JPH09267982A - Linear motor driven moving body device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce the noise to be generated at the time of opening and operating a brake by gradually increasing the exciting current command to an elastic member, which makes a brake shoe engage with a guide rail so as to generate the braking force, and an electromagnet to a specified value, and thereafter, quickly reducing the exciting current command. SOLUTION: At the time of opening a brake, value of the brake coil current Ib is gradually increased so that a magnet frame and a magnet armature slowly come close to each other, and at the time when the brake coil current Ib achieves the brake coil current Ib1, value of the brake coil current Ib is quickly reduced to the brake coil current Ib2 so as to reduce the operation noise. At the time of braking, the brake coil current Ib is gradually reduced from the time T3, and at the time just before the time when the value of the current Ib1 achieves the current value Ib3, at which the magnet frame and the armature quickly start to be separated, the brake coil current Ib is oppositely increased so as to make the movement for pushing the brake shoe to the guide rail slow and reduce the operation noise.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for reducing operating noise of a brake installed on a moving body driven by a linear motor.

[0002]

2. Description of the Related Art Conventionally, there has been a linear motor drive moving body apparatus of this kind, for example, as shown in FIG. FIG.
FIG. 1 is a perspective view showing a conventional linear motor elevator disclosed in Japanese Patent Application Laid-Open No. 1-271381. In the figure,
1 is a hoistway, 2 is two return wheels installed above the hoistway 1, 3 is a rope wound around the two return wheels 2, and 4 is one end of the rope 3. The car 5 hung on the part is a counterweight suspended on the other end of the rope 3, and 6 are on both ends of the car 4 of the hoistway 1 and are a pair of guides for guiding the car 4 up and down. Car guide rail, 7
Are a pair of weight side guide rails which are provided on both sides of the counterweight 5 and guide the counterweight 5. 8 is a primary side coil of a linear motor provided on the counterweight 5, 9
Is a secondary conductor of a linear motor provided on the hoistway 1 side so as to face the primary coil 8. The secondary conductor 9 has one end in the width direction that is on the weight side guide rail 7.
Is engaged. In addition, the primary coil 8 is connected to the secondary conductor 9
Are arranged so as to face each other. Further, a brake device 10 is provided at the lower end of the counterweight 5.

The structure of the brake device 10 will be further described with reference to FIGS. 5 is a front view showing the counterweight 5 of FIG. 4, FIG. 6 is an enlarged view of the brake device of FIG. 5, FIG. 7 is a cross-sectional view showing a state of the brake device of FIG. 6 during braking, and FIG. FIG. 7 is a cross-sectional view showing a state when the brake device of FIG. 6 is opened. In the figure, 10 is the above-mentioned brake device, 11 is a pair of brake shoes that come into contact with and separate from both surfaces of the weight side guide rail 7, and 13 is a rotatably supporting these brake shoes 11 via pins 12. The brake shoe 11 is attached to the tip of each arm 13 by a pair of arms. Reference numeral 14 is an electromagnet, and 15 and 16 are an electromagnet frame and a movable piece, that is, a magnet armature, respectively. The electromagnet frame 15 and the magnet armature 16 are connected to the other end of each arm 13.

FIG. 9 is an enlarged sectional view showing a conventional electromagnet 14. In the figure, 16 is the above-mentioned movable piece, that is, a magnet armature, 17 is a plurality of pins fixed to the magnet armature 16, and 18 is
The pin 17 is fixed to the portion protruding from the magnet frame 15 and is fixed to the magnet frame 15 and the magnet armature 1.
A stopper 19 that restricts the separation limit from 6 and a spring 19 that is an elastic member urges the magnet armature 16 in the direction of separating from the magnet frame 15. The pin 17 slidably penetrates the outer peripheral portion of the magnet frame 15. 21 is a magnet frame 1
5 is a coil inserted into the inside.

