JP2002303079A - Device for supporting partition body - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a device for supporting a partition body, which enables improvement in the operability of a door device and a moving panel device, noise reduction, the extension of the range of supportable weight and increase in reliability, and which can provide proper sense of operation, high convenience and high level of safety. SOLUTION: A guide rail 15 formed of a ferromagnetic body is disposed in an upper support member 11, and the weight of the partition body 13 is supported in a non-contact manner by magnet units 30A and 30B mounted on the guide rail 15 and the partition body 13. The partition body 13, which is located between the support member 11 and a lower support member 12, is guided two-dimensionally by the supporting members 11 and 12. The interval between the support members 11 and 12 is set sufficiently long, to geometrically prevent the partition body 13 from falling.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for supporting a partition of a door or a moving panel, and more particularly, to a partition support capable of supporting a partition in a non-contact manner by utilizing the attraction of a magnet and iron. Related to the device.

[0002]

2. Description of the Related Art A conventional partition member supporting device includes an upper support member and a lower support member, in which the upper end and the lower end of the partition member are fitted and slidably supported, and a lower support member is provided. In general, a rail is used as the upper support member without providing the rail, and the rail is movably supported on the rail by wheels arranged above the partition body.

[0003] Therefore, there is a problem that if the partition body is heavy, frictional resistance and rolling resistance are large, and the partition body cannot be opened and closed smoothly. In addition, if there is a step or misalignment in the groove or rail, there is a problem that the fitting portion or the wheel may hit the groove or rail when the partition is opened and closed, and opening and closing may not be possible.

[0004] Further, since the partition cannot be moved or opened and closed unless the shape of the groove or rail is straight or arcuate, the partition cannot be moved or opened and closed avoiding obstacles, and the operability is poor. There were also problems. In addition, the movement of the partition body must apply force along the movement trajectory of the partition body, which may hinder opening / closing from a wheelchair or movement or opening / closing for a person with a disabled limb or the like. . In addition, when the partition body is moved in an environment where dust generation is disfavored, such as in a clean room, there is a problem that dust generation from sliding and rotating parts is inevitable.

[0005] In order to solve such a problem, Japanese Patent Laid-Open No.
As described in JP-A-338170, a partition body is provided by providing a permanent magnet on the upper part of the partition body, comprising a magnetic material for the upper support member, and pressing the wheels against the upper support member by the difference between the permanent magnet attractive force and the weight of the partition body. And JP-A-6-3
As disclosed in Japanese Patent No. 41267, a door opening / closing device has been proposed in which a magnetic levitation device and a magnetic propulsion device are attached to a partition having a T-shaped cross section in the longitudinal direction, and a non-contact supported partition is driven in a non-contact manner. . However, even in this case, the following problem occurs.

That is, when a part of the weight of the partition is supported by the attraction force of the magnet and the rest is supported by the wheels, the frictional force at the time of movement of the partition is reduced, but the step of the upper support member and the step of the upper support are reduced. Misalignment hinders movement of the partition. In addition, since the rotation direction of the wheel defines the moving direction of the partition, there is a problem that the partition cannot be moved or opened and closed while avoiding obstacles. Furthermore, the movement of the partition body must apply a force along the movement trajectory of the partition body, which may hinder opening / closing from a wheelchair or movement or opening / closing for a person with a disabled limb. In addition, if the partition is opened and closed or moved in an environment where dust generation is not desirable, such as in a clean room, dust generation from sliding and rotating parts is inevitable.

In the case of a switchgear using magnetic levitation and electromagnetic force propulsion, the entire upper portion of the partition is located above the upper support member, so that the direction of movement of the partition is limited by the upper support member, and obstacles are restricted. If the partition cannot be moved or opened and closed, or if there is a problem with the electromagnetic propulsion device, the partition cannot move unless a force is applied in the direction along the predetermined movement trajectory. is there.

[0008]

As described above, in the conventional partition member supporting apparatus, the moving direction of the partition member is limited by the groove or the rail, and the operability is not impaired by friction, a step, and a position shift. There was a problem that the partition had to be constructed with a range of weights. Further, even when the partition body is supported in a non-contact manner by the attraction force of the magnet to eliminate friction, the direction of movement of the partition body and the direction of application of the force during the movement are limited, and the operability has been significantly impaired.

In view of the above, the present invention improves the operability of the apparatus, reduces noise, expands the supportable weight range, improves reliability, and provides a good operability and high convenience. It is an object of the present invention to obtain a partition member supporting device capable of obtaining safety.

[0010]

The invention according to claim 1 is
An upper support member made of a magnetic material, a partition member located below the upper support member and movable along a lower surface of the upper support member, and a gap between the upper support member mounted on the partition member and the gap A magnet unit provided with an electromagnet that supports the partition body in a non-contact manner, and a sensor unit that detects a state of the magnetic circuit formed by the magnet unit with the gap and the upper support member in the gap. And attraction force control means for controlling the exciting current of the electromagnet based on the output of the sensor unit to stabilize the magnetic circuit, and a geometrical shape based on the distance between the upper support member and the partition member. And a lower support member having a function of preventing the partition body from tipping over.

According to a second aspect of the present invention, in the first aspect of the present invention, a lower support member provided with a magnetic material is mounted on the partition body and opposed to the lower support member via a lower gap, so as to be in a non-contact state. A magnet unit that applies a downward force to the partition body supported by the sensor unit that detects a state of the magnetic circuit formed by the magnet unit with the gap and the lower support member in the lower gap; and Attraction force control means for controlling the exciting current of the electromagnet based on the output of the sensor unit to stabilize the magnetic circuit.

The invention according to claim 3 is the invention according to claim 1 or 2
The invention according to the above (1), wherein the magnet unit includes a permanent magnet arranged so as to share a magnetic path with the magnetic flux of the electromagnet in the gap.

[0013] The invention according to claim 4 is the invention according to claim 1 or 2.
According to the invention, the magnet unit includes a pair of U-shaped composite magnets each including an electromagnet and a permanent magnet.

According to a fifth aspect of the present invention, in the invention according to any one of the first to fourth aspects, a plurality of magnets are respectively provided on the upper surface of the upper base of the upper frame of the partition or on both sides of the lower surface of the bottom frame. A unit is provided, and a plurality of magnet units on each side are arranged to be shifted back and forth with respect to the center axis of the guide rail.

The invention according to claim 6 is the invention according to any one of claims 2 to 5, wherein the upper surface of the upper base of the upper frame of the partition or the lower surface of the bottom frame has a support for the partition. In addition to the above magnet unit, a guide magnet unit facing the inner side surface of the guide rail is provided.

According to a seventh aspect of the present invention, in the invention according to any one of the first to sixth aspects, the attraction force control means controls the magnetic force in a state where the exciting current of the electromagnet becomes zero based on the output of the sensor section. It is characterized by having zero power control means for stabilizing the circuit.

According to the present invention, the magnet unit supports the partition body in a non-contact manner, so that there is no increase in operating force due to friction, a step of the upper support member, and a displacement, and good operation is possible regardless of the weight of the partition body. Sex can be obtained. In addition, not only noise and dust generation but also a long-life and highly reliable device can be obtained without breakage due to abrasion or falling of the partition body.
Furthermore, since the partition body is guided by magnetic force due to the shape of the upper support member, and the partition body moves two-dimensionally even with an operation force other than a specific direction, obstacles of the partition body can be avoided. Convenience is improved. Further, the reaction force from the partition body is reduced, so that a soft operation feeling can be obtained.

The invention according to claim 8 is characterized in that, in the invention according to claim 1, the upper support member is inclined downward toward the initial position side of the partition.

According to a ninth aspect of the present invention, in the first aspect of the present invention, the magnetic body of the upper support member has a change in thickness so as to cause a change in the attraction force of the magnet unit.

According to a tenth aspect of the present invention, in the first aspect of the present invention, a plurality of cord pull-in devices each having a reel provided on one of the upper support member and the partition member, and And a cord fixed at one end to the other of the upper support member or the partition, and the partition is drawn from a plurality of directions by the plurality of cords. In addition, it is characterized in that it is located at a reference position where the force of each cord is balanced.

