JP3069935B2 - Mounting device for coil unit for linear motor car running path - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for mounting a coil unit on a pair of left and right side walls of a linear motor car.

[0002]

2. Description of the Related Art Railways using linear motor cars have been developed as high-speed and mass transportation means. As shown in FIG. 7, the traveling path for this linear motor car has a lower traveling path 1 made of concrete, for example, and left and right side walls 2. A square floating guide coil unit 4 is attached. In order to make the propulsion force generated by the propulsion coil unit 3 uniform, the adjacent propulsion coil units 3 are usually stacked in two layers so as to overlap each other by a half pitch as shown in FIG. Attached, their lower terminals are connected to a cable 5 laid along the inner surface of the side wall 2.

The levitation guide coil unit 4 is mounted on the front surface of the propulsion coil unit 3 and is bolted using, for example, a bolt hole 6 penetrating the side wall 2. These terminals are connected to a cable 7 buried in the underside traveling path 1. Each of the coil units 3 and 4 is inserted into a molded body of a synthetic resin to form a plate having a smooth surface, and a plurality of through holes 8 for mounting are formed in advance. Next, a strip-shaped guide travel path 9 is formed on the inner wall surface above each side wall 2 so as to protrude, and the upper surface of the side wall 2 is made flat. A pair of parallel concrete tracks 10 are formed on the underside traveling path 1 at predetermined intervals. The conventional method of mounting the coil unit on the inner surface of the side wall 2 is as follows: the carrier carrying the coil unit is moved to the mounting position by using the underside traveling path 1 and the worker lifts it and aligns it. I was attached.

[0004]

However, such a conventional method of mounting a coil unit requires at least two persons, usually four persons, to work because the heavy coil unit must be lifted and lowered and the position must be adjusted. This required a large number of people, was inefficient in work, and had problems with worker fatigue and back pain. Further, there is a possibility that a fall accident may occur during the work. The present invention has been made in view of the above-described problems in the conventional method of mounting a coil unit, and an object of the present invention is to provide a coil unit mounting apparatus in which even one worker can quickly and efficiently mount the coil unit safely. Things.

[0005]

According to a first aspect of the present invention, a lower end of a pair of leg portions is guided along a pair of opposed side walls of a linear motor car traveling path. A gate-shaped traveling gantry that can freely travel on the upper surface of the side wall, a multi-joint arm connected to the upper end of the traveling gantry via a balancer mechanism, and suction cup means provided at a tip end of the multi-joint arm; It is characterized by having. The balancer mechanism has a built-in mechanism such as a pneumatic cylinder, and can move the multi-joint arm up and down with a small force, and supports the weight of the coil unit supported by the suction cup means. That is, it is configured to be able to support the final posture of the articulated arm.

[0006]

The coil unit mounting device for a linear motor car traveling path of the present invention uses a portal-shaped traveling gantry adapted to travel on the upper surfaces of a pair of left and right side walls in the linear motor car traveling path. The movement and mounting work along the travel path can be easily performed without hindering the movement of the bogie and other work bogies. In addition, since the articulated arm is connected to the traveling base via a balancer mechanism, and a suction unit for adsorbing the coil unit is provided at the tip of the articulated arm, even one worker can efficiently, quickly and safely use a large weight. The coil unit can be lowered from the carriage and positioned at a predetermined position for mounting.

[0007]

BRIEF DESCRIPTION OF THE DRAWINGS FIG.
FIG. 1 is a front view showing a state in which a propulsion coil unit is mounted on a side wall of a linear motor car traveling path using the coil unit mounting device of the present invention, and FIG. 2 is a side view thereof. In these figures, the linear motor car traveling path is the same as that of FIG. 7 described above, and side walls 2 are provided on both sides of the lower surface traveling path 1 provided with the pair of tracks 10.
The coil unit mounting device 20 includes a gate-shaped traveling mount 21 and
The multi-joint arm 23 is connected to the traveling gantry 21 via the balancer mechanism 22, and the suction unit 24 is provided at the tip of the multi-joint arm 23.