In the conventional linear elevator as described above, the counterweight 5 is moved up and down along the weight side guide rail 7 by the propulsive force of the linear induction motor constituted by the primary coil 8 and the secondary conductor 9. As a result, the car 4 connected to the counterweight 5 via the rope 3 is moved up and down along the car-side guide rail 6. Also, a counterweight 5
A brake device 10 is provided therein to stop braking of the car 4 and the counterweight 5.

Next, the operation of the brake device 10 will be described. First, when braking, as shown in FIG. 7, the spring 1
Due to the spring force of 9, the magnet frame 15 and the magnet armature 16 are separated from each other. Thereby, the arm 1
3 rotates about the pin 12, the brake shoe 11 is pressed against the weight side guide rail 7, and a braking force is generated.

When the brake device 10 is opened, the coil 21 is excited to generate an attractive force between the magnet frame 15 and the magnet armature 16. As a result, the magnet frame 15 and the magnet armature 16 are in contact with each other against the spring 19, as shown in FIG. Therefore, the arm 13 rotates in the direction opposite to that at the time of braking, and the brake shoe 11 separates from the weight side guide rail 7.

Next, a conventional brake control circuit will be described with reference to FIG. 10 and its operation will be described with reference to FIG. FIG.
In 0, 40 is a contact of an electromagnetic contactor for passing and shutting off a current to the brake coil 21, 41 is for inserting the current limiting resistor 42 after the attraction between the magnet frame 15 and the magnet armature 16. Electromagnetic contactor, 42
Is a current limiting resistor that limits the exciting current after the attraction between the magnet frame 15 and the magnet armature 16, and 43 is
Absorber resistor, 44 is an absorber diode,
Reference numeral 45 is a DC power supply.

Such a conventional brake control circuit operates as follows. FIG. 11 shows the magnet coil current when the brake is released, that is, when the electromagnet 14 is excited, and when the brake is braked, that is, when the excitation current of the electromagnet 14 is cut off.
9 is a timing chart showing changes in the gap between the magnet frame 15 and the magnet armature 16.

First, at time T1, the contacts 40 and 41 of the electromagnetic contactor are closed by a brake opening command. Then, a current starts to flow in the brake coil 21 and increases according to the time constant of the circuit as shown in (c). Therefore, the gap between the magnet frame 15 and the magnet armature 16 gradually narrows from the time T1 as shown in (d), but the generated magnetic flux increases in inverse proportion to the square of the gap distance. Therefore, the gap suddenly narrows from the middle, and the magnet frame 15 and the magnet armature 16 make a noise and collide due to the influence of the sudden movement.

After the magnet frame 15 and the magnet armature 16 are completely attracted, the magnetic resistance of the magnetic circuit decreases, and even if the exciting current flowing through the brake coil 21 is small, an attractive force that overcomes the spring pressure is generated. , T2, the contact 41 is opened and the current limiting resistor 42 is inserted in series to limit the current.

Next, when the contact 40 is opened by the brake command at the time of T3, the brake coil current becomes (c).
It decreases according to the time constant of the circuit. Therefore,
The gap between the magnet frame 15 and the magnet armature 16 begins to open slowly from the time T3 as shown in (d), but the gap suddenly opens from the middle for the same reason as when opening. At this time, the brake shoe 11 is suddenly pressed by the weight side guide rail 7 due to the effect of the abrupt movement, and a noise is generated.

