JPH0669244B2 - Magnetic levitation transfer system - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a magnetic levitation transportation system, and more specifically, a magnetic levitation transportation vehicle is provided so as to run along a guide rail made of a ferromagnetic material. , A magnetic levitation vehicle is provided with a levitation magnet having at least an electromagnet facing the guide rail, and controlling the excitation of the electromagnet to bring the guide rail into a non-contact state, with a predetermined interval along the guide rail. The present invention relates to a magnetic levitation transportation system for driving and stopping the magnetic levitation transportation vehicle by driving a secondary conductor provided on the magnetic levitation transportation vehicle by the ground side primary linear motor arranged in.

<Prior art> In recent years, when it is desired to quickly and quietly convey a conveyed object such as a precision part between a plurality of points in a factory, an office, etc., a levitation system that can support a guided vehicle in a non-contact state on a guide rail. Attention has been paid to a transport method of a type. Air and magnetism are generally used to support the transport vehicle in a non-contact state, but the method of magnetically supporting the transport vehicle is particularly promising because of its excellent followability and noise. ing. In addition, it produces very little dust and can be suitably used in semiconductor manufacturing factories.

Since the above magnetic levitation transport vehicle is required to be small and lightweight, a conductor (secondary conductor) for flowing an induction current is provided on the vehicle, and a primary side drive system having a propulsion coil on the ground. When the vehicle body enters a position where the primary coil is located and the secondary conductor links the primary coil, power is supplied to this coil to propel the magnetic levitation vehicle. Has been taken.

Therefore, electric power for propulsion is not required on the vehicle, and it is sufficient to supply electric power required for the electromagnet for levitation and the levitation control device. Therefore, it is not necessary to obtain electric power from the ground by using a collecting trolley or the like, and the electric power can be supplied by the battery mounted on the vehicle.

In addition, the primary side drive system, when the vehicle body enters a position where the primary coil is present and the secondary conductor and the primary coil are interlinked,
It is also used for braking and stopping the magnetic levitation transportation vehicle by exciting the primary coil in the direction opposite to the traveling direction of the vehicle body.

<Problems to be solved by the invention> However, in the above magnetic levitation transfer system, if an earthquake or power failure occurs while the magnetic levitation transfer vehicle is running and the drive system on the primary side of the ground fails, the secondary conductor will be The braking cannot be applied, and the magnetic levitation carrier keeps its levitation by its own power source and continues traveling by inertia. Therefore, there is a problem that a collision accident may occur, which is dangerous.

<Purpose> The present invention has been made in view of the above problems, and in order to prevent the above-described accident, the levitation control of the magnetic levitation transport vehicle is stopped while the magnetic levitation transport vehicle is running,
An object of the present invention is to provide a magnetic levitation transportation system in which a magnetic levitation transportation vehicle is urgently landed and quickly stopped by a braking force.

<Means for Solving Problems> The magnetic levitation transportation system of the present invention for achieving the above object is provided with an emergency stop signal transmission means for transmitting an emergency stop signal to the ground side, and a magnetic levitation transportation vehicle A receiving means for receiving the emergency stop signal, an excitation stopping means for stopping the excitation of the electromagnet on the basis of a signal received by the receiving means, and a magnetic levitation transportation vehicle provided with a rotation resistance for braking and not excited. And a landing roller for landing.

<Operation> According to the magnetic levitation transportation system having the above configuration, when an emergency stop signal is started from the ground side, the magnetic levitation transportation vehicle receives this signal and stops excitation of the electromagnet. Then, the magnetically levitated vehicle cannot continue to levitate, and enters a landing posture. At this time, the landing roller provided on the magnetic levitation transportation vehicle can land without receiving a large impact, and since the roller has a rotational resistance for braking, the magnetic levitation transportation vehicle can be quickly stopped. it can.

<Example> Next, an example of the present invention will be described below with reference to the drawings.

Figure 1 shows a magnetically levitated vehicle (1) traveling along a track (20).
FIG. 2 is a sectional view taken along the line II-II in FIG. 1, and FIG. 3 is a sectional view taken along the line III-III in FIG. 1, and the traveling direction of the magnetic levitation transport vehicle is in the direction of arrow A.