According to an eleventh aspect of the present invention, in the invention according to the tenth aspect, the cord pulling-in device has a winding spring that applies a restoring force to the reel in a direction in which the cord is wound.

According to a twelfth aspect of the present invention, in the invention according to the eleventh aspect, the cord retraction device includes a winding spring for initial restoration that increases a restoring force when the cord has a length equal to or longer than a reference length. It is characterized by having.

According to a thirteenth aspect of the present invention, in the invention according to any one of the tenth to twelfth aspects, the apparatus for retracting a cord includes a winding amount sensor for measuring a winding amount of the cord,
It is characterized in that it has a retraction force control mechanism for changing the retraction force of the cord body according to the value of the winding amount sensor.

According to a fourteenth aspect of the present invention, in the first aspect of the present invention, the upper support member is provided with a movement restricting portion for restricting the movement of the partition, and the partition comes into contact with the movement restricting portion. And a movement restricting contact portion for restricting relative movement between the upper support member and the partition member.

According to a fifteenth aspect of the present invention, in the invention according to the fourteenth aspect, a magnetic coil is provided on one of the one ridge line of the movement restricting portion and the one ridge line of the partition, and the other is provided. Permanent magnets having SN poles alternately arranged on the ridge are provided, and a linear motor is constituted by the magnetic coils and the permanent magnets.

According to a sixteenth aspect of the present invention, in the invention according to the fourteenth aspect, the drive roller device contacts one of the ridge line of the movement restricting portion and the one ridge line of the partition member with the other ridge line. Is provided.

According to a seventeenth aspect, in the invention according to the fourteenth aspect, the movement restricting portion is a groove-shaped or ridged sill, and the movement restricting contact portion moves along the sill. Wherein the state of engagement between the sill and the profiling portion is changed by the movement of the partition body, and the constraint condition of the partition body is changed.

According to an eighteenth aspect of the present invention, in the invention according to the seventeenth aspect, the partition body is provided with a pin-shaped copying portion which engages with a sill provided on the upper support member and the lower support member, in the upper and lower directions. The pin is pushed out to engage with the holes provided in the upper support member and the lower support member, and the pin push-out mechanism as the pivot axis of the partition body, and the sill portion provided in the upper support member are selectively copied. A groove pushing mechanism to be engaged is provided.

[0029]

Embodiments of the present invention will be described below with reference to the accompanying drawings.

FIGS. 1 to 5 show a first embodiment of a partition body support device according to the present invention. The partition body support device includes an upper support member 11 and a lower support member 12.
And a partition body 1 interposed between the upper support member 11 and the lower support member 12 and prevented from falling down geometrically by the distance between the upper support member 11 and the lower support member 12.
3. The upper support member 11 includes:
The ferromagnetic guide rail 15 laid by a predetermined mounting method on the lower surface of the top plate 14 constituting the ceiling of the building, and the irregularities generated by laying the guide rail 15 on the top plate 14 The lower support member 12 is constituted by a plane correction member 16 that corrects a plane in a range.
Is formed by digging a groove 18 having a predetermined shape in the floor 17. Groove 1 of guide rail 15 and floor 17
8 is an arc-shaped curved part 1 on the partition body 13 fully closed position side with respect to the linear parts 15 'and 18' extending in the X direction.
5 "and 18" are formed in a connected shape. At a predetermined position on the lower surface of the guide rail 15, an upper guide groove 19 having a reverse U-shaped cross section for guiding the upper part of the partition body 13 is formed.

The partition 13 has a frame 23 consisting of a bottom frame 20, a side frame 21, and an upper frame 22. A partition plate 24 made of, for example, glass, aluminum, wood, paper or the like is mounted on the frame 23. It is fitted. The upper frame 22 is formed in a box shape with an upper base 22a, a lower base 22b, and a side plate 22c, and supports the partition body 13 on the upper base 22a without contact with the guide rail 15. Two magnet units 30A, 30
B is attached via the base plate 31, respectively, and in the upper frame 22, a control device 40 for controlling the attraction force of the magnet units 30A and 30B to support the partition body 13 in a non-contact manner, A power supply device 41 that supplies necessary power to the magnet units 30A and 30B and the control device 40 is provided.

As shown in FIG. 5, each of the magnet units 30A and 30B comprises a permanent magnet 32 and electromagnets 33a and 33b.
5 is assembled in a U-shape as a whole so as to face the lower surface of the fifth member 5. The electromagnets 33a and 33b are prismatic iron cores 34.
The coils a and b are inserted into the coils 35a and 35b, and the coils 35a and 35b are connected in series so as to reinforce each other's magnetic flux when excited. The distal ends of the electromagnets 33a, 33b prevent the magnet units 30A, 30B from being attracted and fixed to the guide rail 15 by the attraction of the permanent magnet 32 when the electromagnets 33a, 33b are not excited, and attracted. The solid lubricating member 36 is attached so as not to hinder the movement of the partition 13 even in the state. Solid lubrication member 3
6 is a material containing, for example, Teflon, graphite or molybdenum disulfide.

On the upper surface of the upper base 22a of the upper frame 22, a fixed base 51 is mounted.
The upper end of the partition 13 is fitted into the upper guide groove 19 at the distal end of the support rod 52 fixed to the guide rail 15.
A guide shoe 53 that guides along is rotatably mounted. Further, on the upper base 22a, gap sensors 54a and 54b for detecting a gap length between the magnet units 30A and 30B and the guide rail 15 are arranged near the magnet units 30A and 30B. Also,
The upper base 22a is located between the magnet units 30A and 30B.
The cooling fin 37 is provided on the
7, a power amplifier 38 for supplying electric power to each of the coils 35a, 35b and the like is mounted.

A cover 55 for shielding the magnet units 30A and 30B from view is attached to the upper portion of the upper frame 22 along the side surface so as to enhance the design of the partition support device.

On the other hand, a guard member made of a flexible material, for example, a soft rubber or the like, is provided on the outer end surface of the side frame 21 to prevent an accident such as the partition member 13 being pinched when moving along the wall surface. 56 are mounted. The floor 17 is fixed at predetermined positions on both lower surfaces of the bottom frame 20 fixed to the lower end surfaces of the left and right side frames 21 by a predetermined method.
Are provided with two guide wheels 58a and 58b which engage with the inner surface of the groove 18 formed in the guide wheels 58a and 58b.
The lower part of the partition 13 is guided along the groove 18 by 58b. Further, the lower surface of the bottom frame 20 is made of a hard rubber or the like in order to prevent the bottom frame 20 from directly abutting on the upper surface of the floor 17 in a case where the attraction force of the magnet units 30A and 30B is lost. The buffer member 59 is stuck.

The attraction forces of the magnet units 30A and 30B are controlled by the control device 40, and the partition 13 is supported in a non-contact state with the guide rail 15.

Although the control device 40 is divided into two as shown in FIG. 4, it may be constituted as a whole as shown in FIG. 6, for example. In the following block diagrams, arrow lines indicate signal paths, and bar lines indicate power paths around the control device 40. Further, the magnet unit 30A
, Two coils 35a and 35b connected in series are collectively referred to as a coil 35A, and similarly, the magnet unit 30B
Let the two coils 35a and 35b be a coil 35B.

The control unit 40 includes the magnet units 30A, 3
0B, a sensor unit 42 for detecting a magnetomotive force or a magnetic resistance in the magnetic circuit or a change in the movement of the partition 13 and coils 35A, 35B for allowing the magnet units 30A, 30B to support the partition 13 in a non-contact manner. Circuit 43 for calculating the voltage applied to the sensor unit 42 based on the signal from the sensor unit 42, and each coil 3 based on the output of the circuit 43.
5A and 35B, and a power amplifier 38 for supplying power to the two magnet units 30A and 3B.
The suction force of 0B is independently controlled in the Z-axis direction and around the Y-axis.

The power supply device 41 supplies power to the power amplifier 38, and at the same time, the arithmetic circuit 43 and the gap sensor 5
4 is also supplied with power at a constant voltage. The power supply device 41 supplies power to the power amplifier 38, so that the partition 1
3 has a function of converting AC supplied from outside into DC suitable for supplying power to the power amplifier 38.