[0013]

In the conventional linear motor drive moving body apparatus configured as described above, by exciting the coil 21 when the electromagnet 14 is opened,
The magnet frame 15 and the magnet armature 16 collide with each other to generate noise. Further, during braking, the brake shoe 11 is instantly pressed against the weight side guide rail 7 by the spring force of the spring 19, so that there is a problem that noise is generated at the moment when the brake shoe 11 contacts the weight side guide rail 7. It was

The present invention has been made to solve the above-mentioned problems, and reduces a noise generated at the time of opening and braking to obtain a linear motor drive moving body device which operates quietly. The purpose is to

[0015]

A linear motor drive movable body device according to the present invention includes a movable body, a linear motor partially mounted on the movable body, and driving the movable body.
A guide rail that guides the moving direction of the moving body that is driven by the drive of the linear motor, a brake shoe that engages with the guide rail to generate a braking force, and has the brake shoe at one end and has a fulcrum at the center. An arm that rotates around, a movable piece provided at the other end of the arm, an electromagnet that adsorbs the movable piece to rotate the arm and releases the braking by the brake shoe when the brake is released, and the brake. When the braking operation is performed, the movable piece, which has been released from the attraction by the electromagnet, is separated from the electromagnet, the arm is rotated, and the elastic member that engages the brake shoe with the guide rail to generate a braking force; During the brake release operation, the exciting current command for the electromagnet is gradually increased until it reaches the specified value, and then the exciting current command is rapidly decreased. Those having a current command means.

According to another aspect of the present invention, there is provided a linear motor drive moving body device, a moving body, a linear motor part of which is mounted on the moving body to drive the moving body, and a linear motor driven by the driving of the linear motor. A guide rail that guides the moving direction of the moving body, a brake shoe that engages with the guide rail to generate a braking force, an arm that has the brake shoe at one end and that rotates about a fulcrum, A movable piece provided at the other end of the arm, an electromagnet that adsorbs the movable piece during brake release operation to rotate the arm, and releases braking by the brake shoe, and an electromagnet used during brake release operation. Generate a braking force by separating the movable piece from which the adsorption has been released from the electromagnet, rotating the arm, and engaging the brake shoe with the guide rail. An elastic member for, when the braking operation, is gradually decreased until the excitation current command to the electromagnet the specified value, thereafter, those with the exciting current command means for gradually increasing the exciting current command.

In a linear motor drive moving body device according to still another aspect of the present invention, the exciting current command means is constructed so that the current command of the exciting current is sharply reduced during the brake braking operation during an emergency stop of the moving body. It is a thing.

In a linear motor drive moving body device according to still another aspect of the present invention, a specified value is set in advance.

In a linear motor drive moving device according to still another aspect of the present invention, the exciting current command means has a time constant indicating an increasing amount of the exciting current of the electromagnet and a time constant indicating a decreasing amount of the exciting current of the electromagnet. The current command is made to be larger than the time constant of the coil of the electromagnet.

[0020]

BEST MODE FOR CARRYING OUT THE INVENTION The present application is intended to control the exciting current of a brake device in a linear motor driving moving device to slow down the moving speed of the magnet frame 15 and the magnet armature 16. Generally, an electromagnet for a brake device has a large inductance and a large circuit time constant, so that the movement of the rapidly moving magnet frame and the magnet armature is controlled, so that the actual current does not follow even when the exciting current command is suddenly changed. However, if the change of the command of the exciting current is made slower than the time constant of the circuit, the exciting current can be controlled as instructed. Further, since the attracting force is determined by the exciting current, the change in the gap between the magnet frame and the magnet armature can be predicted. In other words, by predicting the exciting current with a slow time constant,
The movement of the magnet frame and the magnet armature can be controlled slowly. Then, this application paid its attention to this point and invented the linear motor drive moving body apparatus which performs such control. Hereinafter, this will be described.

In the following, FIG. 1 is a control circuit diagram of a brake device showing a first embodiment of the present invention, and FIG. 2 is a command value of a brake coil current, a brake coil current, a magnet frame, and a magnet armature according to the first embodiment. In the time chart showing the change in the gap between the solid lines, the solid line is according to the present embodiment, and the alternate long and short dash line is according to the conventional device. FIG. 3 is a diagram showing a command value of the brake coil current according to the first embodiment.

