JPH0669243B2 - Floating carrier - Google Patents

Description

Description: TECHNICAL FIELD OF THE INVENTION The present invention relates to a levitation type conveyance device for conveying small articles,
In particular, the present invention relates to a levitation type transfer device capable of achieving stable control of a magnetic levitation system.

[Technical background of the invention and its problems]

In recent years, as a part of office automation and factory automation, slips, documents, cash, materials and the like have been moved between a plurality of points in a building using a carrier device.

The conveying device used for such an application should not damage the environment of the office, and is required to have low noise without generation of dust or the like. For this reason, this type of transport device is configured to support the transport vehicle in a non-contact manner with respect to the guide rail. In order to support the carrier without contact, it is common to use air or magnetism. Among them, the method of magnetically supporting the carrier is excellent in following the guide rails and reducing noise. And is considered the most promising support system.

Among the levitation-type transportation devices using such a magnetic support system, the present applicant has previously proposed a magnetic support unit that uses a permanent magnet. According to this device, most of the magnetomotive force required to levitate the carrier can be obtained by the magnetomotive force of the permanent magnet, so that the exciting current of the electromagnet can be reduced and energy can be saved. Become.

By the way, in a normal office environment, there are many obstacles, so that the configuration of the transport path is often complicated. Considering this point, it is desirable that the guide rail has a divided structure. If the guide rail is divided in this way, the installation work can be simplified.

However, if the guide rail is divided, the magnetic resistance of the magnetic circuit formed by the magnetic support unit, the air gap, and the guide rail increases at the seam, and the magnetic attraction between the magnetic support unit and the guide rail decreases. Resulting in.
For this reason, it is necessary to temporarily increase the exciting current of the electromagnet to increase the magnetic attraction force at the seam, but even if such measures are taken, the carrier vehicle may vibrate,
In addition, an excessive amount of exciting current may be applied to cause a problem such that the magnetic support unit and the guide rail are attracted to each other. When such a problem occurs, not only the stabilization of the magnetic support control system is impaired, but also the power is wasted.

[Object of the Invention]

The present invention has been made in view of such circumstances, and an object thereof is to always stabilize the magnetic levitation system and save energy without impairing the installation property of the guide rail. An object of the present invention is to provide a levitation-type transport device that can be used.

[Outline of Invention]

The present invention is directed to a guide rail formed by connecting in series a rail divided body having an L-shaped cross section, which is formed of a ferromagnetic material and has at least two extended sides in the longitudinal direction, and one extended side of the rail divided body. And a ferromagnetic joint that magnetically connects the guide rails to each other and fixes the guide rails at a predetermined position, a carriage arranged to run along the guide rails, and a plurality of carriages mounted on the carriage. Includes an electromagnet arranged so as to face the other extended side of the rail divided body through a gap, and the guide is interposed in a magnetic circuit constituted by the electromagnet, the guide rail and the gap. A magnetic support unit that generates a flow of magnetic flux in the longitudinal direction of the rail to levitate the transport vehicle, and a control unit that controls an exciting current to the electromagnet to stabilize the magnetic circuit are provided. It is characterized in.

〔The invention's effect〕

According to the present invention, since the adjacent rail division bodies are mechanically and magnetically connected by the guide rail support body, even when the transport vehicle passes through the joint portion of the guide rail, the magnetic support unit, the gap, and the guide are formed. The magnetic resistance of the magnetic circuit composed of rails does not change significantly. Therefore, the magnetic attraction force between the magnetic support unit and the guide rail does not fluctuate at the joint portion of the guide rail. Therefore, according to the present invention, since each guide rail support also serves as a ferromagnetic joint for magnetically connecting adjacent rail divisions in series, stabilization is achieved without complicating the overall configuration. Moreover, since the exciting current does not flow more than necessary, it is possible to contribute to energy saving. Of course, since the guide rail has a divided structure, it does not impair the installability.

Further, the rail divided body has at least two extending sides, one of the extending sides is used as a side connecting the ferromagnetic joints, and the other side faces the electromagnet mounted on the transport vehicle. Since it is used as a side, the local change in the magnetic resistance due to the connection part of the ferromagnetic joint and the local change in the magnetic resistance due to the holes and bolts for fixing the guide rail and the ferromagnetic joint. Can be avoided.
Therefore, the vibration of the transport vehicle can be improved.

Example of Invention

Hereinafter, a levitation type conveyance device according to an embodiment of the present invention will be described with reference to the drawings.

In FIGS. 1 and 2, reference numeral 1 denotes a guide rail laid so as to avoid obstacles in an office space, for example. On this guide rail 1, the transport vehicle 2 is traveling freely arranged along the guide rail 1. A magnetic support device 3 is mounted on the lower portion of the carrier vehicle 2 . In addition, in the base portion 4 along the guide rail 1 ,
The stator 6 of the linear induction motor 5 is arranged at predetermined intervals.