The magnetic levitation transport vehicle (1) has a flat plate-shaped vehicle body (2) that also serves as a loading platform, and the upper surface of the vehicle body (2) is compared to the front side in the traveling direction (perpendicular to the plane of FIG. 1). There are four frames (F) in total, two on the rear side of each target. On the upper part of the frame (F), iron cores (3a) to (3d) having a U-shaped cross section are fixed, and further on the upper part thereof, for example,
The permanent magnets (5a) to (5d) made of Nd-Fe-B alloy are fixed, and the electromagnetic coils (4a) to (4d) that make up the electromagnet are wound around the iron cores (3a) to (3d). It has been turned. Above iron core (3a) ~ (3
d), the permanent magnets (5a) to (5d) and the electromagnetic coils (4a) to (4d) constitute levitation magnets (Ma) to (Md). Further, rollers (7) and (8) are provided on the side surface of the vehicle body (2) so as to project a predetermined gap without coming into contact with a guide groove (24) which will be described later during floating running. The roller (7) supports the magnetic levitation carrier (1) when landing, and prevents the levitation magnets (Ma) to (Md) from contacting the guide rails (21) when de-energized. The roller (8) regulates the lateral movement of the magnetic levitation transportation vehicle (1). In addition, (9) is a levitating magnet
(Ma) ~ (Md) is a gap sensor that measures the gap between the guide rail (21) using, for example, the electromagnetic induction effect,
Reference numeral (10) is a hook for hanging the luggage, which is provided at the bottom of the vehicle body (2).

The orbit (20) consists of a long frame (23) with an open bottom and a long frame (2
3) A guide rail (21) made of a ferromagnetic material and having a cross section of “A” shape suspended from the ceiling portion of 3), and a long frame body (2).
It is mainly composed of a guide groove (24) for supporting the roller, which is formed inward from the side of (3) and is made of an L-shaped material. And orbit
Stations for stopping the magnetic levitation carrier (1) are provided everywhere in (20).

In the center of the vehicle body (2), a thin secondary conductor of LIM (linear induction motor) parallel to the traveling direction.
(6) is erected upward, and in response to this, the magnetic levitation carrier (1) is started and stopped everywhere on the ground side.
An IM primary side drive system (22) is arranged.

A linear scale (38) that displays the position of the magnetic levitation transport vehicle (1) is provided on the side surface of the vehicle body (2) to accurately stop the magnetic levitation transport vehicle (1) at a predetermined position of the station. A position detection sensor (37) for reading the linear scale (38) is attached to the ground side.

A light receiving sensor (45) is attached to the rear end face of the vehicle body (2), and a light emitter (not shown) for emitting an emergency stop light signal is attached to a predetermined position on the ground side. The light forms an optical path along the orbit (20).

Furthermore, an optical transmitter (34) that sends out mass data of the magnetic levitation carrier (1) is attached to the side surface of the vehicle body (2), and the optical transmitter (34) transmits the data to a predetermined position of the station. An optical receiver (35) for receiving the received optical signal is attached.

Next, with reference to FIG. 4, an outline of the circuit configuration of the control system of the magnetic levitation transfer system will be described. The control system is roughly divided into a levitation control system that levitates the magnetic levitation carrier (1) from the guide rail (21) with a predetermined gap, and a magnetic levitation carrier (1).
Is roughly divided into a traveling control system for starting, traveling, and stopping.

The levitation control system is the gap sensor (9a) ~ (9d) described above.
A power amplifier circuit (32a) to (32d) for supplying a current to the electromagnetic coils (4a) to (4d), a battery (B) serving as a power source for the electromagnetic coils (4a) to (4d), and a gap sensor ( Calculate the mass of the magnetic levitation carrier (1) and the levitation control circuits (31a) to (31d) that adjust the outputs of the power amplification circuits (32a) to (32d) based on the outputs of 9a) to (9d). It is mainly composed of a gap-mass conversion circuit (33) and an optical transmitter (34) for transmitting an optical signal containing mass data obtained from the gap-mass conversion circuit (33). The gap-mass conversion circuit (33) and the optical transmitter (34) constitute a mass detection unit (40) for detecting the mass M of the magnetic levitation transportation vehicle (1), as described later.

