KR101031852B1 - Magnetically levitated transportation system with over hanging type structure - Google Patents

Abstract

The present invention relates to an overhanging type of magnetic levitation conveying system, which can increase the precision of the actuator because there is no friction, and does not use a lubricant to reduce friction, which is environmentally friendly, and is more stable to disturbance and vibration, Highly clean application is possible by reducing noise, dust, etc., and a structure that can rotate a plurality of moving parts and the vehicle body, so that the stable running without collision of the side section even in the curve section, overhang type magnetic levitation transfer system will be.

The magnetic levitation transfer system of the present invention, the fixing portion which is fixed to the upper end and serves as a guide of the following moving parts; A moving part mounted on the main frame with a floating electromagnet, a linear induction motor, and a yaw control means and moving along the fixing part by the floating force of the floating electromagnet generated between the fixed part and the driving force of the linear induction motor; And a vehicle body mounted below the moving unit, wherein the vehicle body is coupled to and mounted to a plurality of moving units disposed back and forth based on a moving direction, and each moving unit is coupled to the vehicle body in a rotatable structure. It is characterized by.

 Overhang type, magnetic levitation, transfer system, fixed part, moving part, body, floating electromagnet, linear induction motor, guide electromagnet, rotating shaft, shaft-bearing structure

Description

Magnetically levitated transportation system with over hanging type structure

The present invention relates to an overhanging type of magnetic levitation conveying system, and more particularly, a plurality of moving parts are coupled to one vehicle body, and each moving part is coupled to a rotatable structure while having a yaw control means, so that the linear and The present invention relates to a fully contactless magnetic levitation transfer system capable of smooth running in a curved section.

In high-precision movement in various production processes, friction caused by contact is a big problem. To solve this friction problem, a magnetic levitation system (MAGLEV) can be used.

For example, in a transport system using magnetic levitation, the vehicle body floats with magnetic force to operate, thereby minimizing energy loss due to friction, and can implement a noiseless, low vibration, ultra-clean transport system without mechanical contact or friction. .

In addition, in the magnetic levitation system, there is no friction, so the precision can be increased, and it does not use a lubricant to reduce the friction, which is environmentally friendly.

In general, the magnetic levitation transfer system requires the flotation force, the guiding force, and the driving force. The flotation force and the guiding force are provided from the floating electromagnet, and the driving force is provided from the linear induction motor (LIM).

That is, by controlling the current flowing through the winding of the electromagnet, the floating force is maintained to maintain a certain air gap by the suction force in the vertical direction (the same direction as the floating force) between the floating electromagnet and the fixed portion, and at the same time, the horizontal direction between the floating electromagnet and the fixed portion Generates a guide force to prevent the moving part from leaving the track.

On the other hand, the overhanging type (OHT) structure of the magnetic levitation transfer system is installed along the desired moving section of the rail portion on the upper side, and the movable portion installed below the fixing portion is floating of the floating electromagnet in the fixing portion It is supported by the force and moves along the fixed part by the propulsion force of the linear induction motor.

This type of overhanging magnetic levitation transfer system is used as a system for moving parts, semi-finished products and products in various factory automation lines, such as electronic product manufacturing lines such as semiconductors and displays requiring ultra-clean environments.

As an example of the application of the overhanging type of magnetic levitation conveying system, a moving body is fixed to a moving part and a moving robot or clamp device is mounted on the moving body so that the moving robot or clamp device picks up an object such as a part or a semi-finished product. A system can be constructed that moves to the desired location while moving integrally with the rear mover and the vehicle body.

At this time, when the transfer robot or clamp device is large, it is possible to configure the transfer vehicle by connecting a plurality of transfer systems to one vehicle body, and then install the transfer robot or clamp device on the vehicle body.

In other words, for example, two transfer systems that are arranged back and forth on the basis of the moving direction (rail direction), for example, attach and connect one car body to the lower side of the moving part on both front and rear sides, and then install the transfer robot or clamp device on the car body. . In this case, both moving parts on both sides move along the fixing part and the rail at the same time while supporting the transfer robot or the clamp device through the vehicle body.

However, when connecting a vehicle body to the front and rear moving parts using a plurality of transfer systems and mounting a transfer robot or clamp, only linear driving is possible. That is, since both positions and postures are fixed between the two moving parts arranged back and forth with respect to the moving direction and between the moving part and the vehicle body, the two moving parts cannot move the fixed part of the curve flexibly, especially the curved part. At the time of turning of the section, the moving trajectories of the two moving parts, which are integrally connected by the vehicle body, cannot both coincide with the rail trajectory, and either side of the rail trajectory is out of the rail trajectory (interfering with the lateral side), and thus the curved driving is impossible. .