The constant voltage generator 44 includes a power amplifier 38
Even when the voltage of the power supply device 41 fluctuates due to supply of a large current to the power supply device, power is always supplied to the arithmetic circuit 43 and the gap sensor 54 at a constant voltage. Therefore, the arithmetic circuit 43 and the gap sensors 54a and 54b always operate normally.

The sensor section 42 includes the gap sensor 54
a, 54b and a current detector 45 for detecting the current value of each of the coils 35A, 35B. In the present embodiment, the gap sensors 54a and 54b are optical gap sensors, and the difference between the magnetic material and the non-magnetic material affects the detection characteristics in detecting the distance to the lower surface of the guide rail 15 and the lower surface of the plane correction member 16. Will not give.

The arithmetic circuit 43 controls the magnetic levitation of the partition 13 for each movement coordinate system shown in FIG. That is, there are a Z mode (vertical movement mode) representing vertical movement along the Z coordinate of the center of gravity of the partition 13 and a ξ mode (pitch mode) representing pitching around the center of gravity of the partition 13.

As described above, in the two modes, the coil currents of the magnet units 30A and 30B are made to converge to zero, so that the partition 13 is stabilized only by the attractive force of the permanent magnet 32 regardless of the application of an external force to the partition 13. The magnetic levitation control is performed by performing a so-called zero power control supported by the magnetic head. This magnetic levitation control method is also described in detail in, for example, Japanese Patent Application Laid-Open No. 4-351167, and a detailed description thereof will be omitted here.

The arithmetic circuit 43 is configured as follows to achieve zero power control. That is, a subtractor 60 for calculating Z-direction gap length deviation signals Δza, Δzb obtained by subtracting the respective gap length setting values za0, zb0 from the gap length signals ga, gb from the gap sensors 54a, 54b, Excitation signal ia from the heater 45,
A subtractor 62 for calculating current deviation signals Δia, Δib obtained by subtracting the respective current set values ia0, ib0 from ib, and Z of the center of gravity of the partition 13 from the gap length deviation signals Δza, Δzb.
Direction shift amount Δz, ξ direction of the partition 13 (pitch direction)
A floating gap length deviation coordinate conversion circuit 63 that calculates the rotation angle Δξ of the current; an excitation current deviation coordinate conversion circuit 64 that calculates a current deviation Δiz related to the movement in the Z direction and a current deviation Δξ related to pitching around the same center of gravity; Electromagnet voltages ez and e for each mode for stably magnetically levitating the partition 13 in each of the modes z and ξ from the outputs Δz and Δξ of the floating gap length deviation coordinate conversion circuit 63 and the excitation current deviation coordinate conversion circuit 64.
制 御, a control voltage calculation circuit 65, and outputs ez, eξ of the control voltage calculation circuit 65 to calculate the magnet units 30A, 30
And a control voltage coordinate inversion circuit 66 for calculating the electromagnet excitation voltages ea and eb of B. Then, the operation result of the control voltage coordinate inverse conversion circuit 66, that is,
ea and eb are given to the power amplifier 38.

Further, the control voltage calculation circuit 65 calculates Δz,
It comprises a vertical movement mode control voltage calculation circuit 65a for calculating a Z mode electromagnet control voltage ez from Δiz, and a pitch mode control voltage calculation circuit 65b for calculating a {mode electromagnet control voltage e} from Δiξ and Δξ.

The vertical movement mode control voltage calculation circuit 65
a is configured as shown in FIG. That is, Δz
A differentiator 70 for calculating a time change rate Δz ′ of Δz from
A gain compensator 71 for multiplying Δz, Δz ′, Δiz by an appropriate feedback gain, and a current deviation target value generator 72
And a subtracter 73 for subtracting Δiz from the target value of the current deviation target value generator 72, an integration compensator 74 for integrating the output value of the subtractor 73 and multiplying the output value by an appropriate feedback gain, and an output value of the gain compensator 71. An adder 75 for calculating the sum and an output of the integral compensator 74 as an input to output a value equal to the input within a predetermined range, and when the input exceeds an upper limit of the same range, an upper limit value and a lower limit value are set. In the case where the output value falls below the lower limit value, the output limiter 76 outputs a lower limit value, and the subtractor 77 outputs the Z-mode electromagnet excitation voltage ez by subtracting the output value of the adder 75 from the output value of the output limiter 76. I have.
The operation of the output limiting means 76 is described in
Since it is also described in detail in Japanese Patent Application Laid-Open No. 073406, detailed description is omitted.

The pitch mode control voltage calculation circuit 65b has the same configuration as the vertical movement mode control voltage calculation circuit 65a.

Next, the operation of the partition body supporting device according to the first embodiment configured as described above will be described.

When the apparatus is in a stopped state, the tips of the iron cores 34a and 34b of the magnet units 30A and 30B are attracted to the lower surface of the guide rail 15 via the solid lubricating member 36. At this time, the solid lubricating member 36 does not hinder opening and closing of the partition 13. When the device is started in this state, the control device 40 generates a magnetic flux in the same or opposite direction as the magnetic flux generated by the permanent magnet 32,
a, 33b and the magnet unit 30
The current flowing through each of the coils 35a and 35b is controlled to maintain a predetermined gap length between A and 30B and the guide rail 15. As a result, as shown in FIG.
~ Iron core 34b ~ Gap G '~ Guide rail 15 ~ Gap G ~
A magnetic circuit Mc including a path from the iron core 34a to the permanent magnet 32 is formed. The gap length in the gaps G and G ′ is determined by the magnet units 30A and 30B due to the magnetomotive force of the permanent magnet 32.
The magnetic attraction force acts on the gravity of the partition body 13 in the Z-axis direction, and the torque just around the Y-axis has a length that exactly balances the torque. When an external force acts on the partition body 13 in order to maintain the balance, the control device 40 controls each of the magnet units 30A, 30B.
The excitation current of the electromagnets 33a and 33b is controlled. As a result, so-called zero power control is performed.

Here, a case where the sliding door shown in FIG. 8 is constituted by the partition body supporting device of the present embodiment will be described.

The sliding door is constituted by a partition support device attached to the opening of the wall surface 80, and the guide rail 15 is moved toward the left end of the opening and toward the wall surface 80 (in the X and -Y directions). Partition body 1 mounted at a slight angle and supported in a non-contact manner with zero power control
Reference numeral 3 denotes a state in which the door is closed without applying any external force. In this state, the magnet unit 30A,
The opposing surface of the guide rail 15 to which the magnetic unit 30B faces is the portions A, B, and C where the magnetic material is projected.
At 0A and 30B, a suction force to this portion acts as a mooring force. For this reason, the partition body 13 is not affected by wind or slight shaking of the building.
Never open.

Now, when the door is opened, the partition 13
When a force in the X direction is applied, the guide wheels 58a, 58b
8 and the guide shoe 53 can move along the upper guide groove 19, so that the non-contact supported partition member 13 moves lightly and smoothly, and the door opens. The opened door slides along the slope of the guide rail 15, and the door is closed again. On the other hand, when the closed door is pushed in the Y direction, the guide shoe 53 moves along the curved portion 15 ″ of the guide rail 15 and the guide wheel 58 a moves along the curved portion 18 ″ of the groove 18. 13
Starts rotating around the axle 57 of the guide wheel 58b and the support rod 52 of the guide shoe 53. At this time, it goes without saying that the axis centers of the axle 57 and the support rod 52 coincide.

The partition 13 which has started to rotate has two axles 5
It moves in the −X direction while sequentially shifting to postures represented by straight lines L1 to L7 drawn between the seven. That is, in the partition body support device according to the present embodiment, not only the operating force of the door and the noise at the time of opening and closing are remarkably reduced by non-contactly supporting the weight of the partition body, but also the two-dimensional This makes it possible to give a target movement, and even when the sliding door is opened from a wheelchair, the sliding door can be easily opened by pressing the door, and the operability and the operational feeling can be significantly improved.

