mounted at the same pitch as the above-mentioned sensor series 3a at each position. At a position of the rescue capsule 14 facing the second sensor 3b, a position detecting magnet 12 (see FIG. 1) different from the permanent magnet 1 is attached. That is, the sensor 3b does not react to the permanent magnet 1 and detects the second position detecting magnet 12.

The first position detecting magnet 11 (multiple-pole permanent magnet 1) and the exciting coil 2 attached to the capsule 13
The first sensor series 3a (sensor 3) attached on the center line of FIG. The current is controlled so that a thrust in a certain direction acts on the coil 2 according to the detection pattern (see FIGS. 5 and 6).

The signals of the sensor 3a corresponding to the three phases are transmitted to a linear motor driving device (not shown) through the amplifier circuit 6. Also, by connecting this signal to the OR circuit 7,
As long as the capsule 13 exists in the section, it can be detected. This signal turns on the switch 5 of the three-phase power supply, and continues to transmit the signal addressed to each section to the linear motor driving device. This allows current to flow only in the section where the capsule 13 exists.

FIG. 4 is a control block diagram. The speed signal is obtained by measuring the time when the detection pattern of the magnetic sensor changes with an internal clock and calculating the speed with the sensor interval. The position of the capsule is first detected for each section, and after entering the section, the number of signals from the magnetic sensor is counted.

When the first capsule 13 becomes unable to travel due to a mechanical failure, the position of the capsule 13 indicated by the first sensor series 3a is stored (stored) in a memory. Next, the switch 8 switches the sensor series used by the linear motor controller 9 for running control. The second rescue capsule 14 having the position detecting magnet 12 is run at a position facing the second sensor series 3b waiting at the maintenance station. The running of the capsule 14 is performed in the same manner as the capsule 13. That is, the second attached to the capsule 14
The second sensor series 3 mounted on the center line of the position detecting magnet 12 (the multi-pole permanent magnet 1) and the exciting coil 2
b produces six types of detection patterns. The current is controlled so that thrust in a certain direction acts on the coil 2 according to the detection pattern. The signals of the sensor 3b corresponding to the three phases are transmitted to the linear motor driving device through the amplifier circuit 6 '.
Further, by connecting this signal to the OR circuit 7 ', it is possible to detect as long as the capsule 14 exists in the section. This signal turns on the switch 5 of the three-phase power supply, and continues to transmit the signal addressed to each section to the linear motor driving device. As a result, current flows only in the section where the capsule 14 exists.

The position of the rescue capsule 14 is compared with the position of the capsule 13 previously stored in memory. That is, the speed of the capsule 14 is controlled by the distance between the capsules 13 and 14, and both capsules are brought close to each other and connected. . Coupler 17
Since the driving permanent magnets 1 of both capsules are manufactured to a length that can be synchronized with the exciting coil 2, the thrust can be increased after the connection, and the vehicle escapes from the inability to run and connects to the maintenance station. It is possible to run in the state where it was done.

The rescue capsule 14 is a normal capsule 1
3 may be the same in shape and only the position of the position detecting magnet 12 is different. However, in order to increase the efficiency of the traction, the weight of the main body may be reduced, or the magnetic flux density of the magnet may be increased. The length of the coupler 17 for traction is set to a length that allows the driving permanent magnets 1 of both capsules to be synchronized with the excitation coil 2 (in the case of three-phase driving, a coil width that is a multiple of 3).

As the coupler 17, a close contact coupler used in a general railway vehicle may be used. The contact type coupler is automatically connected by pressing when connecting. The connection can be released manually at the maintenance station.

[0032]

As described above, according to the present invention, even if a worker does not go to the place of failure in the event of a failure, another capsule enters the same section and travels, towing the failed capsule. Since the capsules are brought to the maintenance station, the collection of the capsules, which had been manually performed, can be automated, and thus a useful effect is provided.

[Brief description of the drawings]

FIG. 1 is a side view showing a capsule traveling device according to an embodiment of the present invention.

FIG. 2 is a front view of the capsule traveling device according to the embodiment of the present invention, as viewed from the front.

FIG. 3 is a wiring diagram showing a wiring system such as a coil and a sensor of the linear synchronous motor according to the embodiment of the present invention.

FIG. 4 is a control block diagram according to the embodiment of the present invention.

FIG. 5 is an explanatory diagram showing a driving method of a linear synchronous motor.

FIG. 6 is an explanatory diagram showing a driving method of a linear synchronous motor.

FIG. 7 is a wiring diagram showing a wiring system such as a coil and a sensor of a conventional linear synchronous motor.

[Explanation of symbols]

 1: permanent magnet 2: excitation coil 3: magnetic sensor 3a: first sensor series 3b: second sensor series 4: power supply line 5: power supply switcher 6: signal amplifier circuit 7: OR circuit 8: switch 9: control Apparatus 10: Rail 11: Magnet for position detection (for first sensor series) 12: Magnet for position detection (for second sensor series) 13: Traveling body (capsule) 14: Capsule for rescue 15: Drive unit 16: Capsule body 17: Connector 18: Magnet block 19: Wheel block 20: Support roller 21: Side roller 22: Coil case 23: Back core

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Motoi Kobayashi 1-1-2 Marunouchi, Chiyoda-ku, Tokyo Inside Nippon Kokan Co., Ltd. (72) Inventor Hiroyuki Unishi 1-1-2 Marunouchi, Chiyoda-ku, Tokyo Nippon Kokan Co., Ltd. (72) Inventor Osamu Araki 1-2-1 Marunouchi, Chiyoda-ku, Tokyo F-term in Nihon Kokan Co., Ltd. 5H113 AA07 CC04 CC08 CD03 CD12 DD01 GG03 HH29

Claims (2)

[Claims] 1. A first traveling capsule having a coupling on the front and rear, on which a driving permanent magnet and a first position detecting magnet are mounted, and a front and rear mounting on which a driving permanent magnet and a second position detecting magnet are mounted. A second traveling capsule having a coupler, an exciting coil attached to a trajectory of a transportation line at predetermined intervals, and a second position detecting magnet for detecting the first position detecting magnet attached to each position of the exciting coil. A first magnetic sensor, a second magnetic sensor for detecting the second position detecting magnet, the first magnetic sensor series, and the second magnetic sensor.
A linear capsule-type traveling device, comprising: a control device capable of controlling traveling by switching to a magnetic sensor system and using the same armature system. 2. A driving permanent magnet and a first position detecting magnet are attached to a first traveling capsule, and a driving permanent magnet and a second position detecting magnet are attached to a second traveling capsule.
Attach excitation coils at predetermined intervals on the orbit of the transportation line,
A first magnetic sensor for detecting the first position detecting magnet and a second magnetic sensor for detecting the second position detecting magnet are attached to each position of the exciting coil, and the first magnetic sensor series A control device capable of switching between the second magnetic sensor system and the second magnetic sensor system to control the running using the same armature system, and when the first running capsule becomes unable to run, only the second magnetic sensor system is provided. The detectable second traveling capsule enables traveling in the same feeding zone, and stores the position where the first traveling capsule becomes incapable of traveling,
The speed of the second traveling capsule is controlled by the distance between the stored position and the second traveling capsule, and the traveling capsules are connected by a coupler provided before and after the first and second traveling capsules. A method for restoring a linear capsule-type traveling device, wherein the first traveling capsule is pulled by the second traveling capsule and moved to a place where repair is possible.