JP2005003621A - Space support method and apparatus - Google Patents

Space support method and apparatus Download PDF

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Publication number
JP2005003621A
JP2005003621A JP2003170085A JP2003170085A JP2005003621A JP 2005003621 A JP2005003621 A JP 2005003621A JP 2003170085 A JP2003170085 A JP 2003170085A JP 2003170085 A JP2003170085 A JP 2003170085A JP 2005003621 A JP2005003621 A JP 2005003621A
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Japan
Prior art keywords
permanent magnet
electromagnets
orientation
support
magnetic force
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JP2003170085A
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Japanese (ja)
Inventor
Yoshiyuki Kawamura
良行 河村
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Fukuoka Institute of Technology
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Fukuoka Institute of Technology
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Priority to JP2003170085A priority Critical patent/JP2005003621A/en
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Abstract

【課題】比較的小型の装置で、消費電力の増大を抑え、かつ従来よりも大きな対象物を、空間の所定位置に、非接触で磁力により支持する。
【解決手段】物体に永久磁石を内蔵させ、該物体の鉛直方向下方または鉛直方向下方と上方に固設した永久磁石の磁力により該物体に作用する重力を非接触で支持し、該物体の位置および姿勢を検出するとともに、該物体の下方と上方に固設した複数の電磁石の電流を調整して、該物体の位置および姿勢を制御する。上記各永久磁石および複数の電磁石と、物体の位置および姿勢を検出する検出器と、該検出結果に基づいて各電磁石の電流を調整する制御装置とで構成した。
【選択図】 図4
A relatively small device that suppresses an increase in power consumption and supports an object larger than a conventional object at a predetermined position in space by a magnetic force without contact.
A permanent magnet is built in an object, and gravity acting on the object is supported in a non-contact manner by a magnetic force of the permanent magnet fixed vertically below or vertically below and above the object. And the position of the object are controlled by adjusting the currents of a plurality of electromagnets fixed below and above the object. Each permanent magnet and a plurality of electromagnets, a detector that detects the position and orientation of the object, and a control device that adjusts the current of each electromagnet based on the detection result.
[Selection] Figure 4

