JPS5842062B2 - Independent suspension system for suction type magnetic levitation vehicles - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention provides a method for controlling movement between the module and the traveling body when several levitation electromagnets are assembled into an integral structure to form a module in an attraction type magnetically levitated traveling body. This provides an independent suspension system suitable for controlling.

As is known, in a magnetically levitated vehicle that levitates by applying a magnetic attraction force to a rail laid on the ground, it is desirable to arrange a large number of levitation electromagnets along the front and back direction of the vehicle with as few gaps as possible. It is believed that.

That is, by making the electromagnets continuous, it is possible to reduce the cross-sectional shape of the rail laid on the ground side to obtain the necessary floating blades, thereby reducing construction costs.

However, in order to realize such an arrangement of electromagnets, it is of course possible to assemble a large number of electromagnets directly to the main body of the traveling body, but also to divide them into several groups, for example, three independent electromagnets or three electromagnets.
It is inappropriate to use a structure in which more than one existing type of bogie is suspended.

In other words, when the traveling body travels on a curved track section, the numerous levitation electromagnets need to be maintained in a position that correctly faces the corresponding rail. ) is only allowed to rotate and does not have the ability to move in the left-right direction of the traveling body, so the assembly to the body of the traveling body is restricted to its position and maintains the correct symmetrical relationship along the curved rail. This is because it cannot be done.

By the way, from this point of view, the present applicant has assembled some (or even just one) of these electromagnets for the purpose of ensuring that a large number of electromagnets are aligned with the rail regardless of the curvature of the rail. is provided with a fixed module, and when the front, rear, left, right, and up and down directions of the vehicle are taken as the X, y, and z axes, respectively, of the six three-dimensional degrees of freedom of this module, the propulsion from the module to the vehicle is Movement in the X-axis direction is restricted to transmit force (or braking force), and rotation (rolling) around the same X-axis is restricted to maintain a normal gap with the rail, but movement in other y- and z-axis directions is restricted. An independent suspension system has already been provided that includes a modular attitude control mechanism that allows movement of the robot and rotation (pitching, yawing) around the y and z axes within a certain range, and the present invention further improves this. This is what I did.

In other words, the patent application No. 142442/1989 already submitted by the present applicant.
The independent suspension system of No. 53-6406 (Special Publication No. 53-6406) is equipped with air springs for load bearing, etc., as well as for determining the position and orientation of the module with respect to the main body of the traveling body, and as mentioned above, for regulating and permitting its movement. , 2 expanded in a V-shape as the first connection mechanism that restricts only the movement of the module in the X-axis direction.
This rod is equipped with a modular posture control mechanism consisting of a main rod and a second coupling mechanism that independently regulates only the rotation around the X axis, but in the present invention, these two independent
The present invention provides an independent suspension system equipped with a modular attitude control mechanism consisting of a single connecting mechanism that is configured to be able to regulate two degrees of freedom at the same time instead of two connecting mechanisms.

Specifically, the modular attitude control mechanism that is a characteristic part of the present invention includes a sliding base mounted on the main body of the traveling body with a degree of freedom of movement in the y-axis direction, and one end connected to the sliding base. From the part, it expands and extends symmetrically in the front and back so as to form a V-shape in a plane that is parallel to the xy plane or inclined around the X axis,
Two rods whose expanded extension ends are connected to the front and rear of the module, respectively, have torsional rigidity that does not substantially cause twisting, and between one end of these rods and the sliding base, and the other rods. and a universal joint forming a connection between the end and the module,
These rods and universal joints restrict the relative movement of the module in the X-axis direction with respect to the traveling body, transmitting the propulsive force of the linear motor or the braking force of the brake device to the traveling body, and also restricting the torsion of the module by regulating the torsion of the rods and universal joints. The structure is such that rotation about the X-axis is restricted to maintain a normal gap between the rail and the electromagnet.

In addition to the above-mentioned traveling body module attitude control mechanism, the independent suspension system includes an air spring as a shock absorber provided to support the load of the traveling body body with respect to the z-axis, and an air spring that is guided opposite to the rail. An air spring, etc. that provides a buffering effect in the y-axis direction (for example, an action that keeps the traveling body in a neutral/intermediate position with respect to the left and right modules located on two parallel rails) between the module and the traveling body. However, it is not directly related to the content of the present invention.

According to the configuration described above, the module is restrained from rotating around the X-axis and moving in the X-axis direction with respect to the main body of the traveling body, and the other four degrees of freedom are secured, so that the traveling body Even when traveling on a curved track section of a rail, for example, three or more modules each move about the ytz axis, and rotate about the y and z axes as appropriate, so that the entire module moves along the x, y axis relative to the rail. The independent suspension system of the present invention, which is proposed to be able to obtain and guarantee alignment on a plane, has a modular attitude control mechanism that is extremely simplified compared to conventional ones. It has the characteristics of

The present invention will be described in detail below based on embodiments shown in the drawings.

1 to 3 show one of the plurality of modules mounted on the main body of the traveling body, and the independent suspension system described below is similarly applied to the other modules.

In the figure, 1 is a traveling body body, 2 is a rail laid on the ground, and is fixed to a track base 4 by a support member 3.

A reaction plate 5 constitutes the secondary side of the linear motor, and is arranged to cover the upper surface of the rail 2.

Reference numeral 6 denotes a module having a U-shaped cross section, and a pair of upper and lower arm portions 7°8 are provided to sandwich the rail 2 from above and below, and one of the upper arm portions 7 is provided with the reaction plate 5.
A linear motor 9 that generates thrust or braking force is fixed between the rail 2 and the lower arm 8, and one or more electromagnets 10, 10, etc. for levitation are fixed tightly to the other lower arm 8 so as to face the lower surface of the rail 2. has been done.

11.11 has the function of transmitting thrust and the main body 1 of the traveling body.
and the two rods that function to restrict relative torsion of the module 6, and are configured to have sufficient torsional rigidity so that substantially no torsion occurs.

These rods IL11 are installed between a central sliding table 12 mounted on the lower part of the traveling body 1 so as to be movable in the y-axis direction, and the front and rear parts (upper arm parts) of the module 6. Universal joints 13, 13, which restrain relative rotation around the X axis
14. It is pivotably mounted by 14.

The arrangement state is such that they are symmetrically arranged in a substantially horizontal direction with the sliding table 12 at the center forming a V-shape.

15 is a track of a linear bearing that guides the movement of the central sliding table 12 in the y-axis direction.

The connecting structure including these slide tables and rods constitutes a modular attitude control mechanism.

In addition, in such a configuration, it is necessary to prevent the transmission of the thrust or braking force of the linear motor to the traveling body from generating an unnecessary moment in the module 6, and in this example, the steps shown in FIG. Two rods 11°11 as shown
By positioning the intersection point a of the axial extension line on the center line of the rail and the linear motor, the thrust of the linear motor acting on the module 6 and the reaction force from the traveling body body 1 via the universal joints 14 and 14 are The structure is such that the rotational moment in the x and y planes is not generated by passing through the point a.

Reference numeral 16.16 is an air spring for supporting the load of the traveling body, which is arranged at a distance from the front and rear of the module 6, and includes diaphragms 17, 17 housed in recesses 19, 19 formed in the module 6, and this air spring. It is placed on the upper part of the diaphragms 17, 17, and is composed of a rigid body body 18.18 fixed to sliding stands 20 and 20 on both sides, which are mounted on the traveling body body 1 so as to be movable in the y-axis direction. .

21.21 is a track of a linear bearing that guides the movement of the slide tables 20.20 on both sides in the y-axis direction.

Reference numerals 22 and 22 designate air springs for buffering in the y-axis direction of the traveling body body 1, which are separately arranged at the front and rear of the module 6.

Next, considering the movement of the module 6 that is independently suspended with the above configuration, the movement regarding each of the xty and z axes is as follows.
Regarding the X-axis, the rod 11°11 functions as a triangular thrust link, so there is no relative movement between it and the traveling body 1, and regarding the Y-axis, the sliding bases 12 at the center and both sides , 20, 20 are allowed to move in the same direction, and furthermore, regarding the Z-axis, the swinging of the rods 11, 11 and the y-axis direction of the central sliding table 12 follow the upward or downward movement of the module 6. Allowed by movement occurring.

On the other hand, the rotation about each xtytz axis is the rod 11.11
does not cause twisting, and universal joints 13.14
restricts only the relative rotation of the two connecting members about the X-axis, so the rotation of the module 6 about the X-axis is restricted.

On the other hand, regarding the y and z axes, the swinging of the pair of hands 11, 11 is allowed because it occurs asymmetrically.

It will be clear from the above description that such asymmetrical rocking of the rods 11, 11 is possible.

In this way, the movement of the module 6 with respect to the traveling body 1 is allowed in the other four degrees of freedom except for movement and rotation about the Z axis, and these movements are not only allowed independently but also combined. Even if this occurs, there is no problem, and it is ensured that the module 6 always maintains a right facing relationship with the rail 2 in the x, y plane and the x, z plane.

Note that due to the rotation of the module 6 around the ytz axis, the air springs 16, 16 attachment portion of the module 6 is slightly displaced in the X-axis direction, but such displacement is actually extremely small; It is sufficiently absorbed by the deflection of the diaphragms 17, 17 at 16.16.

As is clear from the above description, the independent suspension system according to the present invention uses a modular attitude control mechanism as a single connection mechanism consisting of a sliding base, a rod, and a universal joint.
y to give to the module.

Allowance of movement and rotation regarding the Z-axis and movement regarding the X-axis,
It can satisfy rotational constraints and is extremely effective in simplifying the structure compared to conventional ones.

Furthermore, as is clear from FIG. 8, in this example, the force applied to the air spring 16 that supports the load of the traveling body and the force applied to the rail
By the floating blade of the electromagnet 10 acting between the rods 11, 11 and the universal joint 13.
This is to prevent the module 6, especially the electromagnet 10 facing the rail 2, from wobbling due to looseness in the connecting parts etc.

FIGS. 4 and 5 show a deformable joint having a desirable configuration as the rod pivot connection device of the present invention, which is devised to have sufficient strength to prevent twisting with a relatively small configuration. It is something that

To explain this deformable joint below, a bifurcated portion 23 is formed at the end of the rod 11, and a bracket 24 (or 24') fitted into the groove of the bifurcated portion 23 is attached to a module (or a running body). fixed to the central sliding base attached to the
By connecting the pin 25 attached to the fork 23 and the bracket 24 (or 24') with a ball joint, the fork 23 and the bracket 24 (or 24') can interfere with each other. Although the rod 11 is allowed to swing and twist within a certain range, a first component for transmitting thrust is provided, and the tip extends from near the end of the rod 11, and its tip is an axial extension of the pin 25. The rod 1 on the line
1 and the bracket 24 or 24' around the X-axis, a second component is provided with a connecting arm 26 that is pivotally supported on the module (or sliding base) to constitute a universal joint. There is.

In the example shown in FIG. 4, a turnbuckle 28 is connected to the module by a pin joint 27 so that it can swing in a plane that is substantially parallel to the axis of the rod 11 and substantially perpendicular to the axis of the pin 25. , is connected to the tip of the connecting arm 26 by a ball joint 29 to form a second component.

On the other hand, in the example shown in FIG. 5, a second bracket 30 having a groove 32 substantially parallel to the axis of the rod 11 is fixed to the module, and a connecting arm extending from the rod 11 is inserted into the groove 32. The second component is formed by fitting the roller 31 assembled to the tip of the roller 26.