When the partition body 13 is supported in a non-contact manner, the guide wheels 58a and 58b and the guide shoes 53
Are fitted in the groove 18 and the upper guide groove 19, respectively, so that the partition body 13 does not fall over due to an excessive external force in the horizontal direction. Further, even when the operation of the control device 40 is stopped and the partition body 13 is not supported in a non-contact manner, the attraction force of the permanent magnets 32 of the magnet units 30A and 30B causes
The partition body 13 is attracted to the guide rail 15 or stays on the lower support member 12. Even in such a case,
In the partition body support device of the present invention, the guide wheels 58a,
The positional relationship between the upper support member 11, the partition body 13 and the lower support member 12 is maintained so that the guide shoe 58b and the guide shoe 53 do not come off from the groove 18 and the upper guide groove 19, respectively. I have. For this reason,
The partition 13 can not only be improved in reliability without falling down or being damaged, but also can be improved in safety without danger of being laid under the fallen partition 13 or colliding. .

In the first embodiment, the two magnet units 30A and 30B are arranged on the upper part of the partition body 13. However, the number of magnet units and the mounting position are not limited. Without limitation, FIG.
As shown in FIG. 12 to FIG. 12, as many magnet units as necessary may be arranged separately on the upper and lower parts of the partition 13.

FIGS. 9 to 12 show a second embodiment of the present invention. Note that, for simplicity, the first
The description will be given using the same reference numerals for the parts common to the embodiments. As shown in FIG. 9, four magnet units 30 </ b> A to 30 </ b> D are provided on the upper surface of the upper base 22 a of the upper frame 22, and the magnet units 30 </ b> A, 30 </ b> D and the magnet units 30 </ b> B, 30 </ b> C It is arranged shifted to the front and back. Further, magnet units 30E, 30H and magnet units are disposed on the lower surface of the bottom frame 20 so as to be opposed to the guide rails 15a embedded in the floor 17 so as to be shifted back and forth from the center line, similarly to the case of the upper frame 22a. 30F, 30G
Are provided, and support wheels 158 are provided near the four corners.

When the magnet unit is shifted left and right to face the guide rails 15 and 15a in this manner, the attractive force of the magnet unit is disassembled in the supporting direction, and the supporting force and the guiding force can be interfered. Simultaneous stabilization of the supporting force and the guiding force can be achieved by using the exciting current of the unit and the gap length between the guide rails. Such stabilization is possible irrespective of the application of zero power control as magnetic levitation control. The details are described in JP-A-10-040620 and JP-A-4-351167. Detailed description is omitted.

Each of the magnet units 30A to 30H is provided with a gap sensor 54a to 54h, which detects the gap length of each of the magnet units 30A to 30H to move the partition unit 13 up and down (Z mode) and pitch mode. (Ξ mode) and roll mode (θ mode) directly detect the posture in each movement mode, and also promote movement in left and right mode (y mode) and yaw mode (ψ mode), and simultaneously stabilize the support direction and the guide direction. Is achieved. That is, the partition body 13 has the magnet units 30A to 30H.
Thus, even if the partition body 13 oscillates due to an external force, the sway is quickly attenuated, and the partition body 13 is smoothly moved along the guide rails 15 and 15a. Also, the magnet unit 30
Solid lubricating members 36 are fixed to the tips of the iron cores 34a and 34b of A to 30D.

Further, power amplifiers 38a to 83d for exciting the respective magnet units 30A to 30D and a cooling fin 37 are mounted on the upper surface of the upper base 22a. Similarly, a power amplifier 3 for exciting the magnet units 30E to 30H is also provided on the bottom frame 20.
8e to 83h and a cooling fin 37a are attached.

Guide rail 15a embedded in floor 17
Needless to say, the shape is along the locus that the magnet units 30E to 30H follow when the magnet units 30A to 30D move along the guide rail 15.

The support wheel 158 includes a bearing 159, an axle 160, and wheels 161.
9 is fixed to the bottom frame 20. In addition,
The cover 55 is attached to the upper frame 22 to enhance the design, and the lower cover 160 is attached to the lower frame 20. However, in order to avoid complication of the drawing, only the position is indicated by a dotted line in FIG. It is stayed at.

Next, the operation of the partition member supporting device according to the second embodiment configured as described above will be described.

When the apparatus is in a stopped state, the tips of the iron cores 34 a and 34 b of the magnet units 30 A to 30 D are attracted to the lower surface of the guide rail 15 via the solid lubricant 36. At this time, the operation of the individual lubricant 36 does not hinder the opening and closing of the partition 13. In this state, when the device is started, the control device 40 generates a magnetic flux in the same or opposite direction as the magnetic flux generated by the permanent magnet 32, to each of the electromagnets 33a,
33b and the magnet units 30A-3
0D and the guide rail 15 and the magnet unit 30
The current flowing through each of the coils 35A to 35H is controlled to maintain a predetermined gap length between E to 30H and the guide rail 15a.

As a result, the magnetic attraction force of each of the magnet units 30A to 30H caused by the magnetic attraction force of each of the magnet units 30A to 30H due to the magnetomotive force of the permanent magnet 32 acts on the center of gravity of the partition 13 in the Z-axis direction. Torque about the same Y axis, torque about the same X axis, torque about the same Z axis, and X
In the guide rails 15 and 15a laid in the directions, the Y axis,
Alternatively, guide rails 15 and 15a laid in the Y direction
In this case, the length becomes just balanced with the external force in the X-axis direction.
When an external force acts on the partition body 13 to maintain this balance, the control device 40 controls the excitation current of the electromagnets 33a and 33b of each of the magnet units 30A to 30H. by this,
So-called zero power control is performed.

Here, a case where the movable panel device shown in FIG. 13 is constituted by the partition body supporting device of the present embodiment will be described. This moving panel device moves a plurality of partitions 13 from a predetermined panel storage space to a place where a partition is required in a non-contact manner, and after moving, adsorbs the partitions 13 to fix the partitions.

FIG. 13 shows a part of the movement path from which the wall surface 170 protrudes. The guide rails 15 and 15a are laid so as to detour the partition 13 along the wall surface. The partition body 13 that has been moved to P1 now has P2
At the position of (1). At P2, the guide rails 15 and 15a are laid in the Y direction so that the partition 13 is translated along the protruding surface of the wall surface 170, and the guide rails 15 and 15a are laid in the Y direction. Along the wall, thus reaching P4 via position P3. During this time, external forces of various heights are applied to the partition body 13 at the position of the operator's hand.
Since 0A to 30H act on the upper and lower guide rails 15 and 15a to exert a guiding force, the partition 13 does not incline and contact the floor or ceiling, and the partition 13 (panel) smoothly.
Can be moved. Further, in the case of the present embodiment, since the guide rail 15a is embedded in the floor 17 to provide a guiding force to the lower portion of the partition 13, the floor can be configured as a plane. When grooves and projections are provided on the floor to guide the partition, it is difficult to clean, and the accumulation of dust makes it difficult to move the partition, or causes problems such as tripping when walking. By doing so, the reliability and safety of the device can be significantly improved.
Furthermore, since the partition 13 is guided by magnetic force,
In order to avoid obstacles on the route as long as a sufficient magnetic force can be obtained, it is possible to move the partition while shifting the partition from the center line of the guide rail to some extent.

In addition, in the case of the present embodiment, since the partition 13 is supported and guided in a completely non-contact manner, generation of dust and noise can be eliminated.

When an excessive external force is applied to the partition body 13 during movement or when the control device is stopped and the non-contact state cannot be maintained, the partition body 13 may be
Is sucked on the upper guide rail 15 or is supported by the support wheels 158. For this reason, a large force is required as compared with the case where the partition body 13 is supported in a non-contact manner, but the partition body 13 does not become immovable. Further, even if a torque of a magnitude that causes overturning acts, the interval between the upper support member 11 and the lower support member 12 is set smaller than the diagonal line of the partition body 13, and there is no possibility of falling over geometrically. ,
When the external force is removed, the external force is again attracted to the upper guide rail 15 or supported by the support wheels 158.