In addition, there is a need for a response to prevent a collision of the side portion in the curved running, a structure for smooth curved running of the front and rear moving parts and a system structure that is stable to disturbance and noise can be reduced.

In addition, the conventional transport system has a problem that the friction loss and noise due to the power supply method using the cable bay.

Therefore, the present invention has been invented to solve the above problems, there is no friction can increase the precision of the actuator, do not use a lubricant to reduce friction has environmentally friendly characteristics, more stable to disturbance Highly clean application is possible by reducing vibration, noise, dust, etc., and the structure of the rotatable structure with a plurality of moving parts and the vehicle body enables stable running without collision of side parts even in a curved section. The purpose is to provide.

The present invention for achieving the above object is fixed to the upper end fixed to serve as a guide of the following moving parts; A moving part mounted on the main frame with a floating electromagnet, a linear induction motor, and a yaw control means and moving along the fixing part by the floating force of the floating electromagnet generated between the fixed part and the driving force of the linear induction motor; And a vehicle body mounted below the moving unit, wherein the vehicle body is coupled to and mounted to a plurality of moving units disposed back and forth based on a moving direction, and each moving unit is coupled to the vehicle body in a rotatable structure. An overhanging type of magnetic levitation transfer system is provided.

In a preferred embodiment, the fixing part is supported by a vertical column or ceiling structure installed on the ground and the support is fixedly installed along the moving section of the moving unit; A fixed frame which is assembled to the support downward and is fixedly installed along a moving section of the moving part; A support shaft assembled downward to the fixed frame; A back iron plate which is assembled along a moving section of the moving unit at a lower end of the support shaft; and includes a non-contact power supply for supplying power from the fixed unit to the moving unit to one side part of the fixed frame and the main body frame of each moving unit. An apparatus is provided.

In addition, there is provided a non-contact position sensor using a bar code as the position detecting means of each moving unit, the non-contact position sensor, the bar paper is attached to the other side portion of the fixed frame along the entire section to provide position information; And a bar code reader installed at each of the moving parts toward the bar code paper and reading information inputted to the bar code paper during the movement of the moving part and transferring the information to the controller as position information of the moving part.

In addition, while the linear induction motor is mounted at the center of the main body frame in each moving unit, floating electromagnets are mounted on both left and right sides of the linear induction motor in the center, so that the floating electromagnet and the linear induction motor are disposed under the back iron plate. And, the lower side of the back iron plate is characterized in that the secondary conductor plate is fixedly installed over the entire lengthwise section along the center portion corresponding to the corresponding portion of the linear induction motor.

In addition, the upper surface of the back iron plate is provided with side vertical plates disposed on both left and right sides, respectively, and arranged in parallel to each other, and the main body frames of the moving parts have a predetermined gap between the left and right sides of the fixing part as yaw control means. And a guide gap sensor for generating a suction force to maintain the guide gap, and a guide gap sensor for measuring the guide gap with each of the side vertical plates during the movement of the moving part and transmitting the guide gap sensor to the controller, wherein the controller measures the sensing value of each guide gap sensor. It is characterized in that it is provided to control the air gap between the main frame of the moving part and the side vertical plate of the fixed part by controlling the operation of the guide electromagnet.

In addition, the respective guide gap sensor is installed directly above the guide electromagnet so that the position difference between the guide electromagnet and the front and rear, so that the guide electromagnet and the guide gap sensor is disposed on a vertical line.

In addition, the main frame includes a main frame on which the floating electromagnet and the floating gap sensor, the linear induction motor, and the guide electromagnet and the guide gap sensor are mounted; A side frame assembled to the main frame and provided with a contactless power supply; And a shaft-bearing structure provided between the main frame and the vehicle body so that the main frame becomes a structure rotatable with respect to the lower vehicle body.

In addition, the main frame, the lower support is installed in the form of a horizontal plate on the lower side and the floating electromagnet and the linear induction motor on the upper surface coupled to the vehicle body via the shaft-bearing structure; It is characterized in that the side supports are installed on the left and right sides of the lower support, respectively, opposite the side vertical plates of the fixing portion, the guide electromagnet and the guide gap sensor is installed.

In addition, the floating electromagnet is characterized in that it is mounted to the lower support via a damper.

In addition, the shaft-bearing structure is characterized in that it is configured by inserting the rotary shaft in the lower support and inserting the rotary shaft into a bearing installed on the support plate on the vehicle body side.

In addition, the guide electromagnet is installed at a position having a deviation as much as a distance d in both the rotation center of the moving part and the moving direction of the moving part, characterized in that it can generate the torque required for the rotational movement.