Embodiment 1 In FIG. 1, 21 is a brake coil, 30 is a direct current power source, 31 is a detector of the current flowing in the brake coil, 32 is a switching element composed of a semiconductor such as a transistor, Directly controls the current flowing through the brake coil. A brake current command device 34 determines the value of the brake coil current shown in FIG. 2 and outputs a current command. A brake current control device 33 compares the brake coil current detected by the current detector 31 with the current command from the brake current command device 34, and outputs an opening / closing signal to the switching element 32 so that the two match. To do. 35 is an electrolytic capacitor, 36
Is a diode, 37 is a drive circuit for the switching element 32, and 38 is a hysteresis comparator.

Next, the operation of the first embodiment will be described.
In the first embodiment, when the brake is released, that is, during the brake release operation in FIG. 2, a ramp-shaped current command as shown in the brake coil current command (a) in FIG. 2 is output. That is, when the brake opening command is received at the time of T1, the ramp coil current command as shown in the brake coil current command (a) of FIG. 2 is output, so that the brake coil 21 is shown in FIG. Such a brake coil current Ib starts to flow. This brake coil current I
When the value of b is gradually increased, the attractive force acting between the magnet frame 15 and the magnet armature 16 also gradually increases, and the magnet frame 15 and the magnet armature 16 slowly approach each other as shown by the electromagnet gap (c) in FIG. To do. In the conventional brake control device, the current command has a rectangular shape, and at time T1, the current command value suddenly rises to the maximum current, so that the brake coil current increases faster, and the magnet frame 15 and the magnet armature 16 are increased.
Approached quickly. As a result, the magnet frame 15 and the magnet armature 16 suddenly approached each other and collided with each other, and a large operation sound was generated. Therefore, in the first embodiment, the value of the brake coil current Ib is gradually increased by outputting a ramp-shaped current command as shown in the brake coil current command (a) of FIG. 2, and the magnet frame 15 and the magnet armature 16 are gradually increased. The attracting force acting between and is gradually increased, and the magnet frame 15 and the magnet armature 16 are slowly brought close to each other. Then, when the brake coil current Ib1 is reached, which is slightly smaller than the current value of the abrupt approach, the value of the brake coil current Ib is instantaneously reduced to the brake coil current Ib2. At this point, the magnet frame 15 and the magnet armature 1
Since 6 is close to a certain extent, the magnetic resistance is also small, and even if the brake coil current Ib2 is lowered to a value at which the magnetic flux does not decrease, the magnet frame 15 and the magnet armature 16 continue to come closer. After that, the movements of the magnet frame 15 and the magnet armature 16 become faster from the middle, but when they come into contact with each other, the brake coil current has already decreased, and the brake coil current Ib2 has been reached.

Next, the operation of the brake during braking will be described. During braking, the brake coil current command (a) operates so that the current gradually decreases from T3 to T4 when the brake braking command is generated and the current gradually increases from T4 to T5 as shown in FIG. To do. As a result, the brake coil current is the brake coil current Ib at time T3 when the brake braking command is received.
The magnet frame 15 and the magnet armature 16 start to separate slowly from the value of 2, but if the brake coil current Ib continues to decrease gradually, the brake coil current Ib suddenly separates from a certain current value, and the brake shoe 11 abruptly moves to the guide rail 7. Since a large operating noise is generated, the brake coil current Ib is increased conversely when the current value brake coil current Ib3 immediately before the abrupt opening is reached. With this, the attraction force increases at the time when the magnet frame 15 and the magnet armature 16 start to suddenly separate, and the separating speed becomes slow like the electromagnet gap (c) in FIG. 2, so that the brake shoe 11 guides. The movement pressed by the rail 7 becomes gentle, and the operation noise is reduced. After the brake shoe 11 is completely pressed by the guide rail 7, the brake coil current Ib is set to 0 at T5.