The traveling gantry 21 has a horizontal portion 25 and a pair of legs 26 provided at both ends thereof. As shown in FIG. 2, the horizontal portion 25 is formed of a rectangular frame, and an automatic vertical adjustment mechanism 27 is attached to the center thereof. The automatic vertical adjustment mechanism 27 uses a mechanism such as a ball joint, and is configured to always maintain the output shaft 28 in the vertical direction when the traveling gantry 21 is tilted forward, backward, left, and right. The automatic vertical adjustment mechanism 27 is provided for the purpose of making the coil unit mounting device of the present invention work more smoothly, and may be omitted in some cases. Each leg 26 is composed of a pair of legs vertically erected from both corners of the end of the horizontal portion 25, and a plurality of horizontal members connecting the legs in parallel,
A traveling device 29 is provided at the lower end.

The traveling device 29 includes a base 30, a driving means 31, such as a reversible motor with a speed reducer, attached to the base 30, a pair of wheels 32 connected to an output shaft of the driving means 31 and driven to rotate, and a guide. Means 33 are provided. The guide means 33 is provided for guiding the base body 30 along the side wall 2 so that the wheel 32 does not fall off from the upper surface of the side wall 2 so that the base body 30 can run stably. And a roller that comes in contact with the roller. In addition, this roller can be made to contact the inner surface of the upper end of the side wall 2. The articulated arm 23 is an arm that can be turned up, down, left, right, or at various angles, which is usually used as an arm of a robot, and can be operated manually. The starting end is connected to the output shaft 28 of the automatic vertical adjustment mechanism 27 via the balancer mechanism 22.

That is, one link of a first arm 34 composed of a parallel link mechanism is connected to the output portion of the balancer mechanism 22, and a second arm 35 is connected from the other link of the first arm 34 via a connecting portion 34a. The third arm 36 and the fourth arm 37 are sequentially connected to the other end of the second arm 35. The first arm 34 is rotatable in the vertical direction about a portion connected to the balancer mechanism 22, and the second arm 35 is rotatable about the axis of the connecting portion 34a. Each of the 36 and the fourth arm 37 is rotatable about its own axis. At the lower end of the third arm 36, an operation panel 38 having an operation switch for the motor of the driving means 31 is provided. With this operation switch, the motor of the driving means 31 can be driven forward, backward, or stopped. The operation panel 38 and the driving means 31 are connected by a cable (not shown), and power for the motor is supplied by a cable (not shown) from a power supply vehicle such as a diesel generator provided separately.

The tip of the articulated arm 23, ie, the fourth
A vacuum suction device 24 is provided at the tip of the arm 37. The suction device 24 has a horizontally elongated frame in accordance with the propulsion coil unit, and has a pair of upper and lower pipes 39 and a pair of left and right pipes 40 communicating between the pipes 39, and each of the pipes 39 has four Each suction cup 41 is attached. The pipe 39 is connected to a vacuum device (not shown) by a flexible pipe. Further, a switch 42 for turning on and off the suction of the suction device 24 is provided at one side of the pipe 40. By operating the switch 42, for example, an electromagnetic valve for switching the suction cup 41 to a vacuum state or an atmospheric pressure state can be operated. This switch 4
2 can be provided on the operation panel 38 instead of the pipe 40. The suction device 24 is unitized and detachably attached to the tip of the fourth arm 37 by, for example, bolting. Then, the suction coil unit 3 attracts the propulsion coil unit 3. It is preferable that the suction device 24 be shaped to match the coil unit.
FIG. 3A is a front view showing a suction device 24 adapted to the levitation guide coil unit 4 having a substantially square shape by a chain line, and FIG. 3B is a side view thereof. In this example, two upper and lower suction cups 41 are provided.