In the first and second embodiments, the magnet unit that generates a supporting force for the guide rail is used. However, the use of the magnet unit that generates the supporting force is not limited. Instead, as in the third embodiment shown in FIGS. 14 and 15, a magnet unit that exclusively generates a guiding force may be provided.

In the apparatus shown in FIGS. 14 and 15, a ferromagnetic guide rail 215 having an inverted U-shaped cross section is laid on a lower surface of a top plate 14 constituting a ceiling of a building by a predetermined mounting method, thereby supporting the upper part. The lower support member 1 is formed by laying a ferromagnetic guide rail 215a having a U-shaped cross section on the floor 17 by a predetermined mounting method.
2 are formed.

Further, supporting magnet units 30A to 30D are provided on the upper base 22a of the partition body 13 so as to face the inner upper surface of the guide rail 215, and a guiding magnet unit 30E is provided so as to face the inner side surface. 'To 30H' are arranged. The supporting magnet units 30A to 30D are arranged in a line in the longitudinal direction of the partition body 13, and are provided with gap sensors 54a to 54d, respectively.
The guide magnet units 30E 'to 30H' are a base plate 31 '.
Are attached to the four corners of the upper base 22a through the gap sensors 54.
e 'to 54h' are provided. On the other hand, the bottom frame 2
The guide magnet units 30I 'to 30L' are located at four corners of the lower surface of the guide rail 1 so as to face the inner side surface of the guide rail 215a.
Are fixed via a base plate 31a '. The application of such a guide magnet unit is advantageous in that a non-contact state can be maintained even with a larger external force. Also in this case, similarly to the first and second embodiments, the distance between the upper support member 11 and the lower support member 12 is
Is large enough not to overturn, and the reliability of the apparatus is not impaired even when an excessive external force is expected to be applied.

In the above-described embodiment, the zero-power control in which the coil exciting current converges to zero in a steady state is applied to the non-contact support control, but this is limited to a control method of the magnet unit attractive force. Various changes are possible instead of the above. For example, if it is desired to further improve the followability with respect to the guide rail, control for keeping the gap length constant may be performed.

Further, in the above embodiment, the magnet unit is composed of two electromagnets and one permanent magnet, but this does not limit the configuration of the magnet unit at all.
For example, as shown in FIG. 16, two permanent magnets 32 and one electromagnet 33 may be used. For the sake of simplicity, the same portions are denoted by the same reference numerals, and description thereof will be omitted.

The magnet unit 330 has a U-shaped non-conductive non-magnetic material in which the permanent magnet 32 and the iron core 34 are arranged at both ends of the electromagnet 33 and the coil 35 does not directly contact the mounting portion such as the upper support member. The configuration is such that the base plate 331 is combined. In short, the magnet unit may have any configuration within the scope described in the claims.

FIGS. 17, 18 and 19 show a fourth embodiment of the present invention.
81 between the upper support member 11 made of a magnetic material
Are arranged. As shown in FIG. 18, the partition body 81 has, for example, a hexahedral cross section having a front-side vertical plane that covers the opening at the partition position, left and right side surfaces, and a rear surface that is bent and protruded to the rear surface side. The partition body 81 is formed so that the diagonal dimension L2 of the partition body 81 is larger than the distance L1 between the lower support member 12 and the upper support member 11, and the partition body 81 is inclined at a certain angle or more, that is, the partition body 81 is prevented from falling down.

A magnet unit 83 provided with an electromagnet 82 is mounted on the upper part of the partition 81 so as to oppose the upper support member 11 with a gap therebetween. It is supported in a non-contact state. A sensor 84 for detecting a gap state of a magnetic circuit formed by the magnet unit 83 and the upper support member 11 is provided above the partition body 81. The exciting current of the electromagnet 82 is controlled via the control means 85 to stabilize the magnetic circuit.

On the other hand, on the lower surface of the upper support member 11, FIG.
As shown in FIG. 7 and FIG. 18, a movement restricting portion 86 which surrounds the partition body 81 and abuts on the upper portion of the partition body 81 to regulate the movement range of the partition body 81 is provided in a protruding manner. A movement regulation contact portion 87 provided with a roller or the like that comes into contact with the movement regulation portion 86 due to the movement of the partition member 81 is provided at each of the upper corners. Moreover, the lower surface of the upper support member 11 is inclined downward toward the partition position side of the partition body 81.

Further, a plurality of permanent magnets 88 having SN poles alternately arranged are provided above the ridges forming the front-side vertical plane of the partition body 81, and one ridge 86 a of the movement restricting portion 86 is provided. A large number of air-core magnetic coils 89 are arranged in parallel with the permanent magnet 88 and the magnetic coils 89.
Constitute a linear motor 90. Further, the partition body 81 is provided on the ridge line 86a of the movement restricting portion on the partition position side.
Position detection sensors 91a and 91b for detecting the position of the partition body 81 are mounted at the left and right positions of the opening that is opened and closed by the switch.

Thus, the partition body 81 is
Is supported in a non-contact state with respect to the upper support member 11, and is movable along the lower surface of the upper support member 11,
Moreover, since the diagonal dimension of the partition body 81 is larger than the gap between the lower support member 12 and the upper support member 11,
The partition body 81 does not fall. As shown in the plan view of FIG. 19, when the partition 81 moves, the movement restricting contact portion 87 provided with rollers and the like comes into contact with the movement restricting portion 86 provided on the upper support member 11. Does not deviate from the range surrounded by the movement restricting portion 86,
Furthermore, by making the width interval α before and after the movement restricting portion 86 narrower than the maximum width β between the ends 87a and 87b of the movement restricting contact portion 87, the posture angle at which these are brought into contact no matter how they are pushed. The rotation of the partition body 81 can be prevented.

Further, since the lower surface of the upper support member 11 is inclined downward toward the partition position side of the partition member 81, the partition member 81 moves to the lowest position along the inclination of the upper support member 11. Then, a plurality of permanent magnets 88 provided with the SN poles of the partition body 81 alternately arranged and a row of magnetic coils 89 provided in the movement restricting portion 86 face each other, and the linear motor 90 is reconfigured. You. Therefore, by driving the linear motor 90, the partition body 81 can be driven freely. On the other hand, the ridge line 86a of the movement restricting portion 86
In the left and right positions of the opening that is opened and closed by the partition body 81,
Position detection sensors 91a, 9 for detecting the position of the partition body 81
1b, the position detection sensor 91
a and 91b are detected by detecting the side where the partition 81 is located, and
1 can be used to determine the operation direction when returning to the center, or can be used as a deceleration start point sensor, a positioning sensor, an operation limit sensor, and the like. Can be driven as a door. However, although not shown, when the partition body 81 of the present invention is used as an automatic door, it is necessary to provide a human sensor or a touch sensor in front of the door.

As described above, in this embodiment, the space between the upper support member 11 and the lower support member 12 has a function of geometrically preventing the partition body 81 from overturning. Even if the device breaks down, the partition body 81 does not fall over and is safe.

Further, as shown in FIG. 19, the partition body 81 floating below the upper support member 11 can be moved to the initial position by the contact between the movement restricting portion 86 and the movement restricting contact portion 87 regardless of how the partition member 81 is pushed. The partition body 81 moves along the inclination of the upper support member 11 by gravity, and a plurality of permanent magnets 88 of the partition body 81 and a row of magnetic coils 89 provided in the movement restricting portion 86 are provided. And the linear motor 90 is automatically reconfigured.

Further, when the partition 81 faces the ridgeline 86a of the movement restricting portion 86 as shown in FIG. 18, the partition 81 can be driven freely by driving the linear motor 90. Further, the position detection sensors 91a, 91b
As a result, the linear motor 90 can be used as an automatic door, and can be displaced. Further, the use of the linear motor 90 eliminates contact portions, so that quietness and low dust can be achieved.

FIGS. 20 and 21 show a fifth embodiment of the present invention, in which a partition 92 is provided between a lower support member 12 and an upper support member 11 made of a magnetic material. ing. As shown in FIG. 21, the partition member 92 has an arc shape, and is configured to be able to shield the opening of the arc-shaped partition wall. And the partition body 92
Of the lower support member 12 and the upper support member 11
The distance L1 is larger than the distance L1 so that the partition 92 does not incline at a certain angle or more, that is, the partition 92 does not fall down.