The guide rail 1 is made of a ferromagnetic material and has two extending sides (side surface and bottom surface) in the longitudinal direction, and a plurality of rail divided bodies each having an L-shaped longitudinal section
11, a plurality of support members 12 that connect the rail divided bodies 11 in series and commonly support both adjacent end portions of the adjacent rail divided bodies 11 on the base 4 on their side surfaces, and the support members 12 and Bolt 13 for fixing rail division body 11
It consists of and. At least a portion 14 of the support member 12 that is in contact with the rail divided body 11 is formed of a ferromagnetic material, and this portion 14 is used as a joint fitting.

The carrier 2 includes a plate-shaped base 15, a flat container 16 placed on the base 15 for facilitating the transfer of an object such as a document, and four corners of the lower surface of the base 15. It is composed of four wheels 17 that are attached and support the base 15 in an emergency.

Further, the magnetic support device 3 is disposed at a right angle to the base 15 and the support plate 21 facing the lower surface of the base 15 via the guide rail 1 , and connects the base 15 and the support plate 21. Connecting plate
22, four magnetic support units 23 fixed to the four corners of the support plate 21 so as to face the lower surface of the guide rail 1 , and the magnetic support units 23 and the guide rail 1 fixed to the magnetic support units 23 , respectively. It is composed of a gap sensor 24 for detecting the gap length between the control plate 25, a control device 25 mounted at the central position of the support plate 21, and a power supply 26 fixed to the lower surface of the base 15.

As shown in FIG. 3, the magnetic support unit 23 is wound around the two yokes 31 and 32 whose upper end faces oppose the lower surface of the guide rail 1 with a predetermined gap P and the yokes 31 and 32. It is composed of two electromagnets 35, 36 composed of the excited coils 33, 34 and a permanent magnet 37 interposed between the lower side surfaces of the yokes 31, 32, and has a U-shape as a whole. The exciting coils 33 and 34 are connected in series in such a direction that magnetic fluxes formed by the electromagnets 35 and 36 are added to each other.

The gap sensor 24 is fixed to the magnetic support unit 23 via a support member 38. This gap sensor 24 has
For example, a reflection type photocoupler is used, and light emitted from a light emitting element (not shown) toward the lower surface of the guide rail 1 and reflected by the same surface is detected by a light receiving element (not shown), and the gap length is determined by the intensity of the reflected light. It is supposed to be detected.

Further, the control device 25 sends a light emission signal to the gap sensor 24 and a fixed resistor which is an excitation current detection means connected in series with the excitation coils 33 and 34, and modulates the light reception signal from the gap sensor 24, for example. , An arithmetic circuit for calculating the value of the current flowing in the exciting coils 33, 34 based on the signal from this modulator and the signal due to the voltage drop of the fixed resistor, and the exciting coil based on the signal from this arithmetic circuit
It is composed of an amplifier for supplying electric power to 33, 34.

The support plate 21 that supports these magnetic support units 23
Serves as a conductor plate that is a movable element of the linear induction motor 5 , and the stator 6 is used when the apparatus is in operation.
And are located at opposite heights through a slight gap.

Next, the operation of the levitation type transporting apparatus according to this embodiment configured as described above will be described.

When the device is stopped, the guide rail 1
The magnetic support unit 23 is attracted to the guide rail 1 by the contact between the two or the magnetic attraction force of the permanent magnet 37. When the device is started in this state, the control device 25
Is a magnetizing coil for generating a magnetic flux in the electromagnets 35, 36 in the same direction or in the opposite direction as the magnetic flux generated by the permanent magnet 37 and maintaining a gap P of a predetermined length between the magnetic support unit 23 and the guide rail 1. Controls the current flowing through 33 and 34. As a result, as shown by the dotted line in Fig. 3 (a),
Permanent magnet 37-Yoke iron 31-Void P-Rail divided body 11-Void P
A magnetic circuit is formed by the paths of the yoke 32 and the permanent magnet 37. The gap length depends on the weight of the supported body such as the transport vehicle 2 ,
The length is set so that the magnetic attraction force between the magnetic support unit 23 and the guide rail 1 due to the magnetomotive force of the permanent magnet 37 is just balanced. Zero power control is performed by maintaining this gap length.

Now, assuming that the carrier 2 is on the stator 6 of the linear induction motor 5 , when the stator 6 is biased, the support plate 21 receives an electromagnetic force from the stator 6, so that the carrier 2 is in a magnetic levitation state. Start traveling along the guide rail 1 as it is. Carrier 2
If the stator 6 is disposed again until the vehicle completely stops due to the influence of air resistance or the like, the carrier vehicle 2 is urged again and continues to move along the guide rail 1 . This movement continues until the point. Thus, the transport vehicle 2 can be moved to the destination point in a non-contact state.