Description

【0001】
【発明の属する技術分野】
本発明は、物体を空間の所定位置に、非接触で磁力により支持する方法および装置に関するものである。
【0002】
【従来の技術】
物体を空間の所定位置に非接触で支持する装置として、磁力支持天秤装置がある。この装置は、風洞実験における模型の支持などに使用される。模型の浮上および位置制御は、電磁石の電流調整により行われる。磁力支持天秤装置で模型を支持すると、支持装置と気流との干渉が避けられ、飛行物体や建造物などに作用する空気力が、支持装置の影響なしに測定でき、理想的な風洞実験を行うことができる。
【0003】
【発明が解決しようとする課題】
従来の磁気浮上技術では、浮上対象物の重量が増すと大型の電磁石を必要とし、装置全体が大型化するとともに消費電力が増大するため、対象物が小型のものや浮上高さが微小なものに限られていた。
そこで本発明が解決しようとする課題は、風洞実験に使用される磁力支持天秤装置などにおいて、比較的小型の装置で、消費電力の増大を抑え、かつ従来よりも大きな対象物を、空間の所定位置に、非接触で磁力により支持する方法および装置を提供することである。
【0004】
【課題を解決するための手段】
上記課題を解決するための本発明法は、物体に永久磁石を内蔵させ、該物体の鉛直方向下方または鉛直方向下方と上方に固設した永久磁石の磁力により該物体に作用する重力を非接触で支持し、該物体の位置および姿勢を検出するとともに、該物体の下方と上方に固設した複数の電磁石の電流を調整して、該物体の位置および姿勢を制御することを特徴とする空間支持方法である。
【0005】
また、上記課題を解決するための本発明装置は、永久磁石を内蔵する物体の支持位置の鉛直方向下方または鉛直方向下方と上方に固設した永久磁石と、前記支持位置の上方と下方に固設した複数の電磁石と、前記支持位置に置かれた物体の位置および姿勢を検出する検出器と、該検出結果に基づいて前記各電磁石の電流を調整する制御装置とで構成したことを特徴とする空間支持装置である。
【0006】
【発明の実施の形態】
本発明法は、図1のように、支持しようとする物体1に小型永久磁石2を内蔵させ、物体1の鉛直方向下方に固設した大型永久磁石3の磁力により物体1に作用する重力を非接触で支持し、物体1の下方に固設した複数の電磁石5および物体1の上方に固設した複数の電磁石6の電流を調整して、物体の位置および姿勢を制御する。制御に際しては、物体の位置および姿勢を検出し、該検出結果によって、所定の位置および姿勢になるように電流を調整する。
【0007】
また本発明法は、図2のように、物体1の鉛直方向下方に固設した大型永久磁石3および鉛直方向上方に固設した大型永久磁石4の磁力により、物体1に作用する重力を非接触で支持することもできる。物体1の位置および姿勢の制御は、上記図1の場合と同様、電磁石5,6を調整して行う。
【0008】
図1の例では、物体1に内蔵する小型永久磁石2と下方の大型永久磁石3の反発力によって物体1を支持し、図2の例では、小型永久磁石2と下方の大型永久磁石3の反発力および上方の大型永久磁石4の吸引力によって、物体1を支持する。すなわち、物体1の支持力は、図1の例では、下方に固設した大型永久磁石3の反発力であり、図2の例では、該反発力と上方に固設した大型永久磁石4の吸引力との和である。
【0009】
物体1に作用する重力を支持するには、上記これら支持力と、物体1および小型永久磁石2に作用する重力とが釣り合うように、大型永久磁石3,4の磁力を調整するか、大型永久磁石3,4の鉛直方向位置を調整する。また、磁力調整と鉛直方向位置調整の双方を行ってもよい。磁力調整は、種々の永久磁石の中から、使用する大型永久磁石3,4を選択することで行う。
【0010】
図1の例では、物体1に作用する重力を下方の永久磁石3の反発力でのみ支持するのに対し、図2の例では、下方の永久磁石3の反発力と上方の永久磁石4の吸引力の双方で支持するので、図2の例の方が電磁石5,6の負荷が軽減する。
したがって、風洞実験における磁力支持天秤装置に適用して、模型の物体を一定高さに支持する場合、軽い模型に対しては図1でよいが、図2ではある程度重い模型の場合にも対応できる。
【0011】
図1および図2の各例において、電磁石5は、図5の例のように水平方向に複数個(本例は4個)配置している。電磁石6も同様に配置して、各電磁石5a〜5d,6a〜6dの電流調整により、物体1の水平方向位置と姿勢を制御するとともに、鉛直方向位置も制御する。
これらの制御において、電流調整は物体1の位置および姿勢を検出して行う。図1の例に対応する制御の構成例を図3に、図2の例に対応する構成例を図4に示す。図3および図4の例も、各電磁石5,6は図5のように配置している。
【0012】
図3および図4において、物体1の上面中央に蛍光体などからなるマーカー10を設け、鉛直方向上方に設けた位置検出器7で検出されるマーカー10の位置が所定範囲となるように、位置制御装置11および電流制御装置12により、各電磁石5a,5b,5c,5d,6a,6b,6c,6dの電流を調整する。また、物体1の水平方向に受光器8および投光器9を対向して設け、投光器9から発した光束の一部を物体1が遮って、受光器8の受ける光量が所定範囲となるよう、同様に電流を調整する。
【0013】
本発明装置は、図3のように、小型永久磁石2を内蔵する物体1の支持位置の鉛直方向下方に固設した大型永久磁石3と、前記支持位置の上方と下方に固設した複数の電磁石5,6と、前記支持位置に置かれた物体1の位置および姿勢を検出する検出器と、該検出結果に基づいて前記各電磁石5,6の電流を調整する制御装置とで構成する。また図4のように、さらに物体1の支持位置の鉛直方向上方に大型永久磁石4を固設した構成とすることもできる。
【0014】
図3および図4の例では、物体1の水平方向位置変動を位置検出器7で検出し、鉛直方向位置変動を受光器8および投光器9により検出し、位置制御装置11で演算し電流制御装置12からの指令で電流調整する。なお、本例では物体1が鉛直軸まわりに回動した場合は、該回動を検出できないが、その場合マーカー10を2個設けることにより検出可能となり、鉛直軸非対称の物体1についても姿勢制御を行うことができる。
【0015】
【発明の効果】
本発明によれば、比較的小型の装置で、消費電力の増大を抑え、かつ従来よりも大きな対象物を、空間の所定位置に、非接触で磁力により安定して支持することができる。
このような本発明は、上記風洞実験に使用される磁力支持天秤装置のほか、非接触防振装置、磁気軸受、科学館展示用磁器浮上装置、空気中放射線の測定装置など、多くの用途に適用して多大の効果が期待される。
【図面の簡単な説明】
【図1】本発明例を示す説明図である。
【図2】本発明の別の例を示す説明図である。
【図3】本発明装置の例を示す説明図である。
【図4】本発明装置の別の例を示す説明図である。
【図5】本発明における磁石の配置例を示す平面図である。
【符号の説明】
1:物体
2:小型永久磁石
3,4:大型永久磁石
5,6:電磁石
7:位置検出器
8:受光器
9:投光器
10:マーカー
11:位置制御装置
12:電流制御装置
[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a method and apparatus for supporting an object at a predetermined position in space by a magnetic force without contact.
[0002]
[Prior art]
As a device for supporting an object at a predetermined position in a space without contact, there is a magnetic force support balance device. This device is used for supporting models in wind tunnel experiments. Model levitation and position control are performed by adjusting the current of the electromagnet. When the model is supported by the magnetic support balance device, interference between the support device and the air current can be avoided, and the aerodynamic force acting on flying objects and buildings can be measured without the influence of the support device, and ideal wind tunnel experiments are performed. be able to.
[0003]
[Problems to be solved by the invention]
In the conventional magnetic levitation technology, a large electromagnet is required when the weight of the levitated object increases, which increases the overall size and power consumption. Therefore, the object is small and the levitating height is small. It was limited to.
