JP2549156B2 - Truck deviation prevention device in magnetic levitation transportation device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention levitates a trolley by a magnetic levitation magnet and runs or stops the trolley by a propulsive force given by a thrust applying means to convey a desired article. The present invention relates to a trolley deviation prevention device in a magnetic levitation transfer device.

[Conventional technology]

The magnetic levitation transfer device suspends the bogie without contact by a levitation magnet on a levitation guide rail laid on the ceiling of a factory, and runs the trolley with the propulsive force given by a thrust applying means such as a linear motor to obtain the desired article. Is to be transported.

A ground primary type linear motor as an example of the above-mentioned thrust applying means is provided with coils (windings) of the linear motor as a primary side on the ground side at a constant interval, and an induction current as a secondary side on the vehicle for flowing an induced current. A reaction plate made of a conductor is arranged to supply electric power to a coil on the ground to obtain thrust.

Further, the levitation magnets are provided at four corners of the dolly, and the dolly is floated by an attractive force between the levitation magnet and a rail made of a ferromagnetic material provided on the levitation guide rail.

[Problems to be Solved by the Invention]

Conventionally, the attachment of the levitation magnet to the dolly is generally fixed firmly at the four corners of the dolly. However, in the case where the levitation magnet is fixed to such a dolly, inconvenience occurs in the portion where the rail is curved.

In order to prevent such a problem, a steering in which a levitation magnet unit that integrates two levitation magnets is attached to the front and rear positions on the center line in the width direction of the bogie so that the levitation magnet unit can turn horizontally and vertically with respect to the vehicle body Although it is preferable to provide the mechanism portion and the seesaw mechanism portion, if the horizontal turning angle becomes excessively large, the carriage may be detached from the traveling guide rail and the carriage or the rail may be damaged.

Further, when the bogie is not in the levitating operation, particularly in the case of landing, if the beam of the magnet unit turns, the bogie may be separated from the guide rail and damaged.

[Means for solving the problem]

In order to solve the above problems, in the present invention,
Of the levitation magnets installed in the upper four corners of the dolly, let the two front and rear right magnets be attracted to the lower surface of the right rail made of ferromagnetic material of the track, and the two front and rear left magnets to the lower surface of the left rail parallel to the right rail. The following trolley deviation preventing device is provided for the magnetic levitation transport device that floats the trolley and causes the levitation trolley to travel along a trajectory including a curve point. The trolley deviation prevention device is a beam perpendicular to the rail,
The upper part of the bogie includes a steering mechanism including a horizontal axis that supports the midpoint of the beam centered between the rails so that the beam can be vertically swung, and a vertical axis that horizontally supports the beam including the horizontal axis. Front and left levitation magnets are attached to the beams of the front steering mechanism, rear left and right levitation magnets are attached to the beams of the rear steering mechanism, and the horizontal turning range of the beams is provided to the front and rear steering mechanism units. A stopper for restricting is provided, and this stopper is arranged at an excessive turning prevention point of the beam when traveling at a curve point.

In addition, it is preferable that the trolley deviation preventing device also prevent deviation between the guide rollers provided on both sides of the carriage and the pair of left and right guide roller guiding guide walls provided on both sides of the track. To prevent deviation at this position, a guide portion that functions as a stopper is provided on the guide wall, and the guide portion restricts the movement of the guide roller vertically and horizontally.

[Action]

Since the present invention has the above-described configuration, the center of the levitation magnets on the left and right of the steering mechanism is on the straight line perpendicular to the center line of the trolley while the trolley is passing through the linear part of the rail, They are facing each other correctly.

Also, when the bogie comes to the curved part of the rail, the levitation magnet unit turns with respect to the bogie due to the left and right levitation magnets of the steering mechanism and the attraction force of the rail, and the left and right levitation magnets follow the curved rail to set the correct position. keep.

In this way, when the truck passing through the curved portion enters the straight portion of the rail, the steering mechanism portion returns to its original position. At this time, if the steering mechanism section is provided with a cushioning means such as a spring or a damper, the restoration will be more reliable.

In addition, when the dolly as described above approaches the curved part from the straight part of the rail or when the steering mechanism part tries to turn more than necessary while passing the curve,
The stopper prevents further rotation to prevent the carriage from deviating.

Also, if the stopper is damaged or the floating magnet is landing and the guide force is not working on the rail,
The guide roller and the guide portion of the stopper mechanism provided on the guide wall prevent the carriage from departing.

〔Example〕

In the embodiment shown in the drawings, reference numeral 1 denotes a bracket arranged at an appropriate interval on a ceiling of a factory or the like, and left and right parallel rails 2 made of a ferromagnetic material are fixed to the lower surface of the bracket 1.

A guide wall 3 is arranged outside each of the rails 2. The guide wall 3 and each rail 2 are kept at a constant distance, and the upper portion of the guide wall 3 is fixed to the bracket 1. A stopper mechanism A for receiving the guide rollers 18 and 19 to be described later and preventing the carriage 5 from departing is provided.