In the levitation control system, levitation control circuits (31a) to (31d)
The gap detected by the gap sensors (9a) to (9d) and the voltage across the electromagnetic coils (4a) to (4d) or the electromagnetic coil (4d).
Signals proportional to the deviations between the currents a) to (4d) and their respective target values, integrated signals, and differentiated signals are weighted and added, and a signal corresponding to the added value is output. PID control is performed. Power amplifier circuit (32a)
To (32d) supply coil exciting currents corresponding to the output signals to the electromagnetic coils (4a) to (4d). As a result, it is possible to realize activation control of the levitation magnets (Ma) to (Md), constant gap control after levitation, constant control of current flowing through the electromagnetic coils (4a) to (4d), and the like.

In addition, the travel control system is provided on each station side, and the travel control device (41) that controls the start, travel, and stop of the magnetic levitation vehicle (1) and the control output from the travel control device (41). It is composed of an inverter (36) for converting the signal into a power signal for driving the primary side drive system (22) of the LIM, a sensor (37) for detecting the scale of the linear scale (38) described above, and the like. The optical receiver (35) is for receiving the optical signal transmitted from the optical transmitter (34), and the above-mentioned gap-mass conversion circuit (33) and the optical transmitter (34) together with the mass detector (40). ) Is configured. The travel control device (41) is connected via a bus to a host computer (not shown) that manages and controls the magnetic levitation transfer system.

Explaining the levitation control system in more detail, as shown in FIG. 5, four power amplifier circuits (32a) to (32d) for exciting the electromagnetic coils (4a) to (4d) are independently provided. The relays (39a) to (39d) having switching contacts are connected to the input terminals of the power amplification circuits (32a) to (32d). One terminal (X) of this relay contact is the levitation control circuit
(31a) to (31d), the other terminal (Y) is connected to the control power supply (V) via another break contact relay (42a) to (42d).
2a) to (V2d). A relay (44) having a break-type contact is interposed between the battery (B) and the power amplifier circuits (32a) to (32d), and the drive coil of the relay (44) is a light receiving sensor (45). ), It is excited by the drive power supply (V3) and the relay contact is opened.

Relays (39a)-(39d) have two relay drive coils,
Drive coil for switching the relay contact to the terminal (X) side
One end of (39a-1) to (39d-1) is connected to the start side terminal (SI) of the changeover switch (S), and the other end of the drive coil (39a-1) is directly grounded to drive. The other ends of the coils (39b-1) to (39d-1) are grounded via delay circuits (41b) to (41d) including transistors, resistors and capacitors, respectively. The common terminal (S0) of the changeover switch (S) is connected to the power source (V1) for driving the relays (39a) to (39d).

The delay circuits (41b) to (41d) connect the voltage of the power supply (V1) to the resistor (R1),
The voltage is divided by (R2), and resistors (Rb) to (Rd) and capacitors (Cb)
It is supplied to the base of the transistor (Tr) through the charging circuit consisting of ~ (Cd). Then, after the changeover switch (S) is turned on to the starting side terminal (SI), a transistor (Tb) is passed after a predetermined time determined by the resistors (Rb) to (Rd) and the capacitors (Cb) to (Cd).
r) base voltage reaches the operating level and the transistor (Tr)
The collector-emitter of is electrically connected. The predetermined time is set to about 0.5 to 1.0 sec in the delay circuit (41b), twice that in the delay circuit (41c), and three times that in the delay circuit (41d). Therefore, the relay (39a) to which the delay circuit is not connected is connected to the start-side terminal (S
It is driven at the same time as the ON operation to I), and the relay contact is connected to the terminal.
Fold it to the (X) side. The relay (39b) is driven 0.5 to 1.0 seconds after the changeover switch (S) operates because of the delay circuit (41b), and the relay (39c) is delayed by a certain time because of the delay circuit (41c). The delay circuit (41d) delays the relay (39d) by a certain time. In this way, the relays (39a) to (39d) are sequentially driven after the operation of the changeover switch (S) with a delay of a fixed time.

Drive coil (39) for switching the relay contact to terminal (Y)
One of a-2) to (39d-2) is connected to the landing side terminal (SL) of the changeover switch (S), and the other end is grounded.