In addition, a total of two guide electromagnets are installed on each of the moving parts, one each on the left and right sides, or four on the left and right sides, respectively, and the guide electromagnets are installed based on signals of the guide gap sensor to maintain a constant gap. In controlling the driving of the controller, a controller is provided to control the driving of the guide electromagnet by performing differential control on the signals of the pair of left and right guide gap sensors installed at the same position on the left and right sides based on the front and rear positions. It is characterized by.

Accordingly, the magnetic levitation conveying system of the present invention can increase the precision of the actuator because there is no friction, and does not use a lubricant to reduce the friction has eco-friendly characteristics, more stable to disturbance, vibration, noise, dust, etc. Reduction of the high clean application is possible. In addition, by constructing a rotatable structure of the plurality of moving parts and the vehicle body, stable driving is possible even in a curved section without collision of the side portion.

The magnetic levitation transfer system of the present invention can be usefully used for transferring parts or semi-finished products and products in factory automation lines such as semiconductor and electronic product manufacturing lines and display product manufacturing lines.

Hereinafter, the features and advantages of the present invention will become more apparent from the following detailed description based on the accompanying drawings. The terms or words used in the present specification and claims are consistent with the technical spirit of the present invention on the basis of the principle that the inventor can appropriately define the concept of the term in order to explain his invention in the best way. It should be interpreted as meaning and concept.

1 is a front view of the magnetic levitation conveying system according to the present invention, Figure 2 is a side view of the magnetic levitation system according to the present invention, Figure 3 is a plan view showing a moving part in the magnetic levitation system according to the present invention to be. 1 is a view taken from the direction 'A-A' of FIGS. 2 and 3, and reference numeral 300 in FIG. 3 represents a vehicle body.

As shown, the magnetic levitation system according to the present invention is fixed to the upper end portion 100 to serve as a guide of the moving unit 200, the floating electromagnet 220 and the linear induction motor (LIM) ( 230 is mounted and moves along the fixing part 100 by the floating force of the floating electromagnet 220 and the driving force of the linear induction motor 230 generated between the fixed part 100 and the moving part 200 And a vehicle body 300 mounted below the moving unit 200.

Here, one vehicle body 300 is coupled to and mounted to a plurality of moving parts 200 arranged back and forth based on the moving direction, and in particular, each moving part 200 is coupled to the vehicle body 300 in a rotatable structure. do.

First, the fixing part 100 is a component installed long along the moving section of the moving unit 200, the support 110 is supported by a vertical column or ceiling structure installed on the ground and fixed along the moving section, and The fixing frame 120 is assembled to the support 110 to the lower side and fixedly installed along the moving section with the support 110, the support shaft 130 is assembled to the fixing frame 120 to the lower side, and the support It is configured to include a back iron plate 140 is assembled to the lower end of the shaft 130 is fixed along the moving section.

In a preferred embodiment, the support 110 may be a beam structure of the 'I' or 'H' cross-sectional shape is installed horizontally along the moving section, the vertical column (not shown) of the ground installed at a predetermined height or It is mounted along the moving section so as to be supported by the ceiling structure and is positioned at the top of the fixing part 100.

The fixed frame 120 is a component that is installed along the moving section of the moving unit 200, like the support 110, is installed in a structure having both side portions, one side portion moving along the length direction A contactless power supply (CPS) 101 for power supply to the 200 is provided.

In the preferred embodiment of the present invention, the non-contact power supply 101 is used to implement a complete non-contact between the fixing part 100 and the moving part 200. The non-contact power supply 101 is a fixed part. It is configured between the fixed frame 120 of the 100 and the main body frame 210 of the moving unit 200 is to be a power supply in a non-contact manner from the fixing unit 100 to the moving unit 200.

Through this non-contact power supply 101, power can be supplied to the floating electromagnet 220, the guide electromagnet 240, the linear induction motor 230 of the moving part 200 moving along the fixed part 100. do. By using such a non-contact power supply (CPS) 101 it is possible to reduce the friction loss and noise compared to the power supply using a conventional cable bay.

In addition, in a preferred embodiment of the present invention, a non-contact position sensor (hereinafter referred to as a barcode position sensor) using a barcode (hereinafter referred to as a barcode position sensor) 102 is used as a position detecting means of the moving unit 200. The other side portion of the fixed frame 120 is attached to the bar code paper 103 providing position information.

The barcode paper 103 may be manufactured in the form of a tape marked with a barcode for easy attachment, and may be attached to the side portion of the fixed frame 120. The barcode paper 103 may be attached along the entire section of the fixed frame 120. 4 is a perspective view showing a state in which the bar code paper is attached, and it can be seen that the bar code paper 103 is continuously attached along the longitudinal direction of the side of the fixed frame 120 fixed to the support 110. have.