A magnet unit 83 having an electromagnet 82 is mounted on the upper part of the partition 92 so as to face the upper support member 11 with a gap therebetween. It is supported in a non-contact state. A sensor 84 for detecting a gap state of a magnetic circuit formed by the magnet unit 83 and the upper support member 11 is provided above the partition 92, and an attraction force based on an output of the sensor 84 is provided. The exciting current of the electromagnet 82 is controlled via the control means 85 to stabilize the magnetic circuit.

On the other hand, on the lower surface of the upper support member 11, there is provided a movement restricting portion 86 which comes into contact with the upper portion of the partition member 92 and regulates the range of movement of the partition member 92. At each of the upper corners, a movement regulating contact portion 87 provided with a roller or the like which comes into contact with the movement regulating portion 86 by the movement of the partition member 92 is provided. Also, the upper support member 11
The thickness of the magnetic body is increased toward the partition position side of the partition body 92, and the attraction force of the magnet unit 83 is changed.

Drive roller devices 93a and 93b contacting the front side of the partition 92 at the left and right positions of the opening opened and closed by the partition 92 on the ridge 86a of the movement restricting portion 86.
Is provided.

In this case as well, the partition member 92 can be moved along the lower surface of the upper support member 11 with a gap between the partition member 92 and the upper support member 11. Is regulated. In addition, the partition 9
2 is at the position shown in FIG.
By driving 3a and 93b, the partition 92 can be driven freely. Moreover, since the partition member 92 has an arc shape, the partition member 92 has a depth, and the space between the upper support member 11 and the lower support member 12 prevents the partition member 92 from falling over geometrically. Further, the partition member 92 moves to a position where the thickness of the upper support member 11 is large due to a difference in suction force, and becomes a position facing the drive roller devices 93a and 93b. Therefore, the partition member 92 can be freely driven by driving the drive roller devices 93a and 93b, and can be pushed away. Furthermore, since a simple driving roller device is used, it is inexpensive and robust.

FIG. 22 is a view showing a sixth embodiment of the present invention. A plurality of (four in the figure) cord retracting devices 100 are attached to the upper support member 11.

The reel 1 is provided with the reel 1
The leading end of each cord 101 wound around the reel is fixed to the upper outer periphery of the partition 81. The pulling force of the reel 102 is changed to
1 acts as a pulling force between the partition body 81 and the upper support member 11, and the plurality of cord-retracting devices 100 pulls the upper support member 11 from a plurality of directions, and the partition body 8.
1 is located at a reference position where the forces finally balance. The rest of the structure relating to the levitation mechanism is the same as that of the fourth embodiment, and a description thereof will be omitted.

As shown in FIG. 23, each of the cord pulling devices 100 has a reel driving device 103 for changing the reference length of the cord 101 and a winding amount of the cord 101 measured. And a retraction force control mechanism 105 for changing the retraction force of the cord body 101 by the reel driving device 103 in accordance with the value of the retraction amount sensor 104. .

The reel 10 on which the cable body 101 is wound.
Reference numeral 2 is rotatably supported, and a winding amount sensor 104 such as an encoder is attached to the lower end of the reel 102. Further, a rotatable case 100a is rotatably supported by the cord retracting device 100, and a planetary gear device 100b provided in the rotatable case 100a.
The shaft 100c of the reel 102 is connected as an input shaft. The rotating case 100a is fixed to a motor output shaft 103a of the reel driving device 103, and the motor output shaft 103a is connected to a reference angle detection sensor 103d including an electric motor 103c and an encoder via a speed reducer 103b. ing.

On the other hand, a rotating pin 100d is mounted at an eccentric position on the output side of the planetary gear device 100b, and one end of a winding spring 100e is mounted on the rotating pin 100d. The end is attached to a fixing pin 100f fixed to the rotating case 100a. A coil spring 100g for initial restoration is mounted on the fixed pin 100f, and the other end of the coil spring 100g for initial restoration is engaged with an initial restoring force setting pin 100h fixed to the rotating case 100a. ing.

When the rope body 101 is pulled by pushing the partition body 81 and moving it from the reference position, the reel 102 is rotated by the rope body 101, and the rotation of the reel 102 causes the planetary gear device 100b to rotate. , The rotation pin 100d is rotated around the axis of the planetary gear device 100b against the spring force of the winding spring 100e.

When the rotating pin 100d is further rotated to rotate beyond the reference angle at which the initial restoring force setting pin 100h is installed, the rotating pin 100d engages with the initial restoring winding spring 100g. It moves against the spring force of the initial restoration winding spring 100g. Therefore, in this state, not only the winding spring 100e but also the restoring force of the winding spring 100g for initial restoration acts on the rotary pin 100d, and a restoring force for pulling the partition body 81 to the initial position is generated. Therefore, when the pulling force of the cord body 101 is released from the above state, the reel 1 is driven via the planetary gear device 100b by the restoring force of the initial restoration winding spring 100g.
02 rotates in the winding direction of the cord 101, and the cord 10
The partitioning body 81 is moved to the initial position side by the pull-in force of 1.

At this time, the rotation angle of the winding spring 100e is enlarged by a factor of ten through the planetary gear device 100b and transmitted to the reel 102, and the restoring force of the winding spring 100e on the reel 102 is reduced by a factor of ten. But as mentioned above,
Since the restoring force of the initial restoration winding spring 100g is also added to the rotating pin 100d,
01 is fully retracted.

The reference angle at which the initial restoring force setting pin 100h is set corresponds to the reference length of the cord 101, and the reel case 103 rotates the rotating case 100a while checking with the reference angle sensor 103d. Thus, the reference angle of the initial restoring force setting pin 100h can be changed, and thereby the reference length of the cord 101 can be changed.

As described above, when the cable body 101 is pulled out, the reel 1 is driven by the restoring force of the winding spring 100e.
02 is held by a rotational force acting in the winding direction so that the cord 101 is not loosened. Further, as described above, when the cord body 101 is pulled out longer than the reference length, a sufficient force to retract the partition body 81 is generated, and the retraction of the cord body retracting device 100 on the side where the partition body 81 retreats. The force immediately increases to generate a restoring force for returning the partition body 81 to the reference position.

Further, the position and posture of the partition body 81 can be calculated from the value of the winding amount sensor 104, and the retracting force control mechanism 105 controls the retracting force control mechanism 105 according to the position and posture of the partition body 81 by the cable body retracting device 100. By adjusting the retraction force of 101, the reference position and posture of the partition 81 can be changed, and the partition 81 can be manipulated freely.

As described above, the partition body 81 finally has the reference position where the tensile force of the cord body 101 is balanced, and can be set so as to return to the predetermined position and posture. In addition, when moving from the reference position, the retracting force of the cord retracting device 100 on the retreating side immediately increases, and a restoring force is generated, so that it can be easily restored to the reference position. Further, the position and orientation of the partition body 81 are calculated from the value of the winding amount sensor 104, the reference length of the cord body 101 is set, and the restoring force of the partition body 81 is adjusted.
Can be smoothly accelerated and decelerated. Further, as shown in FIG. 24, the reference position and posture of the partition body 81 are changed by changing the length of the cord body 101 between the partition body 81 and the cord body retracting device 100, and the partition body 81 is moved. It is also possible to provide an automatic door, a movable panel, a stage device, and the like that can be operated freely and can perform various movements.

In the above embodiment, the reel drive device 103 and the take-up amount sensor 104 are shown attached to all of the plurality of cord retracting devices 100. Only attached to partition 8
1 can be used only for opening and closing operations, and the partition body 81 can be an inexpensive automatic door. Further, in the above-described embodiment, the cable pulling device 100 is provided on the upper support member 11. However, the cable pulling device 100 is attached to the partition body 81, and the distal end of the cable rod 101 is moved upward. The same operation and effect can be obtained even if the fixing member is fixed to the support member 11.