Further, the relays (42a) to (42d) are so-called slow-moving type relays that open the contacts after a predetermined time has passed after operation, and for example, the contact is made of bimetal in which two kinds of metals having different thermal expansion coefficients are superposed. However, the contact may be opened after a predetermined time by utilizing the slant of the bimetal which is generated by the heat generated when an electric current flows through it. The above-mentioned predetermined time is the time (0.5 to 1.0 s) from the time the current is applied to the electromagnetic coils (4a) to (4d) until the magnetically levitated vehicle (1) that is levitating completes landing.
ec) or slightly longer than this.

With this configuration, when the magnetic levitation carrier (1) is moved from the landing state to the magnetic levitation state, that is, when activating the magnetic levitation carrier, first, the levitation control circuits (31a) to (31d). ) To the operating state and the changeover switch (S)
When is turned on to the start side terminal (SI), the power amplifier circuit (32a) ~
(32d) is a levitation control circuit (31a) with a delay of 0.5 to 1.0 seconds
~ (31d) will be connected. Therefore, the excitation control is started with a delay of 0.5 to 1.0 sec with respect to the electromagnetic coils (4a) to (4d). First, when excitation control of the electromagnetic coil (4a) is started, the vehicle body corresponding to the levitation magnet (Ma) is
(1) One side rises. And once surfaced,
Due to the control action of the levitation control circuit (31a), the electromagnetic coil (4
The distance between the levitation magnet (Ma) on the side where a) is attached and the guide rail (21) is maintained at a distance where the levitation state can be almost maintained by the force of only the permanent magnet (5a). 4a)
The electromagnet due to the instability of the attractive force of the permanent magnet (5a),
It is only used to adjust the variation of the load on the vehicle body (1). Therefore, a large current flows in the battery (B) only at the start of floating, and thereafter, only a small amount of current required for the above adjustment flows. In this way, it takes less than 0.5 seconds from when a large current flows through the battery (B) at the start of levitation until the amount of current is sufficiently reduced. Thereafter, the delay circuit (41b) excites the next electromagnetic coil (4b) after 0.5 to 1.0 sec. As a result, one side of the vehicle body (1) corresponding to the levitation magnet (Mb) levitates. Then, once levitated, the levitated state is maintained and the current consumption is also attenuated. The electromagnetic coil (4c) is excited 0.5 to 1.0 sec after that, and the electromagnetic coil (4d) is also excited 0.5 to 1.0 sec later. In this way, the entire vehicle body (2) can be levitated. Moreover, the amount of electric power required for levitating is 1/4 of that required for levitating the vehicle body (2) at one time.
The battery capacity can be reduced. Therefore, the magnetic levitation carrier (1) can be downsized.

A numerical example shows that the weight of the car body (2) is 10 kg and the weight of the luggage is 1
If it is 0kg, it is ± 24 to levitate the car body (2) at a time.
Instantaneous current of V, 20A is required. However, if each side is levitated, the current of 5A is enough, so the capacity of the battery is small and the weight of the battery is also small.
The weight of the vehicle body (2) is reduced, and more luggage can be loaded.

Next, a case where the magnetic levitation transport vehicle (1) is landed from the floating state will be described.

After the magnetic levitation vehicle (1) is stopped on the ground side, when the changeover switch (S) falls to the landing side terminal (SL), the drive coil (39a-
2) to (39d-2) are excited, and the relay contact switches to the terminal (Y) side. As a result, the control power supply (V2a) ~ (V2d) is connected to the input side of the power amplification circuit (32a) ~ (32d),
(32a) ~ (32d), the four electromagnetic coils (4a) ~ (4d) in the same direction current (landing current) determined by the polarity (+ pole in the figure) of the control power supply (V2a) ~ (V2d) Shed. Therefore, the magnetic fluxes of the levitation magnets (Ma) to (Md) both increase or decrease, and the levitation magnets (Ma) to (Md) are all attracted to the guide rails (21), or all are in the guide rails (21). The magnetic levitation transportation vehicle (1) can be landed in a stable posture in any case.

