JPH02131302A - Carrier employing movable magnet type linear motor - Google Patents

Abstract

PURPOSE:To reduce the size of a linear motor by arranging a flat coil at the path side and employing a permanent magnet at the carrier side. CONSTITUTION:A permanent magnet 1 is fixed to a carrier 2 and a flat coil 3 is fixed to the under face of a path, i.e. an H-shaped rail. Two Hall elements 4 are fixed, as magnetic detecting elements, to the lower section of the flat coil 3 and a drive circuit 5 containing the Hall elements 4 as its circuit elements is provided. When the carrier 2 advances onto the flat coil 3, the Hall elements 4 detect the magnetism of the permanent magnet chip 1, thus detecting approach of the carrier 2. Consequently, the drive circuit 5 provides power to the flat coil 3 thus driving the carrier 2 to the position of next flat coil 3 through mutual function of the magnetic force and the permanent magnet chip 1.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a transport device using a movable magnet type linear motor for transporting objects such as toys and other lightweight articles. ``Prior art and its problems'' Many conventional ride-on toys have a structure equipped with a rotating motor and a dry cell battery, and the driving principle is easily recognized by children, so they have the problem of lack of interest in play. be. In addition, as part of the rationalization of counter operations at bank branches, etc., cash A conveyance system using a linear motor has been proposed for conveying items such as slips or bankbooks (Japanese Patent Laid-Open No. 56-9
1694) includes a plurality of stators arranged at appropriate intervals along the rail, and two stators that are movably positioned on the rail.
It has a structure comprising a carrier with a secondary conductor, and by exciting the stator, a driving force is generated between the stator and a secondary conductor disposed so as to cross the magnetic flux between the primary conductors of the stator. Since it is an induction type linear motor that obtains , the drive structure is complex, it cannot be miniaturized, and it requires a large amount of power. "Problems to be Solved by the Invention" The present invention has been made in view of the above problems.
It is an object of the present invention to provide a conveying device that can drive a conveying body electrically without contact and can be driven by mounting only one permanent magnet piece on the conveying body. Another object of the present invention is to provide a rational dimensional relationship between a permanent magnet piece and a flat coil that applies thrust to the permanent magnet piece. A further object of the present invention is to provide a preferable combination ellipse for continuously running a carrier. "Means and effects for solving the problem" A conveying device of the present invention for solving the above problem is carried on a conveying body,
at least one permanent magnet piece that generates magnetic flux in a direction perpendicular to the traveling direction; and at least one permanent magnet piece that is wound approximately in an annular shape and is disposed in a path through which the carrier passes so as to be able to face the magnetic pole of the permanent magnet piece. The present invention is characterized by comprising a flat coil, and a drive circuit that switches and energizes the flat coil according to the magnetic pole and/or position of the permanent magnet piece so as to drive the permanent magnet piece in a desired direction.

According to the above configuration of the present invention, when the carrier is positioned on the effective winding part on one side of the flat coil at the time of start, the current flowing through the one side of the flat coil by the drive circuit and the permanent magnet on the carrier The conveyor moves in the direction of travel under thrust due to the magnetic flux due to the pieces and Fleming's left-hand rule, and
When the carrier, which receives thrust according to the number of windings of the flat coil and the current, moves onto the effective winding part on the other side of the flat coil, current is passed in the opposite direction through the approximately annular flat coil by switching energization of the drive circuit. Therefore, the carrier receives thrust in the same direction of movement and is accelerated. In order to solve another problem of the present invention, there is provided a conveyance device using a moving magnet type linear motor, in which the flat coil has effective winding portions on the left and right sides having substantially the same length as the permanent magnet pieces, and The flat coil is wound approximately in an annular shape with a space approximately half the length of the permanent magnet piece, and a magnetic detection element is installed approximately in the center of at least one of the effective winding portions of the flat coil along the passage. It is characterized by: According to this configuration, the drive circuit supplies current to the flat coil based on the output signal of the magnetic detection element while the magnetic detection element is outputting a signal, and the drive circuit also supplies current to the flat coil according to the position of the magnet piece. The direction of the supplied current is switched so that thrust is generated in one direction. A conveying device using a movable magnet type linear motor to solve a further problem of the present invention includes at least 61 permanent magnet pieces carried on a conveying body and generating magnetic flux in a direction perpendicular to the traveling direction, and a substantially annular magnet. a plurality of flat coils that are wound and disposed discontinuously or continuously so as to be able to face the magnetic poles of the permanent magnet pieces in a continuous path for the conveyor to pass; and the permanent magnet. to drive the pieces in the desired direction.
It is characterized by comprising a drive circuit that switches and energizes the flat coil according to the magnetic pole and/or position of the permanent magnet piece. According to this configuration, the conveyor passing through the continuous path is accelerated discontinuously or continuously, so
Travel through a series of passages repeatedly.