In the above, the values of the current brake coil current Ib1 and the brake coil current Ib3 immediately before the magnet frame 15 and the magnet armature 16 start to suddenly approach or open are determined by the resistance value, the inductance, and the power supply voltage value of the brake coil. It is a thing. Therefore,
These values must be obtained in advance by measuring the relationship between the movement of the electromagnet and the exciting current, but the above values are set because the relationship between the movement of the electromagnet and the exciting current can be easily measured. Easy to find.

Further, in the present invention, since the movements of the magnet frame 15 and the magnet armature 16 are predicted and controlled by the exciting current value, a sensor for detecting the positions of the magnet frame 15 and the magnet armature 16 is not required.

Further, as described above, the change of the brake coil current is delayed due to the inductance of the coil. Therefore, if the brake coil current command is suddenly changed, the change of the brake coil current should be made to completely follow the change. I can't. Therefore, in the first embodiment, as shown in FIG.
The current command is controlled so that the time constant indicating the increase amount of the brake coil current Ib between T1 and T2 and the time constant indicating the decrease amount between T3 and T4 are larger than the time constant of the brake coil 21. To do. By doing so, the brake coil current follows the current command, which facilitates current control.

By the way, the above embodiment is intended for the case where the elevator stops on the floor during normal traveling. Because when the elevator stops on the floor during normal driving,
This is because the motor electrically holds the car 4 or the counterweight 5, so that the brake device can be opened or braked gently, and the brake device is not required to have such a high operating speed. However, in the event of an emergency, such as an elevator control failure, its operation must be fast in order to protect passengers from its insecurity. However, since an emergency occurs due to a failure of the control device as in the above example, the actual frequency of occurrence is extremely rare. Therefore, in this case, even if the operating noise of the brake is a little loud, there is no practical problem.

FIG. 3 shows a method of outputting the brake coil current command in such an emergency. That is, as shown in FIG. 3, when the emergency stop command is received at time T3, the current command value is instantly set to zero. In this case, basket 4
Will stop suddenly and passenger safety will be maintained as before.

[0030]

As described above, the linear motor drive moving body device according to the present invention includes a moving body, a linear motor which is partially mounted on the moving body and drives the moving body, and a linear motor of the linear motor. A guide rail that guides the moving direction of the moving body that is moved by driving, a brake shoe that engages with the guide rail to generate a braking force, and an arm that has the brake shoe at one end and rotates about a fulcrum. And a movable piece provided at the other end of the arm, an electromagnet for adsorbing the movable piece to rotate the arm to release the braking by the brake shoe during the brake releasing operation, and the brake braking operation during the brake braking operation. The movable piece whose adsorption by the electromagnet is released is separated from the electromagnet,
An elastic member that rotates the arm and engages the brake shoe with the guide rail to generate a braking force, and gradually increases the exciting current command for the electromagnet during the brake opening operation until it reaches a specified value. Since the exciting current command means for rapidly reducing the exciting current command is provided, the operation noise when the brake is released is reduced.

A linear motor driven moving body device according to another invention of the present invention is a moving body, a linear motor part of which is mounted on the moving body to drive the moving body, and a linear motor for driving the moving body. A guide rail that guides the moving direction of the moving body, a brake shoe that engages with the guide rail to generate a braking force, an arm that has the brake shoe at one end and that rotates about a fulcrum, A movable piece provided at the other end of the arm, an electromagnet that adsorbs the movable piece during brake release operation to rotate the arm, and releases braking by the brake shoe, and an electromagnet used during brake release operation. Generate a braking force by separating the movable piece from which the adsorption has been released from the electromagnet, rotating the arm, and engaging the brake shoe with the guide rail. When the brake is operated, an elastic member is provided to gradually reduce the excitation current command to the electromagnet until it reaches a specified value, and then an excitation current command means to gradually increase the excitation current command is provided. There is an effect of reducing.

In a linear motor drive moving body device according to still another aspect of the present invention, the exciting current command means is constructed so as to rapidly reduce the current command of the exciting current during the braking operation of the moving body during an emergency stop. Therefore, even in the case of an emergency stop, the safety of passengers is ensured as in the conventional case.