After that, when a predetermined time has passed, the relays (42a) to (42d) are turned off.
The control power supplies (V2a) to (V2d) are disconnected from the circuit, and the landing current flowing through the electromagnetic coils (4a) to (4d) becomes zero at the same time. However, even if the landing current flowing through the electromagnetic coils (4a) to (4d) becomes 0, the magnetic levitation carrier (1)
Since he landed, his posture will not be unstable.

As described above, four electromagnetic coils (4
It was decided to apply a landing current in the same direction to a) to (4d) for a predetermined time. Therefore, as compared with the conventional case where the currents of the electromagnetic coils (4a) to (4d) are cut off all at once without passing the landing current, the levitation magnets (Ma) to (Md) are connected to the guide rails.
It is possible to surely land in the direction to be attracted to the (21) or in the direction away from the guide rail (21). This landing direction is determined by the polarities of the control power supplies (V2a) to (V2d). Therefore, if the direction of the landing current is specified, it is possible to bring all the rollers (7) at four positions into contact with the ceiling side wall of the groove (24) for the roller guide, and to land all the grooves (24 It is also possible to make contact with the bottom wall of () and land. As a result, it is possible to prevent the rollers (7) at four locations from landing in different directions and the posture of the vehicle body (2) from becoming unstable.

In the above embodiment, the changeover switch (S) is the landing side terminal.
When turned on to (SL), the landing current was sent all at once, and the magnetic levitation carrier (1) was landed at one time, but it is not limited to this, and four drive coils (39a-2) (39d-2) may be delayed by a predetermined time to be excited, and the magnetic levitation transportation vehicle (1) may be landed on one corner side at a time. In this case, as shown in FIG. 6, delay circuits (43b) to (43d) may be inserted between the drive coils (39b-2) to (39d-2) and the ground. This delay circuit (43b)
To (43d) have the same configuration as the delay circuits (41b) to (41d) described above. This allows the changeover switch
When (S) is turned on to the landing side terminal (SL), the control power supply (V2a) to (V
2d) is a power amplifier circuit (32a) ~
(32d) will be connected. Therefore, the electromagnetic coils (4a) to (4d) are excited with a delay of 0.5 to 1.0 seconds,
The magnetic levitation carrier (1) lands in sequence from each corner. In this way, since it is not necessary to flow the landing current to the electromagnetic coils (4a) to (4d) at the same time, the capacity of the battery (B) can be reduced.

Next, the emergency stop action of the levitation control system will be described.

FIG. 7 shows a perspective view of the magnetic levitation carrier (1) traveling on the track (20). Car body of magnetic levitation vehicle (1) moving in the direction of arrow A
(2) The light receiving sensor (45) is attached to the rear end surface of the rear side.
An optical path that transmits light that commands an emergency stop along the orbit (20)
(LP) is provided.

In the event of an emergency such as an earthquake or power failure while driving, the light emitted from the light-emitting body (not shown) provided on the ground side, and the light receiving sensor (45) receives the light, the relay ( The drive coil of (44) is excited to disconnect the relay contact (see Fig. 5), and the battery (B) is connected to the power amplifier circuits (32a) to (3a).
You can block from 2d). Therefore, the currents flowing through the electromagnetic coils (4a) to (4d) are immediately cut off.
Therefore, the levitating magnets (Ma) to (Md) are the permanent magnets (5a) to
It moves toward the guide rail (21) or moves away from the guide rail (21) due to (5d), and in either case, the rollers (7) and (8) move it into the roller guide groove (24). Can land.

After landing, the magnetic levitation transport vehicle (1) will continue to run due to its own inertial force, but will quickly stop due to the rotational frictional resistance imparted to the rollers (7) and (8). As shown in FIG. 8, the rollers (7) and (8) for imparting rotational friction resistance are
Insert the roller (72) into the support shaft (71) so that the roller (72) can rotate.
A pressure contact plate (74) is opposed to the side surface of the coil spring (73), and one end of a coil spring (73) passed through the support shaft (71) is brought into contact with the pressure contact plate (74). The other end of the coil spring (73) is brought into contact with the locking plate (75). The roller (72) and the locking plate (75) are each restricted by the snap ring (76) to move outward by a fixed distance. If the constant distance is set to be shorter than the natural length of the coil spring (73), the pressure contact plate (74) can be pressed against the roller (72) with a constant force by the elastic force of the coil spring (73). Therefore, the rotation of the roller (72) is braked, and the magnetic levitation transportation vehicle (1) can be stopped quickly.

Due to the above emergency stop action, even if an earthquake or power failure occurs during driving and the primary drive system of the LIM stops working, a magnetic levitation transport vehicle that has the battery (B) necessary for levitation control It is possible to prevent the occurrence of a collision accident or the like by preventing (1) from continuing traveling while keeping the floating state.

Although the magnetic levitation transfer system of the present invention has been described based on the above embodiments, the present invention is not limited to the above embodiments. For example, in a magnetic levitation transfer vehicle, most of the magnetic force required for levitation is permanent. Not only those that are supplied from magnets and that are used only to adjust the instability of the attraction force of permanent magnets and fluctuations in the load related to the carrier, but all magnetic forces necessary for levitation are supplied from electromagnets. May be Also,
The emergency stop signal transmitting means and the receiving means may be configured by a wireless communication system, and a switching element such as a thyristor may be used instead of the relay (44) as the excitation stopping means. Various other design changes can be made without departing from the scope of the invention.

<Effects of the Invention> As described above, according to the magnetic levitation transfer system of the present invention,
When the emergency stop signal is started from the ground side, the magnetic levitation carrier enters the landing position, and at this time, the landing roller provided on the magnetic levitation carrier can land without a large impact and the braking applied to the roller. Can be stopped quickly due to rotation resistance for, therefore
An earthquake or power failure occurred while the magnetic levitation vehicle was running,
Even if the drive system on the primary side on the ground fails and electromagnetic braking cannot be applied to the secondary conductor, a unique effect of preventing a collision accident or the like from occurring can be achieved.

[Brief description of drawings]

FIG. 1 is a sectional view showing a magnetic levitation carrier traveling along a track perpendicular to the plane of the paper, FIG. 2 is a sectional view taken along line II-II in FIG. 1, and FIG. 3 is III in FIG.
3 is a sectional view taken along line III-III. FIG. 4 is a schematic block diagram of a magnetic levitation transfer control circuit, FIG. 5 is a landing and start control circuit diagram, FIG. 6 is a partially modified view of the circuit diagram of FIG. 5, and FIG. FIG. 8 is a perspective view of the floating conveyance vehicle, and FIG. 8 is a sectional view of the roller. (1) ... Magnetic levitation vehicle, (3a) to (3d) ... iron core, (4a) to (4d) ... electromagnetic coil, (5a) to (5d) ... permanent magnet, (6) ... secondary conductor, ( 7), (8) ... Landing roller, (21) ... Guide rail, (31a) to (31d) ... Levitation control circuit (45) ... Receiving means, (74) ... Pressure contact plate, (B) ... Battery, ( Ma) ~ (Md) ... Levitation magnet

Claims (3)

[Claims] 1. A magnetic levitation carrier is movably provided along a guide rail made of a ferromagnetic material, and a levitation magnet having at least an electromagnet is arranged on the magnetic levitation carrier so as to face the guide rail. , A power supply for exciting the electromagnet is installed, and by the ground side primary linear motor,
In a magnetic levitation transportation system in which a magnetic levitation transportation vehicle is driven by driving a secondary conductor provided in the magnetic levitation transportation vehicle, an emergency stop signal transmitting means for transmitting an emergency stop signal to the ground side is provided to provide a magnetic levitation transportation vehicle. Is a receiving means for receiving the emergency stop signal, an excitation stopping means for stopping the excitation of the electromagnet based on the receiving signal of the receiving means, and a magnetic levitation vehicle when de-excited, which is provided with a rotation resistance for braking. A magnetic levitation transport system characterized in that a landing roller for supporting is provided. 2. The magnetic levitation transfer system according to claim 1, wherein the roller is mounted on the support shaft in a state where the roller is subjected to rotational resistance by the pressure contact plate. 3. The magnetic levitation transfer system according to claim 1, wherein the excitation stopping means stops the excitation of the electromagnet by cutting off the power supply.