JPH0817523B2 - Magnetic levitation traveling device - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a magnetic levitation type traveling device, and in particular, a slider is levitated by an attractive force of an electromagnet and travels along a guide rail with a relatively short stroke. The present invention relates to a magnetic levitation type traveling device.

[Prior Art] A magnetic levitation type traveling device is one in which a slider levitates and travels along a guide rail by a magnetic force, and an example thereof is disclosed in Japanese Patent Application No. 60-190263. .
In such a magnetic levitation type traveling device, an electromagnet for generating a magnetic force, a battery for supplying power to the electromagnet, and the like are mounted on the slider.

[Problems to be Solved by the Invention] However, when a battery is used, charging is indispensable, and by mounting an electromagnet, an electronic circuit for controlling the electromagnet, a battery, and the like, the weight of the movable part is reduced. To increase. For this reason, it is necessary to increase the size of the movable part and the load capacity. There is a method of supplying power from the outside by using a cable instead of the battery, but the movement of the cable accompanying the movement of the slider causes a problem that dust or dust is generated due to friction of a portion in contact with the cable.

Therefore, a main object of the present invention is to provide a magnetic levitation type traveling device having a relatively small stroke so that a magnetic force can be efficiently exerted on a slider.

[Means for Solving the Problems] The present invention detects the gap between the guide rail and the slider to control the attractive force of the electromagnet, holds the slider so as to have a constant gap with respect to the guide rail, and guides the slider. In a magnetic levitation type traveling device that moves along a rail, a magnetic levitation mechanism for levitation of a slider, and a plurality of electromagnets provided in parallel so as to extend along the traveling direction of a guide rail, It is provided on the slider side, is sufficiently short with respect to the electromagnet, is orthogonal to the traveling direction, and is arranged at a predetermined distance from the center of gravity of the slider so as to have a predetermined gap with the electromagnet. It is configured with a yoke for forming.

[Operation] The magnetic levitation mechanism of the magnetic levitation type traveling device according to the present invention controls the electromagnetic force of the electromagnet so that the gap is constant between the electromagnet and the guide rail, thereby providing a constant gap to the electromagnet. It is possible to move the yoke while maintaining the above, and the point of action of the attraction force of the electromagnet can be set to the position of the center of gravity of the slider, so that the yoke does not protrude from the electromagnet, and the point of action of the attraction force of the electromagnet can be moved to the slider. Can be set to the center of gravity.

[Embodiment of the Invention] FIG. 1 is an external perspective view of an embodiment of the present invention, and FIG. 2 is a diagram showing a positional relationship between an electromagnet and a yoke.

In FIG. 1, the electromagnet 1 is formed by forming a groove along the longitudinal direction at the center of a rectangular parallelepiped core iron 2 and winding coils 3 on both sides of the groove. The electromagnet 1 thus constructed is attached to the guide rail 5, and the yoke 4 made of a magnetic material is attached to the slider side so as to be orthogonal to the electromagnet 1. That is, as shown in FIG. 2, a plurality of electromagnets 1a, 1b, 1c and 1d are arranged on the guide rail 5 in parallel to the guide rail 5, respectively, and a slider 6 has a plurality of yokes 4a, 4b. , 4c and 4d are arranged so as to face in the directions orthogonal to the electromagnets 1a, 1b, 1c and 1d, respectively, and are separated from the center of gravity of the slider 6 by a predetermined distance.

3 and 4 are views showing an example of a magnetic levitation type traveling apparatus to which an embodiment of the present invention is applied, in particular, FIG. 3 is a front view and FIG. 4 is a side view. .

3 and 4, position detectors 7a, 7b, 7c for detecting the upper and lower gaps of the slider 6 are arranged on the guide rail 5, and the slider 6 is provided on the side surface of the guide rail 5. Position detectors 7d and 7e are provided for detecting positions in the left-right direction (direction perpendicular to the traveling direction). Further, electromagnets 1d, 1e, 1j, 1k for controlling the lateral gap of the slider 6 are arranged on both side surfaces of the guide rail 5,
Electromagnets 1f, 1g, 1h and 1i for flying the slider 6 are provided on the lower surface of the guide rail 5.

On the other hand, the slider 6 is provided with yokes 8a, 8b, 8c, 8d and 8e facing the position detectors 7a, 7b, 7c, 7d and 7e, respectively. Furthermore, the slider 6 has electromagnets 1d, 1
Yokes 4d, 4e are provided so as to face e, and electromagnets 1f, 1g,
Yokes 4f, 4g, 4h, 4i are arranged so as to face 1h, 1i, and yokes 4j, 4k are provided so as to face electromagnets 1j, 1k.