``Example'' The basic configuration of a conveying device using a moving magnet type linear motor of the present invention is shown in FIG. 1(a). Shown in (b). One permanent magnet piece 1 is attached to a toy racing car forming the carrier 2. A single flat coil 3 is attached to the lower surface of a rail forming a passage 6 for running a toy racing car, which has a substantially H-shaped cross section so as not to obstruct the movement of the carrier 2. Two Hall elements 4 as magnetic detection elements are attached to the lower part of the flat coil 3, and a drive circuit 5 including the Hall elements 4 as circuit elements is arranged.
In addition to the Hall element 4, a Hall IC can be used as a magnetic detection element.
It also includes reed relays, magnetoresistive elements, etc. that perform switching actions using magnetism. The carrier 2 in this embodiment is a four-wheeled toy racing car, and the passage 6 forms a travel lane for guiding the travel of the carrier 2. Other details regarding the dimensions of the basic configuration are shown in Figures 2 and 3. Configuration example I shown in FIG. 2 is an example in which two Hall elements 4 are used, and the length of the permanent magnet piece 1 is ! When
The diameter of the flat coil 3 is set to 5/21, and there is a void with a length of 1/21 in the center of the coil 3. The two Hall elements 4 are mounted with their centers located at a distance of 1/2l from both ends of the flat coil 3. Flat coil 3
is formed by winding an enamelled insulated wire multiple times in a substantially annular shape, with two effective winding sections on either side of the center.
The permanent magnet piece 1 is magnetized in the direction of N, S or S, N in the thickness direction so as to generate magnetic flux in a direction perpendicular to the traveling direction of the carrier 2. The configuration example (3) shown in FIG. 3 is an example in which one hole cable 4 is used. However, the dimensions of the permanent magnet piece], the flat coil 3, and the Hall element 4 are based on those shown in FIGS. 2 and 3, but may be changed. Application examples of the basic configuration are shown in FIGS. 4 to 7.