By the way, when the carrier 2 passes through the joint portion of the guide rail 1 in the process of movement, as shown by a dotted line in FIG. 3 (b), the permanent magnet 37-the yoke 31-the void P-the rail divided body 11 〜Parts that will be fittings 14 〜Rail divided body 11 〜Void P 〜Yoke 32
~ A magnetic circuit including the path of the permanent magnet 37 is formed. That is, in this case, even if there are some gaps or the like in the connecting portion of the rail divided body 11, the magnetic flux is bypassed in the portion 14 that serves as the joint fitting, and the magnetic resistance of the joint portion is different from that of the other portion. It is possible to prevent the magnetic resistance from extremely increasing as compared with the magnetic resistance. Therefore, it is possible to prevent the magnetic attraction force between the magnetic support unit 23 and the guide rail 1 from decreasing at the joint portion.

As described above, according to this embodiment, since the guide rail 1 has the divided structure, the work of laying the guide rail 1 in the office space is facilitated and the magnetic attraction force at the joint portion of the guide rail 1 is increased. It is possible to effectively prevent the deterioration of the carriage, so that the carrier 2 vibrates at the seam and
Is never biased more than necessary. Therefore, it is possible to stabilize the magnetic levitation system and contribute to energy saving. Further, in this embodiment, since the portion 14 serving as the joint fitting is formed integrally with the support member 13, the device can be simplified and the cost can be reduced.

Further, according to the present invention, the rail divided body has two extending sides (side surface and lower surface), the side surface is used as a side connecting the ferromagnetic material joint, and the lower surface is mounted on the transport vehicle. It is used as a side facing the electromagnet. Therefore,
It is possible to avoid a local change in the magnetic resistance due to the connecting portion of the ferromagnetic joint and a local change in the magnetic resistance due to holes and bolts for fixing the guide rail and the ferromagnetic joint. Therefore, the vibration of the transport vehicle can be made better than ever.

The present invention is not limited to the above embodiment. For example, the rail divided body and the joint fitting may be connected by adhesion, welding, or the like. Further, the present invention is not limited to the device using the optical reflection type photocoupler as the gap sensor, but can be applied to the device using other optical and magnetic gap sensors. Further, the present invention does not limit the number of magnetic support units, electromagnets, and permanent magnets, the method of configuring them, and the like.

As described above, the present invention can be implemented with various modifications without departing from the scope of the invention.

[Brief description of drawings]

FIG. 1 is a perspective view showing a schematic configuration of a levitation type transporting apparatus according to an embodiment of the present invention, FIG. 2 is a front view of the apparatus, and FIGS. 3 (a) and 3 (b) are magnetic supports in the apparatus. It is sectional drawing which shows a unit and its periphery. 1 ... Guide rail, 2 ... Transport vehicle, 3 ... Magnetic support device, 4
... base, 5 ... linear induction motor, 6 ... stator, 11 ... rail split body, 12 ... support member, 14 ... joint metal part,
15 ... Base, 16 ... Container, 17 ... Wheels, 21 ... Support plate, 22 ... Connecting plate, 23 ... Magnetic support unit, 24 ... Gap sensor, 25 ...
Control device, 26 ... Power supply, 31, 32 ... Yoke, 33, 34 ... Excitation coil, 35, 36 ... Electromagnet, 37 ... Permanent magnet, P ... Air gap.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (56) References JP-A-59-123458 (JP, A) JP-A-58-113401 (JP, A) JP-A-58-144503 (JP, A) JP-B-57- 60842 (JP, B2)

Claims (2)

[Claims] 1. A guide rail formed by connecting in series a rail divided body having an L-shaped cross section and formed of a ferromagnetic material and having at least two extended sides in the longitudinal direction, and one extended side of the rail divided body. A ferromagnetic joint that magnetically connects the guide rails and fixes the guide rail at a predetermined position, a transport vehicle that is movably arranged along the guide rail, and a plurality of transport vehicles are mounted on the transport vehicle. Each includes an electromagnet arranged so as to face the other extended side of the rail divided body through a gap, and is interposed in a magnetic circuit constituted by the electromagnet, the guide rail and the gap. A magnetic support unit that generates a flow of magnetic flux in the longitudinal direction of the guide rail to levitate the carrier vehicle; and a control unit that controls an exciting current to the electromagnet to stabilize the magnetic circuit. Floating type conveying apparatus which is characterized in that. 2. The levitating transfer apparatus according to claim 1, wherein the ferromagnetic joint connects the rail divided bodies in a detachable manner.