This stopper mechanism A is, as shown in FIG. 1, a guide roller.
Guide parts 4a and 4b located on both sides of 19 and the guide rollers
It is composed of guide portions 4c and 4d positioned above and below the 18.

At the front and rear positions on the upper surface of the dolly 5, steering mechanism portions 6 each composed of a floating magnet unit are arranged.

Each of the above magnet units has a floating magnet 10 provided on a support base 9 fixed to both ends of the beam 8.

Each of the magnets 10 is located below the ferromagnetic rail 2 and is suspended in a non-contact manner with a constant gap.

The above-described method of keeping the gap constant is performed by providing a gap sensor 15 near each magnet 10 and adjusting the exciting current of the exciting coil 12 of each magnet 10 based on the detection signal of the gap sensor 15.

Further, the guide roller 18 and the upper and lower guide portions 4c,
4d is set such that when an exciting current is passed through the magnet 10, a floating operation is possible.

That is, the output signal from the gap sensor 15 is arithmetically processed by the control device, and further, the output of the control device is sent to the amplifier to adjust the exciting current to the coil 12, and the magnetizing current is controlled to levitate. The gap with the ferromagnetic rail 2 is always kept within a predetermined range.

A horizontal shaft 16 and a bracket 17 are provided on the outside of each support base 9, a guide roller 18 that rotates about a horizontal axis is provided on the outer end of the horizontal shaft 16, and the bracket 17 rotates about a vertical axis. The guide roller 19 for
18 and 19 are loosely fitted in the guide portions 4a, 4b, 4c and 4d.

The guide rollers 18 and 19 have guide portions 4a and 4b when the gap between the rail 2 and the magnet 10 is within a normal range and the lateral positional relationship between the rail 2 and the magnet 10 is within an allowable range. Do not touch 4c and 4d.

A swivel base 22 that swivels around a vertical axis 21 as a fulcrum is provided before and after the center line of the carriage 5 in the width direction, and the center of the beam 8 can be swung on the swivel base 22 about a horizontal axis 23. To install.

Further, when the beam 8 is in the free state, the seesaw mechanism is configured so that the beam 8 is in the horizontal state, and the spring 24a and the damper 2 are provided.
A buffering means such as 4b is provided, and similarly, a buffering means for providing a restoring force such that the beam 8 is perpendicular to the center line of the carriage 5 in the width direction is provided.

The steering mechanism section 6 includes two floating magnets 10
Is fixed to both ends of the beam 8 and integrated, and stoppers 7 are provided to prevent the mechanical unit 6 from rotating horizontally beyond a certain level.

That is, the stopper 7 is fixed on the carriage 5 as shown in FIGS. 3 and 4, and as shown by a chain line in FIG.
When the beam 8 of the steering mechanism portion 6 turns, the stopper 7 hits the beam 8 to prevent the steering mechanism portion 6 from turning horizontally beyond a certain level.

A damper 40 is also provided to prevent the steering mechanism 6 from vibrating in the turning direction.

The dampers 24b, 40 are made of air, oil, etc., and although not shown in the figure, both ends of the dampers 24b, 40 are rotatably connected to a mating member.

Reference numeral 25 denotes a pair of work supporting arms arranged at the front and rear of the lower portion of the carriage 5.

Both arms swing forward and backward with a horizontal shaft 26 rotatably supported by bearings on the lower surface of the bogie 5 as a fulcrum, each of which has an engaging portion 27 at its lower end and an inward spring 28. Is provided with a rotational force to, and a buffer pad 29 made of sponge rubber or the like is provided on the inner surface.

The work supporting arm 25 is operated by the operation member 31 arranged at a predetermined position on the traveling path of the carriage 5. That is, the work enters between both arms 25 opened by the operation member 31 that moves as shown by arrows a and b in FIG. 4, and then the arrow c in FIG.
As the operating member 31 retracts as described above, both arms 25 are closed and the work is held by the engaging portions 27 of both arms 25.

A support base 33 is fixed to the central portions on both sides of the upper portion of the carriage 5, and a stopper block 34 is fixed to the outside of the upper portion of the support base 33.

As shown in FIGS. 3 and 4, the stopper block 34 has a vertical V groove 35 on the outer side. The V groove 35 of the stopper block 34 is provided on both sides of a predetermined position of the traveling path of the carriage 5. When the carriage 5 is stopped by disposing the locking member 37 having the roller 36 to be removed at the tip, the roller 36 causes the V of the stopper block 34 to move.
The carriage 5 is fixed by engaging with the groove 35.

A coil 41 as the primary side of the linear motor is fixed to the lower portion of the bracket 1 as shown in FIG. 1. A large number of the coils 41 are arranged at predetermined intervals along the traveling path of the carriage 5.

A reaction plate 42, which is the secondary side of the linear motor, is fixed to the center of the upper side of the carriage 5.

 Next, the operation of the above embodiment will be described.

Now, the trolley 5 which is in a levitated state by exciting the exciting coil 12 of each levitation magnet 10 of the steering mechanism section 6,
It travels by the action of a linear motor composed of a coil 41 on the primary side and a reaction plate 42 on the secondary side of the carriage 5.