Therefore, the problem to be solved by the present invention is to reduce the increase in power consumption with a relatively small device, such as a magnetic support balance device used in a wind tunnel experiment, and to set a larger object than a conventional one in a predetermined space. To provide a method and apparatus for supporting a position in a non-contact manner by magnetic force.
[0004]
[Means for Solving the Problems]
The method of the present invention for solving the above-mentioned problem is to make a permanent magnet built in an object, and the gravity acting on the object is non-contacted by the magnetic force of the permanent magnet fixed vertically below or vertically below and above the object. The position and orientation of the object are detected and the position and orientation of the object are controlled by adjusting the currents of a plurality of electromagnets fixed below and above the object. It is a support method.
[0005]
In order to solve the above problems, the device of the present invention includes a permanent magnet fixed vertically below or vertically below and above a support position of an object containing a permanent magnet, and fixed above and below the support position. A plurality of electromagnets provided; a detector that detects the position and orientation of an object placed at the support position; and a control device that adjusts the current of each electromagnet based on the detection result. It is a space support device.
[0006]
DETAILED DESCRIPTION OF THE INVENTION
In the method of the present invention, as shown in FIG. 1, a small permanent magnet 2 is built in an object 1 to be supported, and the gravity acting on the object 1 is exerted by the magnetic force of a large permanent magnet 3 fixed below the object 1 in the vertical direction. The position and posture of the object are controlled by adjusting the currents of the plurality of electromagnets 5 that are supported in a non-contact manner and fixed below the object 1 and the plurality of electromagnets 6 fixed above the object 1. In the control, the position and orientation of the object are detected, and the current is adjusted so as to obtain a predetermined position and orientation based on the detection result.
[0007]
In addition, as shown in FIG. 2, the method of the present invention prevents gravity acting on the object 1 by the magnetic force of the large permanent magnet 3 fixed below the object 1 in the vertical direction and the large permanent magnet 4 fixed above the object in the vertical direction. It can also be supported by contact. The position and orientation of the object 1 are controlled by adjusting the electromagnets 5 and 6 as in the case of FIG.
[0008]
In the example of FIG. 1, the object 1 is supported by the repulsive force of the small permanent magnet 2 built in the object 1 and the large permanent magnet 3 below, and in the example of FIG. 2, the small permanent magnet 2 and the large large permanent magnet 3 below are supported. The object 1 is supported by the repulsive force and the attractive force of the upper large permanent magnet 4. That is, the supporting force of the object 1 is the repulsive force of the large permanent magnet 3 fixed downward in the example of FIG. 1, and the repulsive force and the large permanent magnet 4 fixed upward in the example of FIG. It is the sum of the suction power.
[0009]
In order to support the gravity acting on the object 1, the magnetic force of the large permanent magnets 3, 4 is adjusted so that the above supporting force and the gravity acting on the object 1 and the small permanent magnet 2 are balanced, or the large permanent The vertical position of the magnets 3 and 4 is adjusted. Further, both magnetic force adjustment and vertical position adjustment may be performed. Magnetic force adjustment is performed by selecting large permanent magnets 3 and 4 to be used from various permanent magnets.
[0010]
In the example of FIG. 1, gravity acting on the object 1 is supported only by the repulsive force of the lower permanent magnet 3, whereas in the example of FIG. 2, the repulsive force of the lower permanent magnet 3 and the upper permanent magnet 4 Since it is supported by both attractive forces, the load of the electromagnets 5 and 6 is reduced in the example of FIG.
Therefore, when applied to a magnetic support balance device in a wind tunnel experiment to support a model object at a certain height, FIG. 1 may be used for a light model, but FIG. .
[0011]
In each example of FIGS. 1 and 2, a plurality of electromagnets 5 (four in this example) are arranged in the horizontal direction as in the example of FIG. The electromagnet 6 is similarly arranged, and the horizontal position and posture of the object 1 are controlled and the vertical position is also controlled by adjusting the currents of the electromagnets 5a to 5d and 6a to 6d.
In these controls, current adjustment is performed by detecting the position and orientation of the object 1. A control configuration example corresponding to the example of FIG. 1 is shown in FIG. 3, and a configuration example corresponding to the example of FIG. 2 is shown in FIG. 3 and 4 also, the electromagnets 5 and 6 are arranged as shown in FIG.
[0012]
3 and 4, a marker 10 made of a phosphor or the like is provided at the center of the upper surface of the object 1, and the position of the marker 10 detected by the position detector 7 provided vertically above is within a predetermined range. The current of each electromagnet 5a, 5b, 5c, 5d, 6a, 6b, 6c, 6d is adjusted by the control device 11 and the current control device 12. Similarly, the light receiver 8 and the light projector 9 are provided facing each other in the horizontal direction of the object 1 so that a part of the light beam emitted from the light projector 9 is blocked by the object 1 and the light amount received by the light receiver 8 falls within a predetermined range. To adjust the current.
[0013]
As shown in FIG. 3, the device according to the present invention includes a large permanent magnet 3 fixed vertically below a support position of an object 1 containing a small permanent magnet 2 and a plurality of fixed magnets fixed above and below the support position. The electromagnets 5 and 6 are configured by a detector that detects the position and orientation of the object 1 placed at the support position, and a control device that adjusts the current of the electromagnets 5 and 6 based on the detection result. Further, as shown in FIG. 4, a configuration in which the large permanent magnet 4 is fixedly provided above the support position of the object 1 in the vertical direction can also be adopted.
[0014]
3 and 4, the horizontal position fluctuation of the object 1 is detected by the position detector 7, the vertical position fluctuation is detected by the light receiver 8 and the light projector 9, and is calculated by the position control device 11, and the current control device. The current is adjusted by the command from No. 12. In this example, when the object 1 is rotated about the vertical axis, the rotation cannot be detected. In this case, the detection can be performed by providing two markers 10, and the attitude control is also performed for the vertical axis asymmetric object 1. It can be performed.
[0015]
【The invention's effect】
According to the present invention, an increase in power consumption can be suppressed with a relatively small apparatus, and an object larger than the conventional one can be stably supported by a magnetic force at a predetermined position in a space without contact.
In addition to the magnetic support balance device used in the wind tunnel experiment, the present invention has many applications such as a non-contact vibration isolator, a magnetic bearing, a scientific levitation porcelain levitation device, and an air radiation measurement device. Applying it is expected to have a great effect.
[Brief description of the drawings]
FIG. 1 is an explanatory diagram showing an example of the present invention.
FIG. 2 is an explanatory diagram showing another example of the present invention.
FIG. 3 is an explanatory diagram showing an example of the device of the present invention.
FIG. 4 is an explanatory view showing another example of the device of the present invention.
FIG. 5 is a plan view showing an example of arrangement of magnets in the present invention.
[Explanation of symbols]
1: Object 2: Small permanent magnet 3, 4: Large permanent magnet 5, 6: Electromagnet 7: Position detector 8: Light receiver 9: Light projector 10: Marker 11: Position control device 12: Current control device