The application example shown in FIG. 4 is an example in which two flat coils 3 are combined into one drive circuit 5 in order to obtain a large thrust.
It is also possible to have two or more N-flat coils 3. Fifth
The illustrated application example is an example in which both sides of the flat coil 3 are bent in order to make the flat coil 3 more compact. In this way, even if both sides of the flat coil 3 are bent, the length of the effective winding portion does not change, so the thrust does not decrease. In the application example shown in FIG. 6, the magnet piece 1 on the conveyor 2 side is
This is an example in which a yoke 7 is attached to the upper surface, and a yoke 8 is attached to the lower surface of the drive circuit 5 below the flat coil 3. Since the magnetic flux density caused by the magnet piece 1 is increased by the yokes 7 and 8, the thrust is increased in proportion to this magnetic flux density. 7th
The illustrated application example is an example in which two or more magnet pieces 1 are used when the conveyance body 2 is an articulated train or the like. Examples using the basic configuration are shown in FIGS. 8 to 13. In the embodiment shown in FIGS. 8(a) and 8(b), the carrier 2 on which the permanent magnet piece 1 is mounted is made into a toy racing car, and a flat coil 3 with both sides bent is used to create a running lane. The passage 6 is made more compact. In addition, yokes 7 and 8 are used to improve thrust. In the following embodiments, illustration of the drive circuit 5 is omitted. In the embodiment shown in FIGS. 9(a) and 9(b), the passage 6 is formed into a lane with a substantially convex cross section, and the wheels of the toy racing car forming the carrier 2 straddle the passage 6. This is an example in which the conveyor 2 is guided reliably. The embodiment shown in FIGS. 10(a) and 10(b) is an example in which a toy railway vehicle constituting the carrier 2 runs on a track-shaped passage 6.
The embodiments shown in a) and (b) are examples in which a toy boat constituting a carrier 2 moves through a passage 6 formed by a long and narrow water tank, and a permanent magnet piece 1 is attached to the carrier 2. ,
A flat coil 3 is provided within the passage 6. In the embodiment shown in FIG. 12, a toy airplane serving as a carrier 2 is rotatably attached to a holding stand 10, and a flat coil 3 is provided in a circular passage 6. Figure 13(a), (
In the embodiment shown in b), the cage forming the carrier 2 is suspended from the aerial rail forming the passage 6, and the permanent magnet piece 1 connected to the carrier 2 receives thrust from the flat coil 3. In an example of a toy racing car, which is an example of a conveyor, a more specific example of the arrangement of flat coils is shown in Figs. 14 and 15.
In the embodiment shown in FIG. 14, the traveling lane forming the passage 6 is formed into a continuous substantially annular shape, and two flat coils 3 are used as a pair to accelerate the toy racing car forming the carrier 2. flat coils 3 are placed at two locations in the passageway 6. The passageway 6 may be formed into a complex series of travel lanes that are bent three-dimensionally. The embodiment shown in FIG. 15 is an example in which flattened coils 3 are continuously arranged in a substantially annular passage 6 to improve thrust, and a toy racing car forming the carrier 2 is driven at high speed. A permanent magnet (not shown) is supported on the carrier 2, and a current is supplied to the flat coil 3 from a power source 9 via a drive circuit (not shown). The circuit configuration of the drive circuit 5 is shown in Figs. 16 and 17. The illustration in FIG. 16 shows the circuit configuration when switching the current supply to the flat coil 3 using two Hall elements 4 as in the configuration example (2) shown in FIG. Two amplifier circuits (AMP) 51 consisting of comparators, etc., a short circuit prevention circuit 53, and 4
The AMP 51 consists of a coil drive circuit 52 formed by bridge-connecting two transistors.The AMP 51 amplifies the signal from the Hall element 4, and the short-circuit prevention circuit 53, which also functions as a control circuit for signal switching, amplifies the signal from the Hall element 4. The coil drive circuit 52 switches the flat coil 3 between forward and reverse energization depending on which of the two Hall elements 4 the signal is input from.
The illustration in FIG. 17 shows a circuit configuration when one Hall element 4 is used to switch and energize the flat coil 3, as in the configuration example H shown in FIG.
1, a timer circuit 54, and a coil drive circuit 52. The signal from the Hall element 4 is amplified by the AMP 51 and applied to the coil drive circuit 52 via the timer circuit 54, and the coil drive circuit 52 initially energizes the flat coil 3 in the positive direction, for example, until the signal from the Hall element 4 disappears. Then, the flat coil 3 is energized in the opposite direction during the time determined by the timer circuit 54. If a switching Hall IC, read relay, etc. is used as the magnetic detection element, the AMP51 shown in FIG. 17 is not necessary. In the configuration example (3) shown in FIG. 2, if the permanent magnet piece 1 is to be moved to the left or right, in the circuit shown in FIG. 55 or a changeover switch 56 between the output side of the coil drive circuit 52 and the flat coil 3 as shown in FIG.
What is necessary is to add this so that the direction of the current flowing through the flat coil 3 can be reversed.

In the configuration example (3) shown in FIG. 3, the basic configuration in which the permanent magnet piece 1 and the conveyor (not shown) are moved to the left or right is shown in FIG. 20, and the drive circuit 5 is shown in FIG. 21. This is referred to as a configuration example (■). In the drive circuit 5, 2
A coil current switching circuit 57 provided between the timer circuit 54 and the coil drive circuit 52 disables the function of the Hall element 4 on the other side when a signal is generated in the Hall element 4 etc. on one side. have a function.