FIG. 4 shows a coil unit mounting apparatus 2 according to the present invention.
0 is used, and the first propulsion coil unit 3, the second propulsion coil unit 3, and the levitation guide coil unit 4 are sequentially attached from the left along the side wall 2 of the linear motor car traveling path. FIG. 5 is a plan view thereof. The rightmost coil unit mounting device 20 in the figure performs the mounting operation by sucking the first propulsion coil unit 3 from the transport vehicle 50 on which a large number of the first propulsion coil units 3 are vertically stacked by the suction device. I have. The coil unit mounting device 20 on the left side similarly performs the mounting operation of the second-layer propulsion coil unit 3 on the side wall 2 on which the mounting of the first-layer propulsion coil unit 3 is completed. Further, the leftmost coil unit mounting device 20 performs the mounting operation of the floating guide coil unit 4 on the side wall 2 on which the mounting of the second layer of the propulsion coil unit 3 is completed.

Each of the transport vehicles 50 is moved along the linear motor car traveling path with the left and right wheels placed on a track 10 provided in parallel with the lower traveling path 1. An appropriate number of bolting devices 51 are provided to be able to travel along the side walls 2 on both sides in order to tighten the bolts of each of the coil units attached. FIG. 6 shows a curved tunnel 60.
FIG. 2 is a front view showing a state in which a coil unit is mounted using a coil unit mounting device 20 shown in FIG. 1 on a double-tracked linear motor car traveling path.

Next, the operation of the above-described coil unit mounting device will be described. First, as shown in FIG. 4 (FIG. 5), the coil unit mounting device 20 and the bolt tightening device are utilized by utilizing the upper surface of the side wall 2 of the linear motor car traveling path. 51 is moved to the mounting position of the coil unit and carried in, and the first-layer propulsion coil unit 3, the second-layer propulsion coil unit 3,
Then, a transport vehicle 50 on which a large number of floating guide coil units 4 are loaded is carried in using the track 10. At this time, the guide unit 33 provided at the lower end of the leg 26 of the traveling gantry 21 guides the coil unit attaching device 20 to the side wall 2 and can run stably without coming off from the upper surface thereof. Next, the multi-joint arm 23 and the switch 42 of the coil unit mounting device 20 shown in FIG. 1 (FIG. 2) are operated, and the sucker means 24 provided at the tip end of the multi-joint arm 23 causes the carriage 50 to move. One of the first propulsion coil units 3 is attracted to and lifted from the side wall 2.
Transport to the mounting position. At this time, the weight of the multi-joint arm 23, the sucker means 24, the coil unit, and the like is reduced by the balancer mechanism 22 to such an extent that the load on the operator is not reduced. As this balancer mechanism, for example, a pressure adjusting balancer for adjusting pressure can be used.

After temporarily fixing the first-layer propulsion coil unit 3 transported to a predetermined position on the side wall 2 with fixing bolts,
The suction of the suction means 24 is released and the coil unit mounting device 2 is released.
Separates 0. Next, the bolting is performed by the bolting device 51, so that the first propulsion coil unit 3
To the side wall 2 is completed. The second layer of the propulsion coil unit 3 is similarly mounted by the second coil unit mounting device 20 from the first layer of the propulsion coil unit 3 thus attached to the side wall 2 one after another by a half pitch. Go. Then, the levitation guide coil unit 4 is attached from above by the third coil unit attaching device 20 in the same manner. After the coil unit is mounted on one side wall 2 by a predetermined distance, the coil unit is mounted on the other side wall 2 in the same manner. At this time, the articulated arm 23 is connected to the output shaft 2
8, the suction device 24 is turned in the opposite direction. In the above description, a plurality of coil unit mounting devices 2
Although 0 is used, it is also possible to use only one unit in common and perform the mounting operation.