In the present invention, the barcode reader 104 installed in the moving unit 200 moves along with the moving unit 200 to read the information input to the barcode paper 103 and transfer the information to the controller (not shown). The barcode reader 104 may recognize the position of the moving unit 200 based on the information read from the barcode paper 103. Here, the information read by the barcode reader 104 from the barcode paper 103 becomes position information indicating the current position of the moving unit 200.

In addition, the support shaft 130 is an axis vertically installed downward on the fixing frame 120 to support the back iron plate 140. As illustrated, the support shaft 130 having a tubular structure having a rectangular cross section is provided. It may be installed, the back iron plate 140 of the horizontal plate form is assembled to the lower end of the support shaft 130. The support shaft 130 as described above is installed at predetermined intervals along its longitudinal direction in the entire section of the fixed frame 120.

The back iron plate 140 continuously disposed along the moving section of the moving part serves as a supporting structure supporting the weight of the moving part and the vehicle body to be described later, and the guide side with respect to the floating electromagnet 220 of the moving part 200. (Rail side) acts as a core to become a magnetic flux path, in particular, in the present invention, as well as the support structure role and the magnetic flux path role of the floating electromagnet 220 as well as 2 for the linear induction motor 230 of the moving part 200 to be described later. At the same time, it acts as a back iron to increase the amount of magnetic flux flowing to the car conductor, and is installed as a ferromagnetic material.

As a result, the floating electromagnet 220 and the linear induction motor 230 of the moving unit 200 are disposed below the back iron plate 140, thereby guiding the core of the guide side of the floating electromagnet 220 (electromagnet plate). And the back iron of the linear induction motor 230 is integrated into one back iron plate 140.

On the lower surface of the back iron plate 140, the secondary conductor plate 143 is fixedly installed over the entire lengthwise section along the center portion corresponding to the linear induction motor 230, and the secondary conductor plate 143 As a material, a conductive, nonmagnetic or weak magnetic material such as copper, aluminum, or the like may be used to generate a force between the linear induction motor 230 and the fixing part 100.

According to the installation structure of the back iron plate 140 and the secondary side conductor plate 143 as described above, the overall system structure can be simplified, and the space can be saved.

In addition, in the illustrated embodiment of the present invention, the upper surface of the back iron plate 140 is provided with side vertical plates 141 disposed on both left and right sides in parallel to each other, and the two side vertical plates 141 on both sides parallel to each other. Between the reinforcing rod 142 is installed. The reinforcing rod 142 serves to firmly support the side vertical plate 141 vertically installed in the back iron plate 140.

On the other hand, the moving part 200 is the main frame 210, each component is installed, the floating electromagnet 220 for generating a floating force, and the linear induction motor 230 for generating a driving force as a main component do.

Here, the main body frame 210 is a guide electromagnet 240 and a guide gap sensor, which is a yaw control means of the floating electromagnet 220, the floating gap sensor 233, the linear induction motor 230, and the moving part 200. 241 is mounted on the main frame 211, the side frame 212 is assembled to the main frame 211, the non-contact power supply 101 and the bar code position sensor 102, and the main frame ( 211 is configured to include a shaft-bearing structure 213 connecting between the main frame 211 and the vehicle body 300 so as to be a structure rotatable relative to the vehicle body 300 below.

The main frame 211 is installed to face the lower vertical support plate 211a installed in the form of a horizontal plate on the lower side and the side vertical plate 141 of the fixing part 100 on both left and right sides of the lower support 211a, respectively. The side support 211b is assembled, and the floating electromagnet 220 and the linear induction motor 230 are mounted on the upper surface of the lower support 211a.

In addition, a guide electromagnet 240 for smoothly traveling the moving part 200 is installed at the upper side of each side support 211b, and together with the upper side of the guide electromagnet 240 at each side support 211b. The guide gap sensor 241 for measuring the guide gap with the fixed side surface vertical plate 141 is installed. Reference numeral 260 denotes a backup bearing.

5 and 6 are top views illustrating a state in which the moving unit 200 curves along the fixing unit 100 in a system in which one vehicle body 300 is connected to two moving units 200. 7 is a schematic view showing the fixing part 100, the moving part 200, the vehicle body 300, the guide electromagnet 240 and the guide gap sensor 241, Figure 8 is a guide electromagnet 240 and the guide gap sensor ( 241 is a schematic side view showing the installed state. In FIG. 7, the guide electromagnet 240 and the guide gap sensor 241 are divided into G1 to G8 according to their installation positions.