"Operation" The operation of the movable magnet type linear motor of configuration example I shown in FIG. 2 will be explained with reference to FIG. When the power of the drive circuit (not shown) is turned on while the carrier 2 is stationary at the position (A), or when the power is on, the Hall element 4
When the carrier 2 has moved to above a, the drive circuit (not shown) detects the permanent magnet piece 1 using the Hall element 4a, and according to Fleming's left hand rule, the magnet piece l is moved to the right as shown in FIG. Since current is applied to the flat coil 3 so as to move the carrier 2, a thrust force is generated to move the carrier 2 to the right.
When the carrier 2 advances to position (A) W (the center of the flat coil 3), the Hall element 4a no longer detects the magnet piece 1, and the current no longer flows through the coil 3. However, the conveyor 2 moves further to the right due to inertia, and when the Hall element 4b detects the magnet piece 1 at the position (c), the drive circuit (not shown) as described above moves the magnet piece 1 further to the right. Since the current is passed through the flat coil 3 in the opposite direction, the conveyor 2 obtains a thrust force to move further to the right. Transporter 2 is (engineering)
When the magnet piece 1 is advanced to the position shown in FIG. However, since the carrier 2 has been accelerated, it moves further to the right due to inertia.

FIG. 23 shows a time chart of the thrust and the current flowing through the flat coil 3.

3rd UJ! The operation of the movable magnet linear motor according to the elliptical example H shown in FIG. J will be explained with reference to FIGS. 24 and 25.
If the power of the drive circuit (not shown) is turned on while the carrier 2 is stationary at the position (A), or if the carrier 2 moves to above the Hall element 4 while the power is on. 24, the Hall element 4 detects the magnet piece 1, and according to Fleming's left-hand rule, a current is passed through the coil 3 to move the magnet piece 1 to the right as shown in Figure 24. Body 2 gains thrust to move to the right. When the carrier 2 advances to the position (A), the Hall element 4 no longer detects the magnet piece 1, and current no longer flows through the coil 3. However, the carrier 2 moves further to the right due to inertia.

On the other hand, at time t1 after the Hall element 4 stops detecting the magnet piece 1 due to a timer circuit (not shown), the drive circuit causes current to flow through the coil 3 in the opposite direction to that described above, so that the inertia reaches the position (c). The carrier 2, which had been moving forward, gains thrust to move further to the right. Furthermore, the drive circuit stops passing current through the coil 3 at time t7 after the timer circuit starts passing the current. By this time, the carrier 2, which had advanced to the (engine) position M, is no longer subjected to thrust, but because it has been accelerated, it moves further to the right due to inertia. FIG. 25 shows a time chart of the thrust force applied to the carrier 2 and the current flowing through the coil 3.

The operation of the configuration example (2) is the same as the operation of the configuration example (2) with the addition of a Hall element that causes movement in the opposite direction, that is, movement from right to left as shown in FIG. That is, the 20th
In the diagram, when the left Hall element 4 detects the magnet piece 1 first, the magnet piece 1 moves from left to right, and when the right Hall element detects the magnet piece 1 first, the magnet piece 1 moves from left to right. Move from right to left. "Effects" As described above, the transport device using the movable magnet linear motor of the present invention includes at least one permanent magnet piece that is supported on the transport body and generates magnetic flux in a direction perpendicular to the traveling direction.
at least one flat coil wound approximately in an annular shape and disposed in a path through which the carrier passes so as to be able to face the magnetic pole of the permanent magnet piece; and a flat coil for driving the permanent magnet piece in a desired direction. , and a drive circuit that switches and energizes the flat coil according to the magnetic pole and/or position of the permanent magnet piece, so the conveyor can be conveyed even if it has only one magnet piece, so the conveyor can be made smaller. It is possible to
Since there are no abrasive parts that are in electrical contact, it has the advantage of being able to be used as a durable toy or transporter. In addition, when used as a toy, the vehicle toy as a carrier has no rotating motor or power source, only a magnetic piece, and furthermore, the vehicle toy is electrically non-contact, making it highly entertaining for play. Become a thing. Further, in the conveyance device using a moving magnet type linear motor according to a second invention, in the first invention, the flat coil is
The channel is wound approximately in an annular shape so as to have effective winding portions on the left and right sides having substantially the same length as the permanent magnet piece, and has a space in the center that is approximately half the length of the permanent magnet piece. A magnetic detection element is located approximately at the center of at least one of the effective winding portions of the flat coil along vLW. Since the size of the permanent magnet piece and the size of the flat coil can be matched, current can be supplied to the effective winding portion of a desired flat coil using a small number of magnetic detection elements.

Further, in the conveying device using a moving magnet type linear motor according to a third aspect of the invention, at least one permanent magnet piece is carried by the conveying body and generates a magnetic flux in a direction perpendicular to the traveling direction, and the above-mentioned permanent magnet piece is wound approximately in an annular shape. A plurality of flat coils disposed discontinuously or continuously so as to be able to face the magnetic poles of the permanent magnet pieces in a continuous path for the conveyor to pass through; Ii of the permanent magnet piece so as to be driven to
Since the flat coil is provided with a drive circuit that switches and energizes the flat coil according to the a-pole and/or the position, the toy vehicle as a carrier can be run on a continuous passage for a long time, making it even more interesting. It becomes deep.

[Brief explanation of the drawing]

FIG. 1(a) is a perspective view showing the basic configuration of the present invention, FIG. 1(b) is a view taken along arrow A in FIG. 1(a), and FIGS. 2 and 3 are dimensional relationships of the basic configuration, etc. 4 to 7 show several application examples of the basic structure, FIG. 4 is a perspective view showing an application example, and FIG. FIG. 6 is a plan view showing a flat coil in an applied example, FIG. 6 is a front view showing an applied example, and FIG. 7 is a perspective view showing another applied example. FIGS. 8 to 13 show several embodiments using the basic configuration, FIGS. 8(a) and (b) are front and side views showing the embodiments, and FIGS. 9(a) and ( b) is a front view and side view showing the embodiment, FIGS. 10(a) and (b)
) are a front view and a side view showing the embodiment, and FIG. 11(a)
, (b) are a front view and a side view showing a part of the embodiment in cross section, FIG. 12 is a perspective view showing the embodiment, and FIG. 13(a)
, (b) are a side view and a partially sectional front view showing still another embodiment. 14 and 15 are perspective views showing a more specific example of the arrangement of flat coils in the embodiment of the racing car toy, FIGS. 16 and 17 are block diagrams showing the circuit configuration of the drive circuit, and FIG. 18 19 is a block diagram showing a circuit example in which the carrier is moved to the left or right in configuration example I shown in FIG. 2
Figure 1 is a block diagram showing the drive circuit of configuration example (■). FIG. 22 is a schematic side view illustrating the operation of the conveying device using the movable magnet type linear motor of elliptical example I, and FIG. 23 is a time chart showing the thrust force and the current flowing through the flat coil during the operation. FIG. 24 is a schematic side view illustrating the operation of configuration example H, and FIG. 25 is a time chart showing the thrust force and the current flowing through the flat coil during the operation. 1,. ．． Permanent magnet piece, 2. ．． carrier; 3. ．． ．． Flat coil, 4. ．． ．． Hall element (as a magnetic detection element), 5. ．． ．． drive circuit, 6. ．． ．． passage, 7,
8. ．． ．． York, 9. ．． ．． power supply. 1st (a) Figure 2 Figure 3 Figure 4 (2l Figure (b) (b) (a) Figure Figure 14 Figure 15q Figure 19 Figure 20 Figure 23

Claims (3)

[Claims] (1) At least one permanent magnet piece that is carried by a conveying body and generates magnetic flux in a direction perpendicular to the traveling direction; and a magnetic pole of the permanent magnet piece that is wound approximately in an annular shape and faces the magnetic pole of the permanent magnet piece in a path through which the conveying body passes. at least one flat coil that can be arranged; and a drive circuit that switches and energizes the flat coil according to the magnetic pole and/or position of the permanent magnet piece so as to drive the permanent magnet piece in a desired direction. A conveyance device using a movable magnet type linear motor, characterized by comprising: (2) The flat coil has a substantially annular shape, having effective winding portions on the left and right sides having approximately the same length as the permanent magnet piece, and having a space in the center that is approximately half the length of the permanent magnet piece. 2. The movable magnet type linear motor according to claim 1, wherein a magnetic detection element is installed approximately in the center of at least one of the effective winding portions of the flat coil along the passage. Conveyance device. (3) at least one permanent magnet piece carried by the conveying body and generating magnetic flux in a direction perpendicular to the traveling direction; A plurality of flat coils disposed discontinuously or continuously so as to be able to face the magnetic poles of the permanent magnet pieces, and the magnetic poles of the permanent magnet pieces and/or so as to drive the permanent magnet pieces in a desired direction. A conveyance device using a movable magnet type linear motor, comprising a drive circuit that switches and energizes the flat coil according to the position.