FIG. 25 is a cross-sectional view of a drive mechanism according to a seventh embodiment of the present invention. FIG. 26 is a view showing a schematic configuration of the seventh embodiment. The support member is constituted by a ceiling.

That is, the door 110 is located below the ceiling 111 constituting the upper support member, is movable along the lower surface of the ceiling 111, and the magnet unit 83 having the electromagnet 82 is located above the door 110. In FIG. 25, two are mounted in the depth direction, facing the ceiling 111 via a gap, and the door 110 is supported in a non-contact state. A sensor 84 is also provided above the door 110. The sensor 84 detects the state of the gap in the magnetic circuit formed by the magnet unit 83 and the ceiling 111, and the output of the sensor 84 The exciting current of the electromagnet 82 is controlled by the attraction force control means 85 based on this, and the magnetic circuit is stabilized.

Further, in this embodiment, the floor 112 constitutes a lower support member, and the ceiling 111 and the floor 1
12, groove-shaped or ridge-shaped sill portions 113a and 113b constituting the movement restricting portion (the groove-shaped one is shown in the figure)
Are provided on the door 110, and the threshold portions 113a, 113
There is provided a copying section that follows the letter b. And the door 1
10 is the threshold 113a by the movement of the door 110,
The engagement state between 113b and the copying portion changes depending on the position,
It is configured such that the constraint condition of the movement of the door 110 changes.

That is, guide pins 114a and 114b projecting upward and downward are provided on the storage side of the door 110, and the guide pins 114a and 114b are always fitted to groove-shaped sill portions 113a and 113b, respectively. ing. Further, a groove-like copying portion 114c is formed only on the upper opening / closing side of the door 110, so that the door 110 is open.
Is fitted to the ridge 113c formed on the ceiling 111 only in the section that moves as a sliding door.
The ceiling 111 is provided with guide rollers 115a and 115b for sandwiching the door 110 from front and rear in a section where the door 110 starts to move out of the stored state.

Further, a pin pushing mechanism 116 and a groove pushing mechanism 117 are provided in the upper part of the door 110. Then, when the door 110 is in the state as shown in FIG.
4a and 114b are moved up and down with respect to each other,
1 and the hole 113b 'formed in the floor 112 (dotted line in FIG. 27), and when the door 110 is not rotating, the groove pushing mechanism is 117, the groove-like copying portion 114d
Are pushed out and can be engaged with the ridge 113c (dotted line in FIG. 28). Each of the pin pushing mechanism 116 and the groove pushing mechanism 117 is a solenoid 1
The guide pin 114 is connected to the guide pin 114 via a Scott Russell mechanism 116b, 116b including a link mechanism.
a, 114b or a groove-shaped copying portion 114d.

Therefore, the guide pins 114a, 11
4b is engaged with the threshold portions 113a and 113b,
The door 110 does not fall. And door 11
In FIG. 26, there are various forms such as a sliding door, a hinged door, a folding door, and a swinging door. In FIG. 26, when the door 110 moves, the fitting state of the sill portion and the copying portion changes, and the constraint condition of the movement of the door 110 is changed. Changes, and one door 110 can be variously configured.

That is, in the section in which the door 110 starts to move out of the stored state as a sliding door, the guide pins 114a and 114b protruding toward the storage side of the door 110 have the threshold 1
13a, 113b and guide roller 1
The front and rear of the door 110 are sandwiched between 15a and 115b. In the section where the door 110 moves as a sliding door, the guide pins 114a and 114b protruding up and down on the storage side of the door 110 are engaged with the sill portions 113a and 113b, and the groove-like copying on the upper opening and closing side of the door 110 is performed. The portion 114c is fitted to the ridge 113c of the ceiling 111. further,
When the door 110 is completely out and closed as a sliding door, the guide pin 11 provided on the storage side of the door 110 is opened.
4a and 114b are engaged with the threshold portions 113a and 113b, and the groove-shaped copying portion 11 on the upper opening / closing side of the door 110 is provided.
4c is disengaged from the ridge 113c of the ceiling 111,
The door 110 can also move as a hinged door.

Further, in the case of one door 110 having various forms such as a sliding door, a hinged door, a folding door, and a swing door, in the present embodiment, the threshold portions 113a and 113 are used.
b and the guide pins 114a and 114b can be changed to forcefully change the constraint condition of the movement of the door 110, so that the constraint condition is increased so that the shape is fixed so that only one form is used. Door 1
It is also possible to set the lock 10 so that it does not move.

That is, with the door 110 protruding, the pin pushing mechanism 116 is operated to guide the guide pins 114a, 11a.
4b is further engaged with the hole 113a 'formed in the ceiling 111 and the hole 113b' formed in the floor 112 to form a swing axis, and the form is fixed exclusively for the opening door, and the door 110 is not rotated. In this state, the groove pushing mechanism 114 can be used to always engage the groove-like copying portion 114d with the ridge 113c of the ceiling 111 to fix the form exclusively for the sliding door. Also,
With the door 110 closed, both the pin pushing mechanism 116 and the groove pushing mechanism 117 can be used to lock the door 110 without moving.

As described above, in this embodiment,
When the door 110 moves, the engagement state between the threshold portions 113a and 113b and the guide pins 114a and 114b changes, and the constraint condition for the movement of the door 110 changes. Therefore, a single door can be used as a sliding door, an open door, a folding door, or a swing. Various forms, such as a door, can be used, and various uses can be considered by using a pin pushing mechanism or a groove pushing mechanism.

For example, a door is usually operated so as not to open too large to improve the efficiency of air conditioning inside the building, and a drive roller or the like is provided so that a person in a wheelchair touches the foot switch of the door. Thereby, it can be opened and closed as an automatic door of the sliding door. Thereby, both energy saving and barrier-free can be realized.

Further, in the above embodiment, the arithmetic circuit for performing the magnetic levitation control is described in analog control.
This does not limit analog and digital control methods at all, and digital control may be applied to the arithmetic circuit.

Further, the power amplifier is of a voltage type, but this does not limit the type of the power amplifier at all, and may be of a current type or a PWM type.

In addition, various modifications can be made without departing from the gist of the present invention.

[0116]

As described above, according to the present invention, since the partition body is supported in a non-contact manner by the magnet unit, there is no increase in operation force due to friction, a step of the upper support member, and a displacement, and the partition unit is not required. Good operability can be obtained regardless of the weight of the body. Furthermore, not only is there no noise or dust generation, but also there is no damage due to abrasion or the falling of the partition body, and a long-life and highly reliable device can be obtained. In addition, the partition body is guided by magnetic force caused by the shape of the upper support member,
Since the partition body moves two-dimensionally even with an operation force other than the specific direction, obstacles in the partition body can be avoided, and convenience is improved. Further, the reaction force from the partition body is reduced, so that a soft operation feeling can be obtained.

[Brief description of the drawings]

FIG. 1 is a partially cutaway perspective view showing the overall structure of a first embodiment of the present invention.

FIG. 2 is a plan view of the main part.

FIG. 3 is a front view of the main part.

FIG. 4 is a side view of the main part.

FIG. 5 is a side view of the magnetic unit for explaining the magnetic circuit according to the first embodiment of the present invention.

FIG. 6 is a block diagram of a control device according to the first embodiment of the present invention.

FIG. 7 is a block diagram of each mode control voltage calculation circuit relating to a vertical movement mode and a pitch mode in the control voltage calculation circuit of the control device.

FIG. 8 is a plan view for explaining the operation of the first embodiment.

FIG. 9 is a partially cutaway perspective view showing the overall structure of the second embodiment of the present invention.

FIG. 10 is a plan view of the main part.

FIG. 11 is a front view of the main part.

FIG. 12 is a side view of the main part.

FIG. 13 is a plan view illustrating the operation of the second embodiment.

FIG. 14 is a front view showing the overall configuration of the third embodiment of the present invention.

FIG. 15 is a side view of the main part.

FIG. 16 is a perspective view showing another embodiment of the magnet unit of the present invention.

FIG. 17 is a longitudinal sectional side view of a fourth embodiment of the present invention.