The guide electromagnet 240 is applied to the power through the non-contact power supply 101 during the floating movement to generate a suction force to maintain a certain gap between the side vertical plate 141 of the fixing part 100 , While the operation of the guide electromagnet 240 is controlled by a controller that receives the sensing value of the guide gap sensor 241 during the straight or curved driving of the moving part 200, the side vertical plate 141 of the fixing part 100 The side support 211b of the moving part 200 maintains a predetermined gap.

A total of two guide electromagnets 240 may be installed on each of the moving parts 200, one on the left and the right, or four on the left and the right, respectively, and two on the left and the right. In this case, the two guide electromagnets 240 are disposed back and forth on each side support 211b of the moving part 200.

In the system in which two moving parts 200 arranged in front and rear are connected to one vehicle body 300, two or four guide electromagnets 240 are installed in each moving part 200 as described above. A total of four or eight are installed in the two moving parts 200 for moving the vehicle body 300.

In the installation of a plurality of guide electromagnets 240 as described above, one guide gap sensor 241 is installed at each of the guide electromagnets 240 at a position directly above it. That is, the guide gap sensor 241 is installed one at an upper position of each guide electromagnet 240, so that the front and rear position deviation with the guide electromagnet 240 position on the basis of the front and rear direction (moving direction / driving direction) does not occur. It is installed on a vertical line with the guide electromagnet 240 (see Fig. 8).

As such, the sensing position of the guide gap sensor 241 and the driving position of the guide electromagnet 240, which serves as the electromagnet actuator, are matched with each other without deviation, so that the run of the sensor and the actuator that may occur while the moving unit 200 is traveling. Run out can be eliminated.

The floating electromagnet 220 and the linear induction motor 230 are disposed below the back iron plate 140 for magnetic levitation of the fixing part 100 in a state of being mounted on the lower support 211a of the main frame 211. In particular, the linear induction motor 230 is disposed in the center, and the floating electromagnets 220 are disposed on both the left and right sides of the linear induction motor 230, respectively.

In FIG. 1, the floating electromagnet 220 is illustrated on the right side of the linear induction motor 230, and the floating gap sensor 233 positioned in front of the floating electromagnet 220 is illustrated on the left side (FIG. 1 is FIG. 3). Taken from the 'AA' direction), the floating electromagnet 220 and the floating gap sensor 233 is symmetrically about the linear induction motor 230, that is to be installed equally on both the left and right as shown in FIG. Reveal.

' 형상의 코어(221)에 좌우 양측으로 각각 코일(222)을 감은 구조로 되어 있으며, 이러한 부상전자석(220)의 전후 각 위치에는 부상시 공극 측정을 위한 부상 갭 센서(233)가 대응부위인 백아이언 플레이트(140)의 하면과 공극을 두고 위치되도록 설치된다. Magnetic levitation electromagnet that is mounted in the transport system of the present invention, that is, each of the floating electromagnet 220

The coil 222 is wound around the left and right sides of the core 221, and the floating gap sensor 233 for measuring the air gap at the time of injury is positioned at the front and rear positions of the floating electromagnet 220. The back iron plate 140 is installed so as to be positioned with a gap.

In addition, each of the floating electromagnet 220 is a damper 250 made of a dustproof material such as rubber (including an elastomer (elastomer), such as RUBLOC ^® ) or plastic, paper on the upper surface of the lower support (211a) to minimize disturbance It is mounted with). The damper 250 is inserted to prevent divergence due to disturbance caused by external impact at the vibration frequency of the natural frequency.

Each floating gap sensor 233 is for measuring the air gap with the back iron plate 140, while the operation of each floating electromagnet 220 is controlled by a controller that receives sensing values of the floating gap sensors 233. Injury control is achieved.

In addition, the linear induction motor 230 is disposed at the center of the upper surface of the lower support 211a, and in particular, is disposed below the secondary conductor plate 143 of the fixing part 100 for propulsion. The linear induction motor 230 for generating the thrust force has the primary side core 231 and the coil 232 as the main components as in the usual.

 The floating electromagnet 220 and the guide electromagnet 240 and the linear induction motor 230 are provided on the upper inner surface of the side frame 212 assembled to the main frame 211 in the main frame 210 of the moving part 200. The contactless power supply 101 for power supply is installed in the coil.

In addition, a barcode reader 104 is fixedly installed on the upper inner surface of the other side frame 212 which is assembled to face the opposite side of the one side frame 212 in the main frame 211. The other side frame 212 is installed vertically to face the outer surface of the side of the fixing frame 120 of the fixing part 100 to which the barcode paper 103 is attached, the barcode reader 104 is the other side frame 212 By installing toward the barcode paper 103 from the upper inner side of the) it is to be able to read the information of the barcode paper 103 attached to the outer surface of the fixed frame 120 side of the fixing part 100.