During this traveling, the front and rear beams 8 travel in a direction perpendicular to the rail 2 while traveling on a straight line portion, and the magnetic force between the rail 2 and the levitation magnet 10 causes the levitation magnet 10 to be spaced at a constant distance from the rail 2. Run without contact while maintaining the range.

When the carriage 5 reaches the curved portion of the rail 2, the beams of the steering mechanism portions 6 turn due to the magnetic force between the levitation magnet 10 and the curved rail 2, and each levitation magnet 10 as shown in FIG. 5 is curved. It runs while correctly following the rail 2.

In this way, when the trolley 5 arrives at the destination and stops,
The locking member 37 at that position is activated and the roller at the tip
36 engages with the V groove 35 of the stopper block 34 to fix the carriage 5 at a fixed position, and then each operating member 31 works to open and close each work supporting arm 25 to load or unload works. To do.

The beam 8 of the steering mechanism portion 6 turns as shown in FIG. 5 while passing through the curve of the rail 2 described above. At this time, when the beam 8 attempts to turn more than necessary, the beam 8 looks like the chain line in FIG. The beam 8 contacts the stopper 7 and the magnet 10
Are prevented from deviating from the rail 2. Further, the vibration of the beam 8 is absorbed by the tamper 40.

At this time, the guide rollers 18 and 19 are also attached to the guide wall 3
The deviation of the carriage 5 is prevented by contact with any of the guide portions 4a, 4b, 4c, 4d at the lower end of the carriage 5.

In the embodiment, the beam 8 of each steering mechanism 6 turns with the swivel base 22 and swings about the shaft 23 so that each levitation magnet 10 supports three or two points.
Although it is made equivalent to the point support, in some cases, depending on the traveling conditions, each beam 8 may be fixed to the swivel base 22 and only swiveled.

〔The invention's effect〕

According to the present invention, as described above, two levitation magnets integrated in the front and rear positions on the center line in the width direction of the bogie can be horizontally swung with respect to the vehicle body, that is, freely swiveled around the vertical axis. In such a structure having the steering mechanism section, a stopper for preventing the steering mechanism section from turning more than necessary is provided. Prevent the turn of.

In addition, since the guide portion is provided as a stopper mechanism that prevents the guide roller from moving vertically and horizontally beyond a certain amount, the steering mechanism portion swivels more than necessary in combination with the action of the stopper, and the guide rail moves from the carriage. It is possible to prevent an accident in which the vehicle deviates and damages the dolly or rail.

[Brief description of drawings]

FIG. 1 is a partially longitudinal front view showing an example of a magnetic levitation transporting apparatus embodying the present invention, and FIG. 2 is a partially longitudinal side view showing the same,
FIG. 3 is a partially cutaway plan view, FIG. 4 is a perspective view showing an example of a bogie, and FIG. 5 is a plan view showing a state in which the bogie passes through a curve. 2 ... Rail made of ferromagnetic material, 3 ... Guide wall, 4a, 4b, 4c, 4d ... Guide part, 5 ... Truck, 6 ... Steering mechanism part, 7 ... Stopper, 8 ... Beam, 10 ... Levitation magnet, 41 ... Coil that is the primary side of the linear motor, 42 ... Reaction plate that is the secondary side of the linear motor, A ... Stopper mechanism.

Continuation of front page (56) Reference JP 61-132003 (JP, A) JP 61-150601 (JP, A) JP 61-170206 (JP, A) JP 63-234807 (JP , A) JP-A-62-163856 (JP, A)

Claims (2)

(57) [Claims] 1. Among the levitation magnets provided at the upper four corners of the bogie, two on the front and back on the right side are on the underside of a right rail made of a ferromagnetic material of the track, and two on the left and right are in the underside of a left rail parallel to the right rail. In a magnetic levitation transport device that causes the bogies to be attracted to each other and levitates, and the levitated trucks travel along a track that includes a curve point, the beam in the direction perpendicular to the rail and the midpoint of the beam placed at the center between the rails are A steering mechanism including a horizontal axis that supports vertical rotation and a vertical axis that supports the beam horizontally including the horizontal axis is provided at the front and rear of the upper part of the bogie, and front and left floating magnets are provided. Rear left and right levitation magnets are attached to the beams of the rear steering mechanism, and stoppers for restricting the horizontal turning range of the beams are provided on the front and rear steering mechanism portions. In the magnetic levitation transport device, the carriage deviation prevention device is configured by disposing this stopper at an excessive turning prevention point of the beam when traveling on a curve point. 2. The carriage is provided with guide rollers on both sides thereof, and a track includes a pair of left and right guide walls for guiding the guide rollers, and the guide walls regulate the movement of the guide rollers in the vertical and horizontal directions. A guide part is provided at a position where the guide part is not in contact with the guide roller when the bogie is in a normal floating position, and the upper and lower movement restricting points have a re-floating distance between the rail and the floating magnet. The carriage deviation preventing device in the magnetic levitation transport device according to claim 1, wherein the device is set to a holding position.