As described above, the magnetic levitation type traveling device is configured, and the electromagnet 1
When f, 1g, 1h and 1i are actuated, the magnetic force causes the slider 6 to float above the guide rail 5. Further, the left and right directions of the slider 6 are controlled by operating the electromagnets 1d, 1e or 1j, 1k. Then, the position detectors 7a, 7b, 7c detect the vertical position of the slider 6, and the position detectors 7d, 7e detect the lateral position of the slider 6. Then, by controlling the electromagnets 1d, 1e, 1f, 1g, 1h, 1i, 1j, 1k by the detection outputs of the position detectors 7a, 7b, 7c, 7d, 7e, the slider 6 is guided along the guide rail 5. To surface.

As described above, according to this embodiment, the electromagnets 1d to 1k extending along the guide rail 5 fixedly extending along the guide rail 5 so as to correspond to the driving of the slider 6 and the electromagnets 1d to 1k. It is composed of yokes 4d to 4k that magnetically form a closed loop corresponding to a part of 1k. The yokes 4d to 4k are fixed to the slider 6 side, and the gap between the electromagnets 1d to 1k is fixed by the position sensor. The electromagnetic force of the electromagnets 1d to 1k is controlled so that Thereby,
By moving the slider 6, the yokes 4d to 4k can be moved while facing the electromagnets 1d to 1k while maintaining a constant gap, and the maximum moving distance of the slider 6 and the electromagnets 1d to 1k can be increased.
By predetermining the length of 1k and the length of the yoke 4, the yokes 4d to 4k do not protrude from the electromagnets 1d to 1k. Moreover, the position sensor and electromagnets 1d to 1k
Since it is fixed to the guide rail 5, these control electric cables can be fixed.

In addition, the yoke 4d, which is shorter than the electromagnets 1d-1k,
Since 4k is fixed to the slider 6 and the attractive force acts on the entire yoke, the point of application of the electromagnetic force on the slider 6 can be set at a fixed position on the slider regardless of the movement of the slider 6. As a result, the load capacity and other mechanical characteristics are not changed by the movement of the slider 6.

On the other hand, even if the yokes 4d to 4k fixed to the slider 6 are lengthened in the rail direction of the guide rail 5 and the electromagnets 1d to 1k fixed to the guide rail 5 are shortened in the rail direction,
The suction force can be transmitted to the movement of the slider 6,
The control cable can be fixed in the same way. in this case,
There is a disadvantage in that the length of the yokes 4d to 4k with respect to the movement amount of the slider 6 and hence the length of the slider 6 must be made longer than in the case described above. Furthermore, in this case,
By the movement of the slider 6, the acting position of the attraction force on the yokes 4d to 4k changes. As a result, the acting position of the suction force for floating the slider 6 on the slider changes depending on the slider position, and the load capacity and other mechanical conditions change due to the movement of the slider 6.

[Advantages of the Invention] As described above, according to the present invention, a plurality of electromagnets extending along the guide rail are provided in parallel to the guide rail side, and the yoke made of a magnetic material is orthogonal to the electromagnet. Since a plurality of sliders are arranged on the slider side, the control cable of the electromagnet can be fixed, and the moving distance with respect to the length of the slider can be increased. Moreover,
The levitation position acting on the slider can be set to the center of gravity depending on the moving position of the slider, so that mechanical conditions such as load capacity do not change depending on the moving position of the slider. Can be configured.

[Brief description of drawings]

FIG. 1 is an external perspective view of one embodiment of the present invention. Second
The figure is a diagram showing a positional relationship between an electromagnet and a yoke. Third
FIG. 4 and FIG. 4 are views showing an example of a magnetic levitation type traveling apparatus to which an embodiment of the present invention is applied. In particular, FIG. 3 is a front view and FIG. 4 is a side view. In the figure, 1a to 1k are electromagnets, 4d to 4k are yokes,
Reference numeral 5 is a guide rail, and 6 is a slider.

Claims (1)

[Claims] 1. A gap between a guide rail and a slider is detected to control the attractive force of an electromagnet, the slider is held so as to have a constant gap with respect to the guide rail, and the slider is moved along the guide rail. In the magnetic levitation type traveling device,
A magnetic levitation mechanism for levitation of the slider, wherein a plurality of electromagnets are provided in parallel so as to extend along a traveling direction of a guide rail, and a plurality of electromagnets are provided on the slider side and with respect to the electromagnet. It is provided with a yoke that is sufficiently short and is orthogonal to the traveling direction and has a predetermined gap with the electromagnet, and magnetically forms a closed loop. A magnetic levitation type traveling device, characterized in that the slider is placed at the center of gravity.