Claims (2)

物体に永久磁石を内蔵させ、該物体の鉛直方向下方または鉛直方向下方と上方に固設した永久磁石の磁力により該物体に作用する重力を非接触で支持し、該物体の位置および姿勢を検出するとともに、該物体の下方と上方に固設した複数の電磁石の電流を調整して、該物体の位置および姿勢を制御することを特徴とする空間支持方法。A permanent magnet is built into the object, and the gravity acting on the object is supported in a non-contact manner by the magnetic force of the permanent magnet fixed vertically below or above and below the object, and the position and orientation of the object are detected. And adjusting the currents of a plurality of electromagnets fixed below and above the object to control the position and orientation of the object. 永久磁石を内蔵する物体の支持位置の鉛直方向下方または鉛直方向下方と上方に固設した永久磁石と、前記支持位置の上方と下方に固設した複数の電磁石と、前記支持位置に置かれた物体の位置および姿勢を検出する検出器と、該検出結果に基づいて前記各電磁石の電流を調整する制御装置とで構成したことを特徴とする空間支持装置。A permanent magnet fixed vertically below or vertically below and above the support position of the object containing the permanent magnet, a plurality of electromagnets fixed above and below the support position, and placed at the support position A space support device comprising: a detector that detects the position and orientation of an object; and a control device that adjusts the current of each electromagnet based on the detection result.
JP2003170085A 2003-06-13 2003-06-13 Space support method and apparatus Pending JP2005003621A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2007022892A1 (en) * 2005-08-26 2007-03-01 Bayerische Motoren Werke Aktiengesellschaft Test bed and method for aerodynamic measurements on an object
JP2010164494A (en) * 2009-01-17 2010-07-29 Saitama Univ Wind tunnel testing device of rotating spherical body

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2007022892A1 (en) * 2005-08-26 2007-03-01 Bayerische Motoren Werke Aktiengesellschaft Test bed and method for aerodynamic measurements on an object
US7614291B2 (en) 2005-08-26 2009-11-10 Bayerische Motoren Werke Aktiengesellschaft Test bed and method for aerodynamic measurements on an object
JP2010164494A (en) * 2009-01-17 2010-07-29 Saitama Univ Wind tunnel testing device of rotating spherical body

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