JP2005003621A - Spatial supporting method and device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a device which is relatively small, and can suppress increase in power consumption and support a larger object than conventional ones at a certain position in a space using a magnetic force without contacting to the object. <P>SOLUTION: A permanent magnet is embedded in an object. Gravity applied to the object is supported by a permanent magnet located under the object or permanent magnets located over and under the object without contacting to the object. The device detects position and attitude of the object, and controls them by adjusting electric currents of electromagnets located under and over the object. The device comprises the permanent magnets, a plurality of the electromagnets, a detector detecting position and attitude of the object, and a controller adjusting the electric currents of electromagnets based on the detected result. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

[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)

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. 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.

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