FIG. 18 is a perspective view showing a schematic configuration of a fourth embodiment of the present invention.

FIG. 19 is an operation explanatory view of the fourth embodiment of the present invention.

FIG. 20 is a longitudinal sectional side view of a fifth embodiment of the present invention.

FIG. 21 is a perspective view showing a schematic configuration of a fifth embodiment of the present invention.

FIG. 22 is a schematic configuration diagram of a fifth embodiment of the present invention.

FIG. 23 is a detailed view of a drive mechanism according to a fifth embodiment of the present invention.

FIG. 24 is an operation explanatory view of the fifth embodiment of the present invention.

FIG. 25 is a vertical sectional side view of a sixth embodiment of the present invention.

FIG. 26 is a perspective view showing a schematic configuration of a sixth embodiment of the present invention.

FIG. 27 is a sectional view taken along the line AA of FIG. 26;

FIG. 28 is a sectional view taken along the line BB of FIG. 26;

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 11 Upper support member 12 Lower support member 13 Divider 14 Ceiling 15, 15a Guide rail 16 Plane correction member 17 Floor 18 Groove 19 Upper guide groove 20 Bottom frame 21 Side frame 22 Upper frame 22a Upper base 22b Lower base 23 Frame 24 Partition plate 30A, 30B, 30C, 30D, 30E, 30F, 3
0G, 30H Magnet unit 31 Base plate 32 Permanent magnets 33a, 33b, electromagnets 34a, 34b Iron core 35a, 35b Coil 36 Solid lubricant 37, 37a Cooling fin 38 Power amplifier 40 Control unit 41 Power supply unit 42 Sensor unit 43 Arithmetic circuit 44 Constant Voltage generating circuit 45 Current detector 51 Fixed base 53 Guide shoe 54a, 54b, 54c, 54d Gap sensor 56 Guard member 58a, 58b Guide wheel 63 Floating gap length deviation coordinate conversion circuit 64 Excitation current deviation coordinate conversion circuit 65 Control voltage calculation circuit 65a Vertical movement mode control voltage calculation circuit 65b Pitch mode control voltage calculation circuit 66 Control voltage coordinate reverse conversion circuit 71 Gain compensator 72 Current deviation target value generator 158 Support wheel 80, 170 Wall 81, 92 Partition body 82 Electromagnet 83 Magnet unit 85 Suction force control Means 86 Movement restricting part 87 Movement restricting contact part 89 Magnetic coil 90 Linear motor 93a, 93b Driving roller device 100 Cording wire retracting device 100a Rotating case 100d Rotating pin 100e Winding spring 100f Fixed pin 100g Winding spring for initial restoration 100h Initial Restoring force setting pin 101 Cord body 102 Reel 110 Door 113a, 113b Sill part 114a, 114b Guide pin 115a, 115b Guide roller 116 Pin pushing mechanism 117 Groove pushing mechanism

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Shin Murakami 1 Toshiba-cho, Fuchu-shi, Tokyo Inside the Toshiba Fuchu Plant (72) Inventor Yoshinobu Ishikawa 1-Toshiba-cho, Fuchu-shi, Tokyo Fuchu Toshiba Corporation In-house F-term (reference) 2E034 AA02 BA01 2E052 AA01 CA07 DA02 DB02 EA15 KA01 KA14 5H641 BB10 GG02 GG07 HH03 HH11 JA05 JA09 JA10

Claims (18)

[Claims] An upper support member made of a magnetic material; a partition member located below the upper support member and movable along a lower surface of the upper support member; and a partition member mounted on the partition member. A magnet unit having an electromagnet facing the upper support member via a gap and supporting the partition body in a non-contact manner; and a state of the magnetic circuit formed by the magnet unit with the gap and the upper support member in the gap. A suction force control means for controlling an exciting current of the electromagnet based on an output of the sensor portion to stabilize the magnetic circuit; and an upper support member located below the partition body. And a lower support member having a function of geometrically preventing the partition body from falling over by the distance of the partition body. 2. A lower support member provided with a magnetic material, and a downward force is applied to the partition member which is mounted on the partition member, faces the lower support member via a lower gap, and is supported in a non-contact manner. A magnet unit to be driven; a sensor unit for detecting a state of the magnetic circuit formed by the magnet unit with the gap and the lower support member in the lower gap; and controlling an excitation current of the electromagnet based on an output of the sensor unit. Suction force control means to stabilize the magnetic circuit and
The partition member supporting device according to claim 1, further comprising: 3. The partition member supporting device according to claim 1, wherein the magnet unit includes a permanent magnet arranged so as to share a magnetic path with the magnetic flux of the electromagnet in the gap. 4. The partition body supporting device according to claim 1, wherein the magnet unit is composed of a pair of U-shaped composite magnets each having an electromagnet and a permanent magnet. 5. The upper surface of an upper base of an upper frame of a partition,
Alternatively, a plurality of magnet units are provided on both sides of the lower surface of the bottom frame, respectively, and the plurality of magnet units on each side are arranged to be shifted back and forth with respect to the center axis of the guide rail. The partition body support device according to any one of claims 1 to 4, wherein 6. An upper surface of an upper base of an upper frame of a partition body,
Alternatively, a guide magnet unit facing the inner side surface of the guide rail is provided on the lower surface of the bottom frame separately from the magnet unit for supporting the partition body. A partition body support device according to any one of the above. 7. The attraction force control means includes zero power control means for stabilizing a magnetic circuit in a state where the exciting current of the electromagnet becomes zero based on the output of the sensor section. The partition body support device according to claim 1. 8. The partition body support device according to claim 1, wherein the upper support member is inclined downward toward the initial position side of the partition body. 9. The partition support device according to claim 1, wherein the magnetic body of the upper support member has a change in thickness so as to cause a change in the attraction force of the magnet unit. 10. A plurality of cable pull-in devices each having a reel, provided on one of the upper support member and the partition, and wound around each of the reels, and an end portion of the upper support member or the partition. A rope body fixed to the other side, and the partition body is attracted from a plurality of directions by the plurality of rope bodies, and the partition body is finally located at a reference position where the force of each rope body is balanced. The partition body support device according to claim 1, wherein the partition member support device is configured as described above. 11. The partition body supporting device according to claim 10, wherein the cord body retraction device has a winding spring that applies a restoring force to the reel in the cord body winding direction. 12. The partition body according to claim 11, wherein the cable body retracting device has a winding spring for initial restoration which increases a restoring force when the cable body becomes longer than a reference length. Support device. 13. A retracting device for a cord body, comprising: a winding amount sensor for measuring a winding amount of the cord body; and a retraction force control for changing a retracting force of the cord body in accordance with a value of the winding amount sensor. 13. The partition body supporting device according to claim 10, further comprising a mechanism. 14. An upper support member having a movement restricting portion for restricting the movement of the partition member, wherein the partition member abuts on the movement restricting portion to control relative movement between the upper support member and the partition member. 2. The partition body supporting device according to claim 1, further comprising a movement restricting contact portion for restricting. 15. A magnetic coil is provided on one of the ridge line of the movement restricting portion and one of the ridge lines of the partition body, and a permanent magnet having SN poles arranged alternately is provided on the other ridge line. 15. The linear motor according to claim 14, wherein the magnetic coil and the permanent magnet form a linear motor.
The partition body supporting device as described in the above. 16. A drive roller device, wherein one of the one ridge line of the movement restricting portion and the one ridge line of the partition body is provided with a drive roller device which is in contact with the other ridge line. The partition body supporting device as described in the above. 17. The movement restricting portion is a groove-shaped or ridged sill portion, and the movement restricting contact portion is a plurality of copying portions that move along the sill portion, and the sill portion is moved by moving a partition. 15. The partition body supporting device according to claim 14, wherein an engagement state between the partition member and the copying portion is changed, and a constraint condition of the partition member is changed. 18. The partition body is provided on the upper support member and the lower support member by protruding upward and downward a pin-shaped copying portion that engages with a sill provided on the upper support member and the lower support member. And a groove pushing mechanism for selectively engaging the copying portion with a sill provided on the upper support member. The partition body supporting device according to claim 17, wherein: