JP2973703B2 - Magnetic levitation type transfer equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention has a levitation electromagnet which attracts a magnetic body provided along a moving path, and floats by the attraction of the levitation electromagnet, and is driven by a linear motor. The present invention relates to a magnetic levitation type transport facility including a moving body that moves and transports a load.

[0002]

2. Description of the Related Art As a conventional magnetic levitation type transfer facility, a facility disclosed in Japanese Patent Application Laid-Open No. 2-294202 is known. That is, as shown in FIGS. 9 to 11, a guide rail B on which the moving body A flies and moves is provided along the moving path of the moving body A for transporting articles. The moving body A is magnetically levitated and driven by a linear motor to move between the load transfer stations ST.

The main body 1 of the guide rail B is formed by injection molding or the like of a non-magnetic material such as aluminum into a rectangular tube shape whose upper end face is opened along the longitudinal direction. A pair of left and right levitation magnetic bodies 2 to which a levitation electromagnet Ma of the moving body A attracts from below is attached to the back surface of the upper end portion along the longitudinal direction of the opening in a state where the pair of levitation magnetic bodies 2 are spaced apart in the width direction. Have been. Further, the main body 1 of the guide rail B is configured to move the main body 3 of the moving body A in a state of being stored in the lower part of the rail. In addition,
A primary coil 4 of a linear motor is attached to the inner bottom of the guide rail B.

However, as shown in FIG. 11, a plurality of primary coils 4 are provided at intervals along the longitudinal direction of the guide rail B in order to decelerate and stop and accelerate and start the moving body A at the station ST. Will be done.

[0005] Further, the guide rail B of the station ST section.
In order to stop and hold the moving body A, there is provided a stopping electromagnet Mb for attracting the stopping magnetic body 5 attached to the moving body A from below. Stop magnetic body 5
Is provided at each of the front, rear, left and right ends of the moving body A,
A total of four stop electromagnets Mb are provided in accordance with the mounting positions of the stop magnetic members 5 so as to act on the stop magnetic members 5 individually.

The moving body A has a flat loading section 6 formed at the upper end thereof and the moving electromagnet Ma attracts the floating magnetic body 2 from below to above. And a secondary conductor 7 made of a non-magnetic conductor such as aluminum, which acts on the primary coil 4, is positioned in a horizontal posture at the lower end of the moving body A. The central portion in the width direction is attached to a column 8 which is suspended at the center in the width direction of the main body 1 of the moving body A. The iron plate 9 of the magnetic material portion of the secondary conductor 7 acting on the primary coil 4 is provided only on the guide rail B side and only at the place where the primary coil 4 is installed. The moving body A is provided with a thrust while passing through this space.

Based on information from a gap sensor (not shown) for detecting the distance between the lower surface of the magnetic material for levitating 2 and the upper surface of the electromagnet Ma for levitating, the distance is set within a set range. To maintain the current, the power is supplied from the battery 10 provided in the main body 3 of the moving body A, and the stopping electromagnet Mb is supplied with power only while the moving body A is stopped at the station ST. The battery 10 is charged at a charging station (not shown).

In FIG. 9, reference numeral 11 denotes a guide roller for maintaining a vertical distance between the floating magnetic body 2 and the floating electromagnet Ma when power supply to the floating electromagnet Ma is stopped. The guide roller is a guide roller for keeping the interval in the lateral width direction with respect to the guide rail B smaller than a set value so that the inner lateral surface of the body 2 does not collide.

[0009]

However, in such a conventional magnetic levitation type transport facility, the battery 10 cannot be charged unless the mobile unit A moves away from the load transport path to the charging station, so that the work is not performed. There is a problem that the efficiency is low, and there is a problem that the battery 10 needs to be periodically maintained. Further, there is a problem that the gap sensor is expensive and the cost is high.

The present invention has been made to solve the above problems,
It is an object of the present invention to provide a magnetic levitation-type transfer facility that can efficiently supply power without contact without contacting maintenance and improve work efficiency.

[0011]

In order to solve the above-mentioned problems, the magnetic levitation type transport equipment of the present invention lays a line for flowing a high frequency sine wave current along a moving path of a magnetic levitation type moving body. The movable body is provided with a power supply coil that resonates at the frequency of the line and generates an electromotive force to supply power, and an upper and lower sensing coil that is arranged to face a side portion of the line and generates an electromotive force. It is assumed that.

[0012]

According to the configuration of the present invention, when a current is supplied to the line (AC), an electromotive force is generated in the power supply coil,
Power is supplied to the moving body without contact while moving along the moving route. In addition, power is supplied regardless of the moving direction of the moving body. further,
By controlling the levitation force according to the electromotive force generated in the upper and lower sensing coils, the levitation position of the moving body is maintained within a predetermined range.

[0013]

An embodiment of the present invention will be described below with reference to the drawings. The same components as those of the conventional example shown in FIGS. 9 to 11 are denoted by the same reference numerals, and description thereof will be omitted.

FIG. 1 is a front view of a magnetic levitation type transport facility of the present invention, FIG. 2 is a cutaway side view of the magnetic levitation type transport facility, and FIG. 3 is a layout of guide rails of the magnetic levitation type transport facility. It is a schematic plan view.

Numeral 14 is a rail-shaped bracket formed of an aluminum member which is a magnetic field blocking member and having a U-shaped cross section and which is long in the lateral direction (along the guide rail B).
Along the guide rail B, on one side of the iron plate 9,
A is horizontally installed with A facing the support 8 of the moving body A. 4, a hanger 15 is horizontally attached to the bracket 14 at predetermined intervals along the guide rail B in a left-right direction (a direction perpendicular to the moving direction of the moving body A). At the tip of the hanger 12, a resin duct 16 is stretched along the guide rail B, and the duct 16 has an induction line connected to a power supply M installed outside the guide rail B shown in FIG. 17 are laid. Also guide line
17 is a stranded wire formed by collecting insulated thin strands (hereinafter referred to as
Litz wire) is covered with an insulator, for example, a resin material.

A pickup unit P is provided below the main body 3 of the mobile unit A as a power supply device at a position facing the bracket 11 on which the guide line 17 is laid.
As shown in FIG. 4, the pickup unit P includes a ferrite 18 which is a magnetic member having a U-shaped cross section and which is long in a lateral direction (a direction along the guide rail B).
For example, a pickup coil 19 is formed by winding the above-mentioned litz wire of several tens of turns, and a plate-like mounting member 20 formed of a magnetic field blocking member is formed on the side surface 18A of the ferrite 18 by the horizontal protrusion 20A. It is configured so as to be opposed to the pickup coil 19 so as not to contact with it. Then, when the moving body A floats at a predetermined floating position, the upper end of the mounting member 20 is adjusted so that the guide line 17 is located at the center of the ferrite 18 and is attached to the lower part of the main body 3 of the moving body A. Note that the pickup unit P
Is configured such that the ferrite 18 does not contact the duct 16 and the bracket 14 when the moving body A is not floating.

As shown in FIGS. 2 and 5, the main body 3 of the moving body A is disposed at equal intervals L above and below the guide line 17 so as to face the side of the guide line 17 and generate an electromotive force. A pair of upper and lower sensing coils 21 are provided and connected to a control device 22 for controlling the energization of a floating electromagnet Ma provided on the upper surface of the main body 3 of the moving body A, as shown in FIG. The control device 22 calculates a differential of the electromotive force generated in the pair of upper and lower sensing coils 21 and detects a vertical position of the moving body A with respect to the guide line 17, and a differential detection circuit 23.
The levitation position of the moving body A is confirmed based on the vertical detection signal of 23, an energization control signal of the electromagnet Ma for levitation is formed, and the energization control signal is also provided on the upper surface of the main body 3 of the moving body A. The control circuit 24 is configured to output to a power receiving unit 25 that uses the electromotive force generated in the pickup coil 19 as a power supply.

A detailed circuit configuration of the power supply device M and the power receiving unit 25 will be described with reference to the circuit diagram of FIG. Power supply M
Is a three-phase AC power supply 41 AC200, a converter 42,
A sine wave resonance inverter 43, a transistor 44 and a diode 45 for overcurrent protection are provided. Converter 42
Is composed of a diode 46 for full-wave rectification, a coil 47 constituting a filter, a capacitor 48, a resistor 49, and a transistor 50 for short-circuiting the resistor 49.
43, transistors 51 and 52 driven by rectangular wave signals alternately oscillated as shown in the figure, a current limiting coil 53, and a current supply coil 54 connected to the transistors 51 and 52 , And a capacitor 55 forming a parallel resonance circuit. Note that the transistor control device is omitted.

The power receiving unit 25 is connected in parallel with the pickup coil 19 and forms a resonance circuit that resonates with the frequency of the pickup coil 19 and the induction line 17.
A rectifying diode 32 is connected in parallel with the capacitor 31 of the resonance circuit, and a stabilized power supply circuit 33 for controlling the output of the diode 32 to a predetermined DC voltage is connected to the diode 32.
, And a power circuit 34 for adjusting the energization of the floating electromagnet Ma is connected to the stabilized power supply circuit 33. A levitation electromagnet Ma is connected to the power circuit 34. The stabilized power supply circuit 33 is composed of a current limiting coil 35, an output adjusting transistor 36, a diode 37 and a capacitor 38 constituting a filter. Note that the transistor control device is omitted.

The operation of the power supply device M, the guide line 17, and the moving body A will be described. First, the AC 200 V three-phase AC output from the AC power supply 41 is converted into DC by the converter 42, converted into a high frequency, for example, a 10 kHz sine wave by the sine wave resonant inverter 43, and supplied to the induction line 17. Further, the control device 22 checks the floating position of the moving body A according to the electromotive force of the upper and lower sensing coils 21 generated by the magnetic flux of the guide line 17, and controls the power receiving unit 25 so that the floating position becomes a predetermined position. An energization control signal is output to the power circuit 34.

The magnetic flux generated in the induction line 17 causes
An electromotive force is generated in the pickup coil 19 of the moving body A that resonates with the frequency of the induction line 17, and the alternating current generated by the electromotive force is rectified by the diode 32 of the power receiving unit 25,
The voltage is regulated to a predetermined DC voltage by the stabilized power supply circuit 33, and the power circuit is controlled according to the energization control signal input from the control device 22.
The electromagnet Ma for floating is energized by 34, and the moving body A floats. In this state, the moving body A moves by the thrust given by the primary coil 4 provided in the station ST.

As described above, since the power can be supplied to the mobile unit A in a contactless manner while the load is being transported along the guide rails B, it is not necessary to move to the charging station as in the related art, and the work efficiency can be improved. Further, the conventional battery 10 becomes unnecessary, and maintenance-free operation can be realized. Further, power can be supplied regardless of the moving direction of the moving body A.

Further, by controlling the vertical position (floating position) of the moving body A in accordance with the electromotive force generated in the vertical sensing coil 21, the vertical position of the moving body A can be optimally controlled. Sensors are not required, and costs can be reduced.

The opening of the U-shaped ferrite 18 is opposed to one side of the bracket 14 and is adjusted and fixed so that the guide line 17 is located at the center thereof. As described above, the pickup coil 19 is located at the position where the magnetic flux density generated in the induction line 17 is the largest, the largest electromotive force is induced, and power can be efficiently supplied. Also ferrite
18 and the pickup coil 19 do not come into contact with the guide line 17 even at the curved portion of the guide rail B, and the moving body A can smoothly turn the curved portion.

Further, a pickup coil 19 is formed by winding a litz wire over the side surface of the ferrite 18 having a U-shaped cross section, so that the upper portion 18B and the lower portion 18 of the ferrite 18 are formed.
By holding the litz wire by C, the litz wire can be easily wound, and the work efficiency can be improved.

Further, by surrounding the guide line 17 with the bracket 14 as a magnetic field blocking member, the magnetic field generated in the guide line 17 is cut off by the bracket 14, and the influence of the magnetic field on the levitation electromagnet Ma and the stop electromagnet Mb is reduced. In other words, it is possible to prevent the magnetic field generated by the levitation electromagnet Ma and the stop electromagnet Mb from affecting the guide line 17.

Furthermore, since the length of the induction line 17 is longer than the length of the pickup coil 19, the primary inductance of the induction line 17 is substantially constant, and the capacitor 55 of the power supply device M and the induction line 17 are connected to each other. Since a resonance circuit is formed, a high-frequency sinusoidal primary current can be passed through the induction line 17 with a substantially constant large current value, and the secondary side of the pickup coil 19 becomes a resonance circuit. And FIG.
As shown in, the resonant frequency f _o with a large voltage on the secondary side v
(In the figure, 1000 to 2000 V), and even if the vertical position between the guide line 17 and the pickup coil 19 changes according to the floating position of the moving body A, or if the frequency of the guide line 17 slightly changes, even slightly vary from the frequency of the next side of the resonance frequency induction line 17, it is possible to generate more secondary voltage (300 V in the figure) in the frequency range of f ₁ ~f ₂ is a predetermined value, thus Large electric power can be supplied stably. Further, the adjustment of the vertical position can be roughly performed, the workability is improved, and the production can be facilitated.

Further, the guide line 17 and the pickup coil 19
The use of litz wire covered with an insulator eliminates the exposure of conductive parts and enhances safety, and eliminates sparks, eliminating dangers such as fire and also used in explosion-proof areas. It is possible to do. Further, since a sine wave is supplied to the induction line 17, no harmonic is generated, and the generation of radio noise can be eliminated.

In this embodiment, one duct 16 has one
Although the configuration is such that one guide line 17 is laid, two or more guide lines 17 may be laid in one duct 16 to increase the power. Also, although a pair of upper and lower sensing coils 21 is provided, it may be a single coil,
At this time, the flying position is controlled so that the electromotive force generated in this coil becomes constant.

[0030]

As described above, according to the present invention,
When the (induction) line is energized (alternating current), an electromotive force is generated in the feeding coil, so that power can be supplied to the moving body in a non-contact manner on the moving path, and thus the moving body moves to the charging station as in the related art. This eliminates the need to improve work efficiency, and eliminates the need for a conventional battery, thereby realizing maintenance-free operation. In addition, power can be supplied regardless of the moving direction of the moving body. In addition, by controlling the vertical position according to the electromotive force generated in the vertical sensing coil, the vertical position of the moving object can be optimally controlled, so that the expensive gap sensor as in the past is unnecessary and the cost can be reduced. become. In addition, since the current flowing in the line is a sine wave, no harmonic is generated and generation of radio noise can be eliminated.

[Brief description of the drawings]

FIG. 1 is a front view of a magnetic levitation type transfer facility of the present invention.

FIG. 2 is a cutaway side view of the magnetic levitation transfer equipment.

FIG. 3 is a schematic plan view of a layout of guide rails of the magnetic levitation type transport equipment.

FIG. 4 is a cross-sectional view of a main part of a pickup unit of the magnetic levitation type transport equipment.

FIG. 5 is a diagram illustrating a positional relationship between a pickup coil and an upper and lower sensing coil of the magnetic levitation type transfer equipment with respect to an induction line.

FIG. 6 is a control configuration diagram of a moving body of the magnetic levitation type transport equipment.

FIG. 7 is a circuit configuration diagram of the magnetic levitation transfer equipment.

FIG. 8 is a graph showing secondary frequency-electromotive force characteristics of the magnetic levitation type transport equipment.

FIG. 9 is a front view of a conventional magnetic levitation type transfer facility.

FIG. 10 is a cutaway side view of a conventional magnetic levitation type transfer facility.

FIG. 11 is a schematic plan view of a layout of guide rails of a conventional magnetic levitation type transport facility.

[Explanation of symbols]

Reference Signs List A Moving body B Guide rail M Power supply P Pickup unit ST Station Ma Levitation electromagnet Mb Stop electromagnet 2 Levitation magnetic material 4 Primary coil 5 Stopping magnetic material 7 Secondary conductor 9 Iron plate 14 Bracket 16 Duct 17 Induction line 18 Ferrite 19 Pickup coil 20 Mounting member 21 Vertical sensing coil 22 Controller 25 Power receiving unit 31 Capacitor forming resonance circuit with pickup coil 43 Sine wave resonance inverter 55 Capacitor forming resonance circuit with induction line

Continuation of the front page (58) Field surveyed (Int. Cl. ⁶ , DB name) B65G 54/00-54/02 B60L 5/00 B60L 13/02-13/10 B61B 13/08

Claims (1)

(57) [Claims] A line for flowing a high-frequency sine wave current is laid along a moving path of a magnetic levitation type moving body, and the moving body resonates at the frequency of the line, generates an electromotive force, and supplies power. A magnetic levitation type transport facility, comprising: a coil for use and an upper and lower sensing coil which is disposed to face a side portion of the line and generates an electromotive force.