In the conveying system of the present invention, a plurality of moving parts 200 (two moving parts are used in the embodiment of the accompanying drawings) disposed back and forth along the moving direction (driving direction / progressing direction) are provided in one vehicle body 300. It is a connected system bar, a plurality of moving parts 200 is stably fixed to the moving parts 200 and the side portion between the fixed part 100 and the side parts, which may occur in the turning position of the curved section, stably The main feature is that each moving unit 200 is connected to the vehicle body 300 and the rotatable shaft so as to smoothly travel the curved section of the (100).

That is, in order to implement a structure rotatable between the moving unit 200 and the vehicle body 300, each moving unit 200 is provided with a rotating shaft 214 on the lower support 211a of the main frame 211, The rotary shaft 214 is inserted into and coupled to the bearing 215 provided on the support plate 310 on the vehicle body side.

At this time, the bearing 215 is fixed to the center of the vehicle body side support plate 310, the lower portion of the rotary shaft 214 is coupled to the center of the lower support (211a) of the main frame 211 It is inserted into and coupled to the bearing 215 on the vehicle body 300 side.

As a result, when the two moving parts 200 arranged back and forth travel the curved section, the rotating shaft 214 fixed to the moving part 200 is rotated with respect to the vehicle body 300 side by the bearing 215. Each of the two moving parts 200 can travel independently of the vehicle body 300 on the curve. At this time, each moving part 200 with respect to the vehicle body 300 is rotated about the rotation axis 214 (coupled to the bearing on the vehicle body side) and the bearing 215, the two moving parts 200 before and after In addition, the direction change is made independently between each other, and thus the two moving parts 200 connected to one vehicle body 300 can smoothly travel in a curved section.

5, 6, and 7, when the two moving parts 200 before and after passing through the respective turning positions in the curved section of the fixing part 100, the independent direction change between the moving parts 200 While being made, it is shown that the front and rear two moving parts 200 and one vehicle body 300 connecting them to each other smoothly travel the curve.

Since the two moving parts 200 arranged forward and backward are connected to one vehicle body 300 via the rotatable rotating shaft 214, the two moving parts 200 move when the fixed part curved section having a predetermined curvature radius moves. The government curve section can follow the fixed part 100 in any form.

In addition, accurate yaw control of the moving unit 200 having the rotational axis 214 as the center of rotation is required for accurate direction control of each moving unit 200 for smooth curve driving. That is, even in a curved run, the gap between the sides of the moving part 200 and the fixing part 100 should be kept constant, and the movement of the rotating shaft 214 as the center of rotation to maintain a constant gap when the moving part 200 runs. It is necessary to control the yaw of the part 200, and for this purpose, a guide gap sensor 241 for measuring the gap between the sides of the moving part 200 and the fixing part 100, and a guide electromagnet serving as an actuator for the yaw control. 240 is used.

At this time, the controller for controlling the overall operation of the transfer system operation, such as the operation of the linear induction motor 230 and the floating electromagnet 220 receives the sensing value from the plurality of guide gap sensor 241 installed in each fixed portion 100 The power applied to the guide electromagnet 240 is controlled to keep the gap constant based on the signal of the gap sensor 241.

The guide electromagnet 240 is installed on each side support (211b) of the moving part main frame 211, the fixing part 100 and the moving part (with a suction force acting between the fixing part side vertical plate 141) 200), more specifically, to control the air gap between the fixing part side vertical plate 141 in the guide electromagnet 240, wherein the fixing part 100 must be properly rotated about the rotation axis 214 in the process of controlling the air gap. The guide electromagnet 240 is installed to have a deviation by the distance d from the rotation shaft 214 in order to generate rotation torque by the suction force of the guide electromagnet 240.

That is, the guide electromagnet 240, which serves as an actuator for rotating the moving unit 200, should be installed at a position having a deviation by the distance d from the rotating shaft 214, which is the center of rotation of the moving unit 200. Only when there is a deviation can generate a torque capable of guiding the moving part 200 in the curved section.

As described above, the guide electromagnet 240 and the guide gap sensor 241 have a deviation of the rotational axis 214 and the distance d in each moving part 200. Two electromagnets and two sensors) may be installed, or a total of four may be installed at each of the front and rear positions, and may be additionally installed at the front and rear positions by pairing one left and right as needed.

In a preferred embodiment, in controlling the driving of the guide electromagnet 240 based on the signal of the guide gap sensor 241 in order to maintain a certain air gap, the controller is installed at the left and right sides at the same position on the left and right sides based on the front and rear positions. The differential control may be performed on the signals of the pair of guide gap sensors 241 to control the driving of the guide electromagnet 240.