In the linear motor drive moving body device according to yet another aspect of the present invention, the specified value is set in advance, so that it is not necessary to install a special sensor.

In a linear motor drive moving device according to still another aspect of the present invention, the exciting current command means is provided with a time constant indicating an increasing amount of the exciting current of the electromagnet and a time constant indicating a decreasing amount of the exciting current of the electromagnet. Since the operation is performed so as to be larger than the time constant of the coil of the electromagnet, current control becomes easy. .

[Brief description of drawings]

FIG. 1 is a control circuit diagram of a brake device in a linear motor driving moving device according to an embodiment of the present invention.

FIG. 2 is a timing chart showing the operation of the brake device in FIG.

3 is a timing chart showing a brake coil current command value in an emergency operation of the brake device in FIG.

FIG. 4 is a perspective view showing an example of a conventional linear motor elevator.

5 is a front view showing the counterweight of FIG. 4. FIG.

6 is an enlarged view showing the brake device of FIG.

FIG. 7 is a cross-sectional view showing a state of the brake device of FIG. 6 during braking.

8 is a cross-sectional view showing a state when the brake device of FIG. 6 is opened.

FIG. 9 is an enlarged sectional view showing a conventional electromagnet.

FIG. 10 is a control circuit diagram of a conventional brake device.

FIG. 11 is a timing chart showing the operation of FIG.

[Explanation of symbols]

 4, 5 Moving body 8, 9 Linear motor 11 Brake shoe 13 Arm 14 Electromagnet 16 Movable piece 19 Elastic member 34 Exciting current command means 11

Claims (5)

[Claims] 1. A moving body, a linear motor, a part of which is mounted on the moving body, for driving the moving body, and a guide rail for guiding the moving direction of the moving body which is moved by the driving of the linear motor. , A brake shoe that engages with the guide rail to generate a braking force, an arm that has the brake shoe at one end and rotates about a fulcrum, a movable piece provided at the other end of the arm, a brake The electromagnet for adsorbing the movable piece to rotate the arm to release the braking by the brake shoe during the opening operation and the movable piece released from the adsorption by the electromagnet during the brake braking operation are separated from the electromagnet. Then, the arm is rotated to engage the brake shoe with the guide rail to generate a braking force, and the electromagnetic force is applied when the brake is released. Exciting current command is gradually increased until it reaches a predetermined value, thereafter, the linear motor driving the mobile apparatus comprising the excitation current command means for rapidly reducing the excitation current command for. 2. A moving body, a linear motor, a part of which is mounted on the moving body, for driving the moving body, and a guide rail for guiding the moving direction of the moving body which is moved by the driving of the linear motor. , A brake shoe that engages with the guide rail to generate a braking force, an arm that has the brake shoe at one end and rotates about a fulcrum, a movable piece provided at the other end of the arm, a brake An electromagnet that attracts the movable piece to rotate the arm to release the braking by the brake shoe during the releasing operation, and separates the movable piece from which the adsorption by the electromagnet is released during the brake releasing operation from the electromagnet. Then, the arm is rotated to engage the brake shoe with the guide rail to generate a braking force, and the electromagnetic member during the brake braking operation. Is gradually decreased until the excitation current command reaches a predetermined value for, thereafter, the linear motor driving the mobile apparatus comprising the exciting current command means for increasing the exciting current command. 3. The linear motor drive moving body apparatus according to claim 2, wherein the exciting current commanding means sharply decreases the exciting current command during the braking operation during the emergency stop of the moving body. 4. The linear motor drive movable body device according to claim 1, wherein the specified value is a predetermined value. 5. The exciting current command means sets the current command so that the time constant indicating the increasing amount of the exciting current of the electromagnet and the time constant indicating the decreasing amount of the exciting current of the electromagnet are larger than the time constant of the coil of the electromagnet. The linear motor drive moving device according to any one of claims 1 to 4, wherein: