JPS63189323A - Conveyor - Google Patents

Abstract

PURPOSE:To convey an object in an arbitrary direction by arbitrary displacement without mounting a mechanical movement converting means, by a method wherein a variable magnetic pole is moved through magnetic action between a stationary and a variable magnetic pole. CONSTITUTION:In a conveyor, an attraction force or a repulsion force in a direction X is generated through the action of the magnetic forces of a movable magnetic pole 4, movable in directions X and Y, and a first stationary magnetic pole 6X. An attraction force or a repulsion force is generated in a direction Y through the action of the magnetic forces of a second stationary magnetic pole 6Y. With polarity of the stationary magnetic poles 6X and 6Y, the movable magnetic pole 4 is moved in the directions X and Y through the action of a mutual magnetic force. In this case, by providing variation in the polarity of the movable magnetic pole 4 and the first and second stationary magnetic poles 6X and 6Y with revolution regularity, the movable magnetic pole 4 produces revolution movement in a specified direction. Since the revolution movement is superposition of movement displacement in the direction X with that in the direction Y, movement displacement in a specified direction of a part thereof is exerted as a conveyance force on an object 2 to be conveyed.

Description

[Detailed Description of the Invention] [Industrial Application Field] This invention is directed to
The present invention relates to a conveyor that conveys objects using motion displacement in the Y direction.

[Conventional technology]

A conveyor is a transporting machine that continuously transports cargo, and there are belt conveyors, packet conveyors, chain conveyors, roller conveyors, etc. depending on the type of cargo.

In conventional conveyors, cargo is conveyed by obtaining a conveying force from driving force such as rotational force from a motor or hydraulic pressure through a mechanical motion transmission means such as a belt or gears.

[Problem that the invention seeks to solve]

For this reason, conventional conveyors require a mechanical motion conversion mechanism, which incurs mechanical loss and makes it difficult to accurately control the direction and amount of movement of the object. There was a drawback.

Therefore, the present invention enables objects to be transported using drive displacement in the X and Y directions generated by electromagnetic force without intervening mechanical motion converting means.

[Means for solving problems]

As shown in FIG. 1, the conveyor of the present invention has a first fixed magnetic pole 6X that applies a magnetic force in the X direction to a movable magnetic pole 4 movable in the X and Y directions, and a magnetic force in the Y direction. Drive unit M with second fixed magnetic pole 6Y installed
, , M2, M3..., the first and second
The object 2 is conveyed by the movement of the movable magnetic pole 4 due to the mutual magnetic force between the fixed magnetic poles 6x, 6Y and the movable magnetic pole 4.

[For production]

Therefore, in the conveyor of the present invention, the magnetic force between the movable magnetic pole 4 movable in the X and Y directions and the first fixed magnetic pole 6x produces an attractive force or a repulsive force in the X direction. Attractive force or repulsive force is generated in the Y direction by the magnetic force with the fixed magnetic pole 6Y. By the way, fixed magnetic poles 6X, 6Y
When the polarity of is changed, the movable magnetic pole 4 becomes X due to mutual magnetic force,
In this case, if the polarity of the movable magnetic pole 4 and the first and second fixed magnetic poles 6X, 6Y is changed with circular regularity, the movable magnetic pole 4 will move in a circular motion in a specific direction. This results in the following.

Since this circumferential movement is a superposition of movement displacements in the X and Y directions, a part of the movement displacement in a specific direction can act on the object 2 to be transported as a transport force. Therefore, when the object 2 as a conveyed object is placed on the movable magnetic pole 4, the object 2 is moved in a specific direction by the movement of the movable magnetic pole 4, so if it is arranged continuously, it can function as a conveyor. .

If the movable magnetic pole 4 is an electromagnet around which the drive coil 20 is wound, the object 2 that can be attracted can be attracted and transported by magnetic force.

〔Example〕

FIG. 1 shows an embodiment of the conveyor of the invention.

This conveyor has a plurality of drive units Ml, M2, M3, .
If a driving force is continuously generated individually in M3..., the object 2 can be transported in the direction of arrow F or the direction opposite to arrow F.

As shown for the drive unit M3, each drive unit Ml, M2, M3... is a first fixed magnetic pole 6X that applies a magnetic force in the X direction to the movable magnetic pole 4 movable in the X1Y direction, and a Y A second fixed magnetic pole 6Y is installed to apply a magnetic force in the direction.

By the way, as shown in FIG. 2, for example, the movable magnetic pole 4 is composed of a permanent magnet having a pair of magnetic poles N and S, and is capable of two-dimensional movement in the X-axis direction and in the X-axis direction. It is supported so that it can autonomously return to its origin. That is,
The movable magnetic pole 4 is fixed through a flexible shaft 8 made of a coil spring, and both ends of the flexible shaft 8 are fixed within the device, so it can be moved by the action of magnetic force. When the magnetic pole 4 receives a driving force in the x and X-axis directions, the flexible shaft 8 bends to allow the movable magnetic pole 4 to move. When the driving force applied to the movable magnetic pole 4 is released, the movable magnetic pole 4 autonomously returns to its origin due to the restoring force of the flexible shaft 8.

The fixed magnetic pole 6X is a single-pole electromagnet that applies magnetic force in the X direction to the movable magnetic pole 4, and winds a drive coil IOX to generate an arbitrary polarity.
The polarity is changed depending on the direction of the drive current lx flowing from the drive input terminals 12a and 12b.

In addition, the fixed magnetic pole 6Y is composed of a bipolar electromagnet, and the driving coil IOY is wound around one magnetic pole side.
The left and right polarities are changed depending on the direction of the drive current ty flowing from the drive input terminals I4a and 12b.

For each drive coil 10X, IOY, for example,
As shown in FIG. 3, the drive input terminal 12 of the drive coil IOX. l, 12b, drive input terminal 1 of drive coil 10Y
Drive currents Ix and Iy are applied to the drive circuits 4a and 14b individually from drive circuits 16X and 16Y, and the direction of the currents and the phase relationship between the two are controlled by a control circuit 18.

Further, although not shown, the magnitudes of the drive currents Ix and Iy may be arbitrarily set to be adjustable using variable resistors or the like.

Therefore, the drive current x shown in a of FIG. 4 is caused to flow from the drive circuit 16X to the drive coil IOX, and the drive circuit 16
From Y to drive coil IOY, as shown in Fig. 4b,
When a drive current ry whose phase φ is shifted by π/2 with respect to the drive current Tx flows, the fixed magnetic pole 6 is caused by the drive current Ix.
On the magnetic pole surface of the fixed magnetic pole 6Y, the magnetic poles S and N shown in a of FIG. 4 are generated alternately at a constant period, and due to the drive current Iy, the magnetic poles shown in b of FIG. 4 are generated on the magnetic pole surface of the fixed magnetic pole 6Y. As shown, magnetic poles S and N or magnetic poles N and S occur alternately on the left and right at a constant period.

Looking at the relationship between such regular changes of the magnetic pole and the driving force, at time TI, the left and right polarities of the fixed magnetic pole 6Y become N and S, so there is repulsion between the fixed magnetic pole 6Y and the movable magnetic pole 4. Power is born. Next, at time T2, the left and right polarities of the fixed magnetic pole 6Y become S and N, so the movable magnetic pole 4 and the fixed magnetic pole 6
As shown in FIG. 4C, a driving force Y+ (attractive force) is generated between the movable magnetic pole 4 and Y, as shown in FIG.
is attracted to the fixed magnetic pole 6Y and moves in the negative Y direction.

At time T3, the left and right polarities of the fixed magnetic pole 6Y maintain S and N, so an attractive force exists between the movable magnetic pole 4 and the fixed magnetic pole 6Y, but since the polarity of the fixed magnetic pole 6X becomes N, the movable magnetic pole A driving force X+ (attractive force) is generated between the movable magnetic pole 4 and the fixed magnetic pole 6X, as shown in d in FIG. and moves in the positive X direction.

At time T4, the polarity of the fixed magnetic pole 6X maintains N, so
There is an attractive force between the movable magnetic pole 4 and the fixed magnetic pole 6X, but since the left and right polarities of the fixed magnetic pole 6Y are N and S, there is an attraction between the movable magnetic pole 4 and the fixed magnetic pole 6Y as shown in e of Fig. 4. A driving force Y2 (repulsive force) is generated, as shown in FIG. 5(C),
The movable magnetic pole 4 is repelled by the fixed magnetic pole 6Y and moves in the positive Y direction.

Then, at time T5, the left and right magnetic poles of the fixed magnetic pole 6Y are N,
S, a repulsive force exists between the movable magnetic pole 4 and the fixed magnetic pole 6Y, but since the polarity of the fixed magnetic pole 6X becomes S, the force between the movable magnetic pole 4 and the fixed magnetic pole 6x as shown in FIG. A driving force X2 (repulsion force) shown in f is generated, and as shown in FIG. It is.

Such operations are similarly performed continuously after time T6, and the movement trajectory of the movable magnetic pole 4 is changed to the rectangular movement trajectory 0 of the flexible shaft 8 shown in FIG.
．． Through P, Q, R, (A), (B), (C
) and (D). Therefore, if the object 2 is brought into contact with the upper surface of the movable magnetic pole 4 of each drive unit M1, M2, M3, . In response to X2, the movable magnetic pole 4 moves according to the motion displacement ΔD in the section of the movement loci R and O. The motion displacement ΔD is calculated by each drive unit M1, M2, M3...
The object 2 is caused by one circular motion of the arrayed drive units M1, M2, M3...
Drive units M+, M2, M3 continuously by
...It moves above and is transported.

The direction of rotation of the movable magnetic pole 4 is counterclockwise in the rotation operation shown in FIG. 5, but the driving current Ix, r
If we change the direction of y and generate the driving forces Y1, X+, Y2, and Xz in the opposite direction, the direction of the driving force will be X2-Y2.
-XI→Y1, and the circular motion of the movable magnetic pole 4 is clockwise. Therefore, by switching the directions of the drive currents lx and ry, the conveyance direction of the object 2 can be arbitrarily set.

By the way, in this conveyor, the conveyance speed of the object 2 depends on the speed of the circular motion of the movable magnetic pole 4, but the speed of this circular motion is proportional to the frequency of the drive currents Ix and Iy applied to each drive coil IOX and 10Y. , driving force X+ , X2
, Y+, and Y2 depend on the magnitude and amplitude of the drive currents Ix and Iy. Therefore, the control circuit 18 controls the frequency and magnitude of the drive currents lx and ry to achieve an arbitrary circulating speed and an arbitrary magnitude. A strong driving force can be easily obtained, and the conveyance speed of the object 2 can be set arbitrarily.

Furthermore, the transport distance of the object 2 is determined by each drive unit Ml, M2.
, M3 . It is possible to feed the object 2 by a small amount.

And drive units Ml, M2, M3...
In addition to linear, curved, annular, and rectangular shapes, the can be arranged in a cross-path shape, and the object 2 can be conveyed by forming a conveyance path of any shape.

Further, the plurality of drive units MI, M2, shown in FIG.
Regarding M3..., as shown in FIG. 6, a driving coil 20 is wound left and right across the flexible shaft 8, which is the support center of the movable magnetic pole 4, to form an electromagnet, and the object 2 as the conveyed object and may be made possible to adsorb. In this case, the object 2 needs to be made of a ferromagnetic material or have a magnetized surface that can be attracted. And the movable magnetic pole 4
A drive current of 1 m is passed from the drive circuit 24 between the drive input terminals 22a and 22b of the drive coil 20, and the control circuit 18
By changing the direction of the drive current 1m, the left and right polarities N and S can be arbitrarily set.

If the movable magnetic pole 4 is an electromagnet in this way,
and h, the synchronized square wave drive current 1
When m and Ix are passed through the drive coil 20.10X, a drive current of 1 m causes magnetic poles S and N or magnetic poles N and S to be constant on the left and right sides on the magnetic pole surface of the movable magnetic pole 4, as shown in g in Fig. 7. h in FIG.
The magnetic poles N and S shown in are generated alternately at a constant period. Furthermore, when a drive current Iy is applied to the drive coil IOY, the left and right polarities of the fixed magnetic pole 6Y are changed to S, as shown in j in FIG.
A fixed polarity of N is generated.

Therefore, at time T1, the left and right polarities of the movable magnetic pole 4 are S,
N, a repulsive force is generated between each of the fixed magnetic poles 6X, 6Y and the movable magnetic pole 4. Then, at time T2, the left and right polarities of the movable magnetic pole 4 become N and S, and correspondingly, the polarity of the fixed magnetic pole 6x becomes S, so a repulsive force acts between the movable magnetic pole 4 and the fixed magnetic pole 6X. Meanwhile, a driving force Y1 is generated between the movable magnetic pole 4 and the fixed magnetic pole 6y as shown in j in FIG.
(Attractive force) is generated, and the movable magnetic pole 4 is attracted to the fixed magnetic pole 6Y and moves in the negative Y direction, as shown in FIG. 8(H).

At time T3, the left and right polarities of the movable magnetic pole 4 maintain N and S, so an attractive force exists between the movable magnetic pole 4 and the fixed magnetic pole 6Y. magnetic pole 6
Since the polarity of and moves in the positive X direction.

At time T4, as shown in FIG. 8 (J), the movable magnetic pole 4
The left and right polarities of are S and N, and correspondingly the polarity of the fixed magnetic pole 6X is S, so the movable magnetic pole 4 and the fixed magnetic pole 6X
While an attractive force acts between the movable magnetic pole 4 and the fixed magnetic pole 6Y, a driving force Y2 (repulsive force) shown in FIG. Move in the positive Y direction. At this time, N and S polarities are generated on the magnetized surface of the object 2 corresponding to the polarities S, , 'H of the movable magnetic pole 4, and the movable magnetic pole 4 and the object 2 are attracted to each other.

At time T5, the left and right magnetic poles of the movable magnetic pole 4 maintain S and N, so there is a repulsive force between the movable magnetic pole 4 and the fixed magnetic pole 6Y. Magnetic pole 6X
Since the polarity of is N, a driving force X2 (repulsion force) shown in m in FIG. Move in the X direction and return to the original position. This causes a positive displacement ΔD in the X direction that acts on the object 2 as a conveyance force.

At time T6, as shown in FIG. 8(H), the movable magnetic pole 4
The left and right polarities of are N and S, and correspondingly the polarity of the fixed magnetic pole 6X is S, so the movable magnetic pole 4 and the fixed magnetic pole 6X
While a repulsive force acts between the movable magnetic pole 4 and the fixed magnetic pole 6Y, a driving force Y+ (attractive force) shown at j in FIG. 7 is generated between the movable magnetic pole 4 and the fixed magnetic pole 6Y, and the movable magnetic pole 4 is attracted to the fixed magnetic pole 6Y Move in the negative Y direction.

Therefore, the locus of movement of the movable magnetic pole 4 caused by such continuous circular motion forms a circular motion with rectangular loci of movement 0, P, Q, and R of the flexible shaft 8 shown in FIG. The continuous time T7, T8, T9...
According to the progress of the process, the movable magnetic pole 4 moves to (H), (1), and
Repeat the circular motion as shown in (J) and (K). Therefore, object 2 is each drive unit) M, , M2, M3
The movable magnetic pole 4 of ... moves on the magnetized surface of the object 2 with a movement trajectory R1
If they are made to touch each other in the 0 section, the object 2 will be moved by the driving force X2 in the circular movement of the movable magnetic pole 4.

By the way, looking at the relationship between the movement of the object 2 and the circular motion of the movable magnetic pole 4, as shown in (J) in FIG.
Since magnetization with N and S polarities occurs on the magnetized surface of the object 2 corresponding to the polarities S and H, the object 2 is firmly attracted to the movable magnetic pole 4. If such an adsorption state continues continuously, it will become a cause of hindering the movement of the movable magnetic pole 4;
By taking advantage of the fact that K is composed of electromagnets,
) to (H) in FIG. 8, the relationship between the polarity change of the movable magnetic pole 4 and the magnetic pole of the magnetized surface of the object 2 shows that the drive coil 2
A drive current of 1 m relative to 0 is passed in the opposite direction to change the polarity to S, N.
Since it is reversed from N to S, the magnetization polarity of object 2 is N and S.
A repulsive force acts between the object 2 and the movable magnetic pole 4, and after the object 2 is moved, the object 2 can be separated from the movable magnetic pole 4 by the repulsion saw. (drive unit) can be passed to the M2 side.

Therefore, if the movable magnetic pole 4 is used as an electromagnet to attract the object 2, it will not only be possible to transport the object 2 in a flat manner.
Three-dimensional conveyance on inclined surfaces or vertical surfaces is possible, and slipping between the movable magnetic pole 4 and the object 2 can be prevented even during general conveyance on a flat surface, so the movement of the movable magnetic pole 4 can be reliably transmitted to the object 2. The object 2 can be transported by It is also possible to transport the object 2 while being attracted to the movable magnetic pole 4 while suspending it downward. In that case, by cutting off the magnetization of the movable magnetic pole 4, the transported object 2 is dropped and the predetermined transport is performed. Object 2 can be moved to a position.

In the embodiment shown in FIG. 6, the fixed magnetic poles 6X and 6Y are made of electromagnets, but one of them may be made of a permanent magnet.

In addition, the drive units Ml, M2, M3 of each embodiment
Regarding the circular movement of the movable magnetic pole 4 in . Since there is no such thing, the orbiting speed can be increased by that much.

〔Effect of the invention〕

As explained above, according to the present invention, the drive current on the fixed magnetic pole side is increased by movement in the X and Y directions according to the polarity generated in the movable magnetic pole and the first and second fixed magnetic poles of each drive unit. Since circular motion can be obtained in accordance with the direction and its amplitude, it can be transported in any direction and with any feed displacement with an extremely simple configuration without any mechanical motion conversion means.Moreover, the drive unit arrangement configuration Objects can be transported to any distance and location depending on the location.

[Brief explanation of the drawing]

1 is a diagram showing a first embodiment of the conveyor of the present invention, FIG. 2 is a diagram showing an example of a concrete support form of the movable magnetic pole of the drive unit shown in FIG. 1, and FIG. A diagram showing a specific configuration example of the conveyor drive unit shown in the diagram,
FIG. 4 is a timing chart showing the driving current and driving force of the drive unit shown in FIG. 1, FIG. 5 is a diagram showing the orbiting locus of the movable magnetic pole of the drive unit shown in FIG. 1,
FIG. 6 is a diagram showing a specific configuration example of a drive unit that is a second embodiment of the conveyor of the present invention, and FIG. 7 is a timing chart showing the drive current and driving force of the drive unit alone shown in FIG. , FIG. 8 is a diagram showing a circular movement locus of the movable magnetic pole in the drive unit shown in FIG. 6. M, lvL+, M2, M3, M4... Drive unit, 2... Object, 4... Movable magnetic pole, 6X.
...First fixed magnetic pole, 6Y...Second fixed magnetic pole, 20
...Drive coil. 5th (C) (D) Figure h (Driving current of fixed magnetic pole 6x 1x) i (Tau i?bald■y of fixed magnetic pole 6Y) j (Driving force Y+) k (Driving force x 1)! (Driving force Y2) m (Driving force x 2) Fig. 6 (J) (K) Fig.

Claims (2)

[Claims] (1) A drive unit including a first fixed magnetic pole that applies a magnetic force in the X direction and a second fixed magnetic pole that applies a magnetic force in the Y direction to a movable magnetic pole that is movable in the X and Y directions, A conveyor that conveys objects by moving a movable magnetic pole due to mutual magnetic force between first and second fixed magnetic poles and a movable magnetic pole. (2) The conveyor according to claim 1, wherein the movable magnetic pole is constituted by an electromagnet around which a drive coil is wound.