FIG. 6 shows an example of the first component connected to transmit thrust, and includes a spherical portion 33 attached to the forked portion 23 of the rod 11 by a pin 25, and a bracket 24 surrounding the spherical portion 33. or socket part 34 formed in 24'
and the forked portion 23 of the rod 11 and the bracket 24 or 24.
It is a ball joint consisting of a bushing 35 interposed between the rod 11 and the bushing 35, and cannot move relative to the rod 11 in the axial direction, but the amount of play between the forked part 23 and the bracket 24 allows swinging and twisting. It has become something that

Furthermore, the connecting line connecting the center of the spherical portion 33 at each end of the rod 11 and the center of the ball joint 29 of the connecting arm 26 is perpendicular to the X axis of the module and parallel to the y axis, as shown in FIG. Furthermore, the four connecting lines at both ends of the two rods 11, 11 are configured to be parallel to each other, so that their rocking and rotation can be made smooth and natural. becomes possible.

According to the deformable joint having such a configuration, the length of the connecting arm 26 in the second component can be relatively long compared to the proportion of the overall structure, which is necessary for regulating relative rotation. The strength conditions of the member are such that it is advantageous to make the connecting arm as long as possible compared to the above-mentioned normal type universal joint, and when it is desirable to reduce the volume of the joint part, such as in the independent suspension system of a suction type magnetic levitation vehicle. The effect is extremely unique.

As described above, the independent suspension system for a suction type magnetically levitated vehicle according to the present invention restricts movement in the X-axis direction and rotation around the X-axis among the six three-dimensional degrees of freedom of the module relative to the vehicle. However, the other four degrees of freedom are allowed within a certain range using a relatively simple connection mechanism, and the practical benefits of this are significant when putting this type of traveling body into practical use. is very much a dog.

[Brief explanation of drawings]

The drawings all show embodiments of the present invention, and the first
The figure is a plan view of the module assembled to the traveling body, Figure 2 is a side view of the same, Figure 3 is a sectional view of the same, and Figures 4 and 5 show preferred configuration examples of universal joints that connect rods. Perspective view, No. 6
The figure is a partial sectional view showing an example of the first component of the deformable joint, Figure 7 is a plan view showing the relative positions of the ball end joints at both ends of the rod, and Figure 8 is the air support that supports the load of the traveling body. It is an address side view of a spring part. 1... Running body body, 2... Rail, 3
...Rail support stand, 4...Track stand, 5
...Reaction plate, 6...Module, 7...Upper arm, 8...Lower arm, 9
...Linear motor, 10...Electromagnet, 11...Rod, 12...Sliding base,
13.14...Universal joint, 15...Race, 1
6... Air spring, 17... Diaphragm, 18... Rigid body, 19...
・Recessed portion, 20...Sliding base, 21...Race, 22...Air spring, 23, 24.
...Bracket, 25...Pin, 26.
...Connection arm, 27...Pin joint, 28.
... Turnbuckle, 29 ... Ball joint,
30...Bracket, 31...Concave groove,
32...Roll, 33...Spherical part, 35
...Butshu. 34...Socket part,

Claims (1)

[Scope of Claims] An independent suspension system that connects and supports a module that integrates 11 or a plurality of levitation electromagnets to the main body of the moving body is arranged such that the front-rear, right-left, and up-down directions of the module are adjusted by X, respectively, with respect to the traveling direction of the moving body. , y, and z axes, the module attitude control mechanism includes a module attitude control mechanism that allows movement of the module in the X-axis direction and rotation about the same axis. is a sliding base that is assembled to the main body of the traveling body so as to be movable in the y-axis direction, and a vertically symmetrical V-shape in a plane that is parallel to the xty plane or inclined around the x-axis from the connection part with this sliding base. two torsionally rigid dog rods that are expanded and extended and connected to the front and rear parts of the module at both expanded ends; and a universal joint that forms a connection between the rods, the slide table, and the module; An independent suspension system for a suction type magnetically levitated vehicle, characterized in that each of these universal joints is configured to restrict relative rotation of the two connecting members about the X-axis. 2. The universal joint has a ball joint structure for thrust transmission that allows rocking and relative rotation between the two connected members, and a sliding base or and a rotation restraining structure portion connected to the module so as to restrict only relative rotation around the X-axis. Independent suspension system.