For example, referring to FIG. 7, the driving of the guide electromagnet 240 for maintaining a constant gap is controlled by controlling the difference of G1s-G2s, G3s-G4s, G5s-G6s, and G7s-G8s (here, G1s G8s are detection signals (gap signals) of the sensors G1 to G8.

On the other hand, the body 300 is equipped with a transfer robot or a clamp device (not shown) capable of picking up parts or semi-finished products, the product, when the moving part 200 moves along the fixing part 100 and the body 300 and Together, the transfer robot or clamp device can be moved to transfer parts, semi-finished products or products.

In FIG. 1, reference numeral 320 denotes a suspension device installed between the support plate 310 of the vehicle body 300 side and the bracket 330 fixedly coupled to the vehicle body 300 side. The vehicle body 300 is assembled and supported on the bracket 330, and the bracket 330 is coupled to the support plate 310, through which the bearing 215 is installed, through the suspension device 320, and the suspension device 320. ) Is mounted to the left and right sides on the upper surface of the support plate 310, the bracket 330 is fastened to the upper end, and serves to properly block the vibration between the moving part 200 and the vehicle body 300 connected via the bearing 215. Done.

Thus, the configuration of the magnetic levitation transfer system according to the present invention has been described in detail, such a completely non-contact magnetic levitation transfer system is a part or semi-finished product in a factory automation line such as semiconductor and electronic product manufacturing line, display product manufacturing line, etc. In addition, it can be usefully used to transfer products.

The magnetic levitation conveying system of the present invention can increase the precision of the actuator because there is no friction, and does not use a lubricant to reduce friction, which is environmentally friendly, and is more stable to disturbances and reduces vibration, noise, dust, etc. High clean applications are possible. In addition, the moving part 200 and the vehicle body 300 are configured in a rotatable structure, so that stable driving is possible without collision of the side portion even in a curved section.

In the above, a specific preferred embodiment according to the present invention has been described. However, it is to be understood that the present invention is not limited to the above-described embodiments, and the above-described embodiments merely represent a part of various embodiments to which the principles of the present invention are applied. Those skilled in the art to which the present invention pertains may make various changes without departing from the spirit of the technical idea of the present invention described in the claims below.

1 is a front view as a configuration diagram of a magnetic levitation transfer system according to the present invention;

2 is a side view of the magnetic levitation system according to the present invention;

3 is a plan view showing a moving unit in the magnetic levitation system according to the present invention;

4 is a perspective view showing a state in which a bar code is attached in the magnetic levitation system according to the present invention,

5 and 6 are a plan view showing a state in which the moving portion is curved along the fixed portion in the magnetic levitation transfer system of the present invention in which one vehicle body is connected to two moving portions;

7 is a schematic diagram showing a fixing part, a moving part, a vehicle body, a guide electromagnet and a guide gap sensor in the magnetic levitation conveying system of the present invention;

Figure 8 is a side schematic view of the guide electromagnet and the guide gap sensor is installed in the magnetic levitation transfer system of the present invention.

<Explanation of symbols for the main parts of the drawings>

100: fixed portion 101: non-contact power supply

102: position detection means (bar code position sensor) 103: bar code paper

104: barcode reader 110: support

120: fixed frame 130: support shaft

140: back iron plate 141: side vertical plate

142: reinforcing rod 143: secondary side conductor plate

200: moving unit 210: body frame

211: main frame 211a: lower support

211b: side support 212: side frame

213: shaft-bearing structure 214: rotating shaft

215: bearing 220: floating electromagnet

221 core 222 coil

230: linear induction motor 231: core

232: coil 233: floating gap sensor

240: guide electromagnet 241: guide gap sensor

250: damper 260: bearing for backup

300: body 310: body support plate

320: suspension 330: bracket

Claims (12)