As described above, by connecting the articulated arm 23 to the traveling gantry 21 via the automatic vertical adjustment mechanism 27, the lower traveling path 1 of the linear motor car traveling path can be moved forward, backward, left and right, or both. The posture of the articulated arm 23 can be more stably maintained even when inclined. For example, as shown in FIG. 6, in the case of a linear motor car traveling path in a curved tunnel 60, the underside traveling path 1 and the side wall 2 are inclined rightward. Therefore, the traveling platform 21 traveling on the upper surface of the side wall 2 also tilts rightward. However, the traveling gantry 21 is stably positioned on the upper surface of the side wall 2 by the guide means 33 of the traveling device 29, and the output shaft 28 of the automatic vertical adjustment mechanism 27 is always maintained in the vertical direction. Is kept constant.

[0017]

The coil unit mounting apparatus of the present invention having the above-described structure has the following effects. (1) Since a gate-shaped traveling platform that travels on the upper surface of a pair of left and right side walls in a linear motor car traveling path is used, it does not hinder the movement of the transport vehicle on which the coil unit is mounted and other work vehicles. The user can move and attach along the traveling path. (2) Since a multi-joint arm having a balancer mechanism is connected to the above-mentioned traveling gantry, and suction means for sucking the coil unit is provided at the tip of the articulated arm, even one worker can efficiently, quickly and safely use a large-weight coil. The unit can be removed from the transport trolley, positioned at a predetermined position, and mounted. In addition, the coil unit can be loaded on the carrier using the coil unit mounting device.

[Brief description of the drawings]

FIG. 1 is a front view showing a state in which a propulsion coil unit is mounted on a side wall of a linear motor car traveling path using a coil unit mounting device of the present invention.

FIG. 2 is a side view of the state shown in FIG. 1;

FIGS. 3A and 3B are a front view and a side view showing a levitation guide coil unit 4 and a suction device 24 having a shape suitable for the unit; FIGS.

FIG. 4 shows a first propulsion coil unit 3, a second propulsion coil unit 3, and a levitation guide coil unit 4 along the side wall 2 of the linear motor car traveling path using three coil unit mounting devices 20 of the present invention. The figure which shows the state which attaches sequentially.

FIG. 5 is a plan view of the state of FIG. 4;

FIG. 6 is a front view showing a state in which the coil unit mounting device 20 of the present invention is used in a curved tunnel.

FIG. 7 is a partial perspective view showing an example of a traveling path for a linear motor car.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Undersurface traveling path 2 Side wall 3 Propulsion coil unit 4 Floating guide coil unit 5 Cable 6 Bolt hole 7 Cable 8 Through hole 9 Guide traveling path 10 Track 20 Coil unit mounting device 21 Traveling pedestal 22 Balancer mechanism 23 Articulated arm 24 Suction means 25 Horizontal part 26 Leg 27 Automatic vertical adjustment mechanism 28 Output shaft 29 Traveling device 30 Base 31 Drive means 32 Wheel 33 Guide means 34 First arm 34a Connecting part 35 Second arm 36 Third arm 37 Fourth arm 38 Control panel 39 Piping Reference Signs List 40 piping 41 suction cup 42 switch 50 transport trolley 51 bolt fastening device 60 tunnel

──────────────────────────────────────────────────続 き Continuing from the front page (73) Patent holder 390021577 Tokai Railway Company, Ltd. 1-4-1 Meieki Station, Nakamura-ku, Nagoya-shi, Aichi (72) Inventor Yoichi Takahashi 3-7-1 Nishishinbashi, Minato-ku, Tokyo No. 1 Toshiba Plant Construction Co., Ltd. (56) References JP-A-4-362460 (JP, A) JP-A-5-132903 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) ) E01B 37/00 E01B 25/32 B61D 15/00

Claims (1)

(57) [Claims] 1. A device for attaching a coil unit to a pair of opposed side walls 2 on a linear motor car traveling path, wherein lower ends of a pair of legs 26 are respectively guided along the both side walls 2 so that the two side walls 2 A gate-shaped traveling gantry 21 capable of traveling on the upper surface, and an articulated arm 2 connected to the upper end of the traveling gantry 21 via a balancer mechanism 22
3 and a coil unit mounting device for a linear motor car traveling path, comprising: a suction cup means 24 provided at the tip of the articulated arm 23.