delete A fixing part 100 fixed to the upper end and serving as a guide of the following moving part 200; The floating force and linear induction of the floating electromagnet 220 generated between the floating electromagnet 220, the linear induction motor 230, and the yaw control means are mounted on the main body frame 210 and the fixed part 100. A moving part 200 moving along the fixing part 100 by the driving force of the electric motor 230; A vehicle body 300 mounted below the moving unit 200; It is configured to include, the vehicle body 300 is coupled to the plurality of moving parts 200 are arranged back and forth based on the moving direction, each moving part 200 are all rotatable structure with the vehicle body 300 Combined with The fixing part 100, A support 110 which is supported by a vertical column or a ceiling structure installed on the ground and fixedly installed along a moving section of the moving part 200; A fixed frame 120 which is assembled to the support 110 at a lower side and is fixedly installed along a moving section of the moving unit 200; A support shaft 130 which is assembled to the fixing frame 120 downward; A back iron plate 140 which is assembled at a lower end of the support shaft 130 along a moving section of the moving part 200; It is configured to include, the one side portion of the fixed frame 120 and the main body frame 210 of each moving unit 200 is a non-contact power supply device for supplying power to the moving unit 200 from the fixed unit 100 ( 101) is provided with an overhanging type of magnetic levitation conveying system. The method according to claim 2, A non-contact position sensor 102 using a barcode is provided as a position detecting means of each moving unit 200, The non-contact position sensor 102, A barcode paper 103 attached to the other side portion of the fixed frame 120 along the entire section to provide position information; The moving unit 200 is installed toward the bar code sheet 103 and reads the information inputted to the bar code sheet 103 during the movement of the moving unit 200 and transferred to the controller as the position information of the moving unit 200. A barcode reader 104; Magnetic levitation transfer system of the over hanging type, characterized in that consisting of. The method according to claim 2, The induction electromagnet 220 is mounted on both left and right sides of the linear induction motor 230 in the center while the linear induction motor 230 is mounted at the center of the main body frame 210 in each of the moving parts 200. The electromagnet 220 and the linear induction motor 230 are disposed below the back iron plate 140 of the fixing part 100, and the lower surface of the back iron plate 140 of the fixing part 100 is provided with the linear induction motor ( An overhanging magnetic levitation conveying system, characterized in that the secondary side conductor plate 143 is fixedly installed over the entire lengthwise section along the central portion, which is a corresponding portion of 230). The method according to claim 2, On the upper surface of the back iron plate 140, side vertical plates 141 are disposed on both left and right sides and disposed in parallel to each other. Guide electromagnet 240 for generating a suction force to maintain a predetermined gap in the body frame 210 of each of the moving parts 200 to each of the side vertical plate 141 on both the left and right sides of the fixing part 100 as a yaw control means And a guide gap sensor 241 for measuring the guide gap between the side vertical plates 141 and transferring the guide gap to the controller during the movement of the moving part 200. The controller receives the sensing value of each guide gap sensor 241 to control the operation of the guide electromagnet 240 to the vertical frame 141 of the body frame 210 and the fixing part 100 of the moving part 200. Maglev conveying system of the over-hanging type, characterized in that it is provided to control the gap between. The method according to claim 5, Each of the guide gap sensors 241 is installed directly above the guide electromagnet 240 so that the front and rear position deviations of the guide electromagnet 240 and the guide electromagnet 240 are not generated. An overhanging magnetic levitation conveying system, characterized in that disposed on a vertical line. The method according to claim 5, The body frame 210, A main frame 211 to which the floating electromagnet 220, the floating gap sensor 233, the linear induction motor 230, and the guide electromagnet 240 and the guide gap sensor 241 are mounted; A side frame 212 assembled to the main frame 211 and provided with a non-contact power supply 101; An axis-bearing structure 213 provided between the main frame 211 and the vehicle body 300 such that the main frame 211 has a structure rotatable with respect to the lower vehicle body 300; Maglev transfer system of the over hanging type, characterized in that it comprises a. The method of claim 7, The main frame 211, It is installed in the form of a horizontal plate on the lower side and the floating electromagnet 220 and the linear induction motor 230 is mounted on the lower support (211a) coupled to the vehicle body 300 via the shaft-bearing structure 213 and ; Side supports (211b) installed at opposite left and right sides of the lower support (211a) so as to face the side vertical plates (141) of the fixing part (100) and having a guide electromagnet (240) and a guide gap sensor (241) installed thereon; Magnetic levitation transfer system of the over hanging type, characterized in that consisting of. The method according to claim 8, The floating electromagnet 220 is an overhanging type of magnetic levitation transfer system, characterized in that mounted on the lower support (211a) via a damper (250). The method according to claim 8, The shaft-bearing structure 213 is installed by installing the rotary shaft 214 on the lower support 211a and inserting the rotary shaft 214 into the bearing 215 installed on the support plate 310 on the vehicle body 300 side. The magnetic levitation conveying system of the over hanging type, characterized in that is configured by. The method according to any one of claims 5 to 8, The guide electromagnet 240 is installed at a position having a deviation of the rotation center of the moving part 200 and the distance d in both directions of the moving part 200 to generate a torque required for the rotational movement. Maglev conveying system of over hanging type. The method of claim 11, A total of two guide electromagnets 240 are installed on each of the moving parts 200, one on the left and the right, or four on the left and the right, respectively. In controlling the driving of the guide electromagnet 240 based on the signal of the guide gap sensor 241 in order to maintain a certain gap, a pair of left and right pairs in which the controller is installed at the same position on the left and right sides based on the front and rear positions An overhanging magnetic levitation conveying system, characterized in that it is provided to control the driving of the guide electromagnet 240 by performing differential control on the signal of the guide gap sensor (241).

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