KR101070327B1 - A Magnetically-Guided Lift with Improved External Disturbance Rejection Characteristics - Google Patents

Abstract

The present invention relates to a magnetic guide lift having a disturbance removal characteristic, and more particularly, to assemble an electromagnet frame equipped with an electromagnet at each corner of the magnetic guide lift with a rotary bearing, thereby inducing the movement of each electromagnet independently of each other. The present invention relates to a magnetically guided lift having disturbance removal characteristics that can minimize the influence on gap stability between electromagnets even if disturbance occurs.

To this end, the present invention provides a magnetic guide lift comprising a first and second rail, a stacking box disposed to be able to move up and down along the first and second rails, and a lift frame which is integrally formed around the magnetic guide. At each corner position of the lift, the first and second rails are disposed along the X-axis direction on both sides with each protrusion between the first rail and the X-axis electromagnet supporting the force in the X-axis direction while simultaneously placing the first and second rails. Positioned along the Y-axis direction in front of each protrusion of the second rail and spaced apart from the Y-axis electromagnet supporting the force in the Y-axis direction, so that the X-axis and Y-axis electromagnets can move independently of each other And it provides a magnetic guide lift having a disturbance removal characteristic characterized in that the assembly via the support member.

Magnetic guide lift, electromagnet, disturbance removal characteristics, support member, electromagnet frame, stacker, gap sensor, rail

Description

A Magnetically-Guided Lift with Improved External Disturbance Rejection Characteristics}

The present invention relates to a magnetic guide lift having a disturbance removal characteristic, and more particularly, to assemble an electromagnet frame equipped with an electromagnet at each corner of the magnetic guide lift with a rotary bearing, thereby inducing the movement of each electromagnet independently of each other. The present invention relates to a magnetically guided lift having disturbance removal characteristics that can minimize the influence on gap stability between electromagnets even if disturbance occurs.

Lifts are used as a means of loading and transporting products or people in various industrial sites. Currently, lifts are mainly used as a contact bearing type lift and a non-contact bearing type self-guided lift.

A more detailed description of the conventional self-guided lift is as follows.

1 is a cross-sectional view seen from the X-axis direction as an example of an application of the conventional magnetic guide lift, Figure 2 is a cross-sectional view showing an electromagnet arrangement in the X and Y axis direction of the conventional magnetic guide lift.

As a clean lift, a plurality of electromagnets are arranged at four corner positions of a conventional magnetic guidance lift in the x-axis and y-axis directions, and as shown in FIG. 1, a rope 90 and a driving means (not shown). The loading box 70 and the lift frame 80 integrally surrounding the loading box 70 are disposed to be lowered along the first guide rail and the second guide rail 61, 62 (hereinafter abbreviated as rails), and the lift frame At each corner position of 80, two electromagnets, two in the X-axis direction and one in the Y-axis direction, are integrally mounted at predetermined intervals from the first and second rails 61 and 62.

More specifically, the first and second electromagnets 11 and 12 are integrally mounted on the upper left side of the lift frame 80 while being spaced apart from the front and inner surfaces of the first rail 61, respectively. As can be seen well from 2, the first 'electromagnet 13 is mounted on the opposite side of the first electromagnet 11, that is, on the rear side of the first rail 61.

In addition, third and fourth electromagnets 14 and 15 are mounted on an upper right side of the lift frame 80 while being spaced apart from the front and inner surfaces of the second rail 62, respectively, and the first rail 61. The fifth and sixth electromagnets 17 and 18 are mounted on the lower left side of the lift frame 80 while being spaced apart from the front and inner surfaces of the lift frame 80, respectively, and spaced apart from the front and inner surfaces of the second rail 62. The seventh and eighth electromagnets 20 and 21 are mounted on the lower right side.

Of course, the back of the second rail 62 corresponding to the third electromagnet 14, the back of the first rail 61 corresponding to the fifth electromagnet 17, and the seventh electromagnet 20 Although not shown in the back of the corresponding second rail 62, the third 'electromagnet, the fifth' electromagnet and the seventh 'electromagnet are spaced apart from each other.

In addition, the gap sensor (Gap Sensor) is adjacent to each other as a means for spaced apart from each rail (61, 62) to the electromagnets integrally mounted to the lift frame 80 to form the arrangement as described above, Figure 1 As shown in FIG. 1, a first gap sensor 31 is disposed at an upper end of the first electromagnet 11, a second gap sensor 32 is disposed at an upper end of the second electromagnet 12, and the third electromagnet 14 is disposed on the upper end of the second electromagnet 12. The third gap sensor 33 at the upper end of the fourth gap sensor 34 of the fourth electromagnet 15, the fifth gap sensor 35 at the lower end of the fifth electromagnet 17, The sixth gap sensor 36 at the lower end of the sixth electromagnet 18, the seventh gap sensor 37 at the lower end of the seventh electromagnet 20, and the eighth gap sensor at the lower end of the eighth electromagnet 21. 38 are respectively mounted.

In addition, as a means for supplying power and controlling the operation of the electromagnets having the above arrangement, a guide controller (not shown) is connected to each of the electromagnets so as to transmit electrical signals.

Meanwhile, the electromagnets are composed of an electromagnet core in which magnetic flux is concentrated and an electromagnet coil supplied with current from each of the guide controllers. For example, as shown in FIG. 2, the first electromagnet 11 is a first electromagnet. The core 11a and the first electromagnet coil 11b, the second electromagnet 12 is the second electromagnet core 12a and the second electromagnet coil 12b, and the first 'electromagnet 13 is the first It consists of an "electromagnet core 13a and a 1st" electromagnet coil 13b, respectively.

In the conventional magnetic guide lift having such a configuration, a T-shaped rail is mainly used, and two electromagnets per corner corresponding to the rail are mounted in the X-axis direction and one in the Y-axis direction, for example, in FIG. As can be seen, each electromagnet is fixed at each corner of the lift frame by using an electromagnet frame 41 and a bolt, and thus mechanical assembly is performed along the X-axis and Y-axis directions. All the electromagnets in the corners are mounted in a structure that directly affects each other mechanically.

However, the conventional magnetic guide lift as described above has the following problems.

As described above, in the conventional magnetic guide lift, the electromagnets are directly connected to each other by one electromagnet frame at each corner position and are mechanically coupled to each other. When the lift is moved up and down, the guide controller changes when the rail displacement changes. The control also changes the displacement of the electromagnet to maintain a constant gap between the guide rail and the electromagnet.

Thus, when the displacement of a particular electromagnet, there is a problem to lower the load disturbance characteristics of the lift by affecting the displacement of the other electromagnet due to the mechanical coupling between the electromagnets.

For example, referring to FIG. 2, the first electromagnet 11, the second electromagnet 12, and the first 'electromagnet 13 ′ are mechanically coupled to one electromagnet frame 41. Recognizing that the displacement of the rail 61 changes, the guide controller controls to change the displacement of the first electromagnet 11 designated as a specific electromagnet in order to maintain a constant gap between the rail 61 and each electromagnet. If so, it also affects the displacements of the other second and first 'electromagnets 12, 13, thereby degrading the load disturbance characteristic of the lift.

In addition, a load imbalance occurs in the magnetic guide lift, and when the lift is vertically moved by the rope, a rotation disturbance torque is generated, and the rotation disturbance torque directly affects the electromagnet directly, resulting in a total magnetic guidance system. It can also adversely affect the stability.

Here, the present invention will be described in more detail with reference to FIGS. 1 and 2 attached to the above-described problems of the above-described conventional magnetic guidance lift.

The problem with the conventional magnetic guide lift is that each of the electromagnets 11 to 21 disposed at each corner of the lift is mechanically strongly coupled to the loading box 70.

That is, if each of the electromagnets are combined with the loading box, when a mechanical shock such as when loading the loading box or releasing the load, the impact directly affects all the electromagnets. The gap between the rails 61 and 62 and the electromagnets 11 to 21 may suddenly change, resulting in poor gap stability.

In addition, after the load is loaded in the loading box 70, if the weight non-uniformity occurs between the left and right, it is to rotate around the X axis, the rotational force also acts as a disturbance to each electromagnet.

In addition, when the loading box 70 is transferred in the vertical direction by the rope 90, the force is not uniform, and rotates around the Z-axis direction. In this case, the disturbance torque is rotated around the Z-axis in each electromagnet. Will occur and will also act as a disturbance.

On the other hand, the first and second rails (61, 62), there is a seam, there may be a step in connecting the seam, and if the step passes the electromagnet, the gap sensor recognizes this step and measured the gap signal Disturbance occurs, and the guide controller (not shown) changes the current in order to maintain a constant gap, and at this time, fluctuations occur in the electromagnet.

As a result, the fluctuations generated in the electromagnets affect other electromagnets, which also cause other electromagnets to fluctuate, thus adversely affecting the gap stability of the entire lift system.

That is, the conventional magnetic guide lift has a problem that when the disturbance occurs in the rail and the loading box due to mechanical coupling, this local disturbance also affects the electromagnets of the other corners, which adversely affects the stability of the entire system. .

The present invention has been made to solve the above problems, the electromagnet frame having an electromagnet in the X-axis direction and the electromagnet frame in the Y-axis direction at each corner position of the magnetic guide lift using a rotary bearing By combining each independently, an object of the present invention is to provide a self-guided lift having a disturbance removal characteristic to minimize the influence on gap stability between electromagnets even if disturbance occurs.

In order to achieve the above object, the present invention provides a magnetic guide lift including a first and second rails, a loading box disposed to be lowered and lowered along the first and second rails, and a lift frame surrounding the first and second rails. At each corner position of the magnetically guided lift, an X-axis electromagnet supporting the force in the X-axis direction while being positioned along the X-axis direction on both sides with each protrusion between the first and second rails interposed therebetween, Position the Y-axis electromagnet spaced apart along the Y-axis at the front of each protrusion of the first and second rails to support the force in the Y-axis direction, and the X-axis and Y-axis electromagnets may move independently of each other. It provides a magnetic guide lift having a disturbance removal characteristics characterized in that the electromagnet frame and the support member are assembled so as to be able to.

In a preferred embodiment, the electromagnetic frame fixed to the X-axis electromagnet is coupled to the side of the loading box via the support member to remove the disturbance torque generated around the Z-axis, and the disturbance torque generated about the X-axis In order to remove the electromagnet frame is fixed to the Y-axis electromagnet is characterized in that coupled to the side of the loading box via the support member.

In another preferred embodiment, the electromagnet frame fixedly mounted with the X-axis electromagnet is adopted in a "c" cross-sectional structure, and the electromagnet frame fixedly mounted with the Y-axis electromagnet in the vertical direction (Z-axis) along the side surface of the loading box. Characterized in that arranged.

As another preferred embodiment, the support member is characterized in that the bracket is fixed to the side of the mounting box with a bolt, a rotating bearing connecting the front end of the bracket and the rear end of the electromagnet frame.

In addition, a gap sensor for measuring the gap between the X-axis electromagnet and the first and second rail is mounted in the upper and lower positions of the side portion of the loading box, the gap for measuring the gap between the Y-axis electromagnet and the first and second rail. The sensor is mounted on the electromagnet frame to which the Y-axis electromagnet is fixedly mounted.

Through the above problem solving means, the present invention can provide the following effects.

The magnetic guide lift according to the present invention supports the electromagnets in the X and Y axis directions at each of the four corners by rotating bearings, thereby minimizing the influence of the movement of a particular electromagnet on the electromagnet displacement of the other corner when disturbance occurs. There is an effect of improving the properties.

In addition, the present invention can be applied to a magnetic levitation train, a magnetic bearing, or the like, which is a magnetic levitation system including a plurality of electromagnets.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

The present invention is to guide the movement of the electromagnet independently from each other through the rotating bearing at each corner position of the magnetic guide lift, to minimize the effect on the gap stability between the electromagnet even if disturbance occurs There is this.

3 is a front view of an application example of the magnetic guidance lift of the present invention, Figure 4 is a plan view showing an electromagnet arrangement in the X-axis direction of the magnetic guidance lift of the present invention, Figure 5 is a Y axis of the magnetic guidance lift of the present invention Front view showing the electromagnet arrangement in the direction.

As shown in FIG. 3, a plurality of electromagnets are arranged at four corner positions of the magnetic guidance lift in the X-axis and Y-axis directions, and are loaded by a rope 90 and a driving means (not shown). And a lift frame 80 which is integrally formed therein so as to be able to move up and down along the first guide rail and the second guide rail 61, 62 (hereinafter, abbreviated as rails). A total of three electromagnets, one in the X-axis direction and one in the Y-axis direction for each corner position, are integrally mounted with a predetermined distance from the first and second rails 61 and 62.

The first electromagnet 11 and the first 'electromagnet 13 positioned in the X-axis direction from both sides with the protrusion 61a of the first rail 61 interposed therebetween are fixedly mounted to the first electromagnet frame 41. The first electromagnet frame 41 is coupled to the upper left surface portion of the lift frame 80 surrounding the loading box 70 through the first support member 51.

The third electromagnet 14 and the third 'electromagnet (not shown) positioned along the X-axis direction on both sides with the protrusion 62a of the second rail 62 interposed therebetween on the second electromagnet frame 42. Fixed and mounted, the second electromagnet frame 42 is coupled to the upper right side surface of the lift frame 80 surrounding the loading box 70 via the second support member 52.

The fifth electromagnet 17 and the fifth 'electromagnet (not shown) positioned along the X-axis direction on both sides with the protrusion 61a of the first rail 61 interposed therebetween on the third electromagnet frame 43. It is fixedly mounted, and the third electromagnet frame 43 is coupled to the lower left surface portion of the lift frame 80 surrounding the loading box 70 via the third support member 53.

The seventh electromagnet 20 and the seventh 'electromagnet (not shown) positioned along the X-axis direction on both sides with the protrusion 62a of the second rail 62 interposed therebetween on the fourth electromagnet frame 44. It is fixedly mounted, and the fourth electromagnet frame 44 is coupled to the lower right side surface of the lift frame 80 surrounding the loading box 70 via the fourth supporting member 54.

At this time, the first to fourth electromagnet frames (41, 42, 43, 44) that is fixed to the X-axis electromagnet (11, 13, 14, 17, 20) is adopted in the "c" cross-sectional structure, this first The fourth to fourth electromagnetic frame (41, 42, 43, 44) is coupled by the first to the fourth supporting member (51, 52, 53, 54) to the side of the lift frame 80 surrounding the loading box 70, respectively do.

Particularly, the first to fourth supporting members 51, 52, 53, and 54 may be formed on a T-shaped bracket 51a fixed to the side surfaces of the lift frame 80 by bolts 51c and 51d and the bracket ( And a rotary bearing 51b that connects the front end of 51a and the rear end of the first to fourth electromagnet frames 41, 42, 43, and 44, and thus The first to fourth electromagnet frames 41, 42, 43 and 44 are in a state capable of angular rotational movement.

On the other hand, the second electromagnet 12 and the sixth electromagnet 18 positioned along the Y-axis direction from the front surface of the protrusion 61a of the first rail 61, respectively, on the upper and lower ends of the fifth electromagnet frame 45, respectively. It is fixedly mounted, and the fifth electromagnet frame 45 is coupled to a central position on the left side of the lift frame 80 surrounding the loading box 70 via the fifth support member 55.

In addition, the fourth electromagnet 15 and the eighth electromagnet 21 positioned along the Y-axis direction from the front surface of the protrusion 62a of the second rail 62 are respectively disposed at the upper and lower ends of the sixth electromagnet frame 46. It is fixedly mounted, and the sixth electromagnet frame 46 is coupled to a central position on the right side of the lift frame 80 surrounding the loading box 70 via the sixth supporting member 56.

In this case, the second electromagnet 12 is positioned adjacent to the lower side of the first electromagnet frame 41, the sixth electromagnet 18 is positioned adjacent to the upper side of the third electromagnet frame 43, Four electromagnets 15 are positioned adjacent to the lower side of the second electromagnet frame 42, the eighth electromagnet 21 is located adjacent to the upper side of the fourth electromagnet frame 44.

The fifth and sixth electromagnet frames 45 and 46 on which the Y-axis electromagnets 12, 15, 18, and 21 are fixedly mounted are arranged in the vertical direction (Z-axis) along side surfaces of the lift frame 80. As provided in the shape, it is coupled to the central portion of the side of the lift frame 80 via the fifth and sixth support members 55 and 56, respectively.

In particular, the fifth and sixth support members 55 and 56 are also T-shaped bracket 55a fixedly mounted to bolts 55c and 55d at the central position of the side surface of the lift frame 80, and the bracket 55a. It consists of a rotary bearing (55b) connecting the front end of the and the central portion of the rear end of the fifth and sixth electromagnet frame (45,46), and thus the fifth and sixth electromagnet by the rotary bearing (55b) The frames 45 and 46 are also in a state capable of angular rotational movement.

Meanwhile, a gap sensor 31, 33, 35, or 37 for measuring a gap between the X-axis electromagnets 11, 13, 14, 17, and 20 and the first and second rails 61 and 62 is performed by the lift frame. Gap sensors 32, 34, 36 fixedly mounted at positions of the side portions of 80 and measuring gaps between the Y-axis electromagnets 12, 15, 18, 21 and the first and second rails 61, 62; And 38 are fixedly mounted to upper and lower ends of the fifth and sixth electromagnet frames 45 and 46.

In this way, the eight electromagnets in the X-axis direction can be moved independently of each other by the support member during the rotational movement of the lift, and the independent electromagnets can be made by the four electromagnets in the Y-axis direction.

Herein, the operation of the magnetic guide lift having the disturbance removal characteristic of the present invention will be described.

The electromagnets 11 to 21 fixedly mounted to the electromagnet frames 41 to 46 are connected to the lift frame 80 via the support members 51 to 56, and the ropes are formed by the rope 90. Move along the first and second rails 61 and 62 in the vertical direction.

There is a gap between the electromagnets 11 to 21 and the rails 61 and 62, and in order to keep this gap constant, the gap is first measured by the gap sensors 31 to 38, and the measured gap at this time After input to this guide controller (not shown), when the guide controller controls the current of each electromagnet, the guide force is controlled to maintain the gap constant.

At this time, the loading box 70 is loaded with a cargo such as an LCD cassette, etc. At this time, due to the impact during loading, the rotation torque is generated in the X-axis, Y-axis and Z-axis direction in each electromagnet (11 to 21), This torque changes the gap of each electromagnet.

Therefore, the gap stability of the entire lift system is adversely affected, and also the electromagnets 11 to 21 are disturbed due to the seams of the rails 61 and 62, which may also affect the gap stability.

Referring to Figures 4 and 5 attached to the operation that can minimize the impact of such disturbance as follows.

When disturbance torque is generated about the Z axis from the loading box 70, the first electromagnet 11 including the electromagnet core 11a and the electromagnet coil 11b, and the electromagnet core 13a and the coil 13b are formed. It affects the gap of the 1 'electromagnet 13.

In order to minimize this effect, according to the present invention, as shown in FIG. 4, the first support member 51 includes the bracket 51a, the rotary bearing 51b, and the bolts 51c and 51d. And since the first 'electromagnets 11 and 13 are rotatable, even if the lift frame 80 is rotated due to disturbance, the first and first' electromagnets 11 and 13 have minimal effects, and thus It is possible to implement a magnetic guidance lift to improve the disturbance removal characteristics.

In addition, as shown in FIG. 5, when a disturbance torque occurs about the X axis from the loading box 70, a fifth support including a bracket 55a, a rotary bearing 55b, and bolts 55c and 55d. By the member 55, the second electromagnet 12 composed of the electromagnet core 12a and the coil 12b, and the sixth electromagnet 18 composed of the electromagnet core 18a and the coil 18b are affected by disturbance torque. You rarely get

Meanwhile, the first and second rails 61 and 62 have a seam at the time of manufacture, and a gap disturbance may occur locally in the electromagnets 11 to 21 due to the step difference in the seam. While absorbing by the operation of each support member (51 to 56), the influence is transmitted to the electromagnets of the other corners to the minimum can also improve the stability of the entire system.

As a result, according to the present invention, when disturbance torque is generated in the X-axis and Z-axis directions from the stacker, the effects on the electromagnets are minimized, and various disturbances generated in the stacker and the rail are minimized.

1 is a front view of an application example in a conventional magnetic guide lift,

2 is a plan view showing the electromagnet arrangement in the X and Y axis direction of a conventional magnetic guidance lift,

3 is a front view of an application example of the magnetic guidance lift of the present invention;

4 is a plan view showing an electromagnet arrangement in the X-axis direction of the magnetic guidance lift of the present invention,

5 is a front view showing the electromagnet arrangement in the Y-axis direction of the magnetic guidance lift of the present invention.

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

11: first electromagnet 12: second electromagnet

13: 1st electromagnet 14: 3rd electromagnet

15: fourth electromagnet 17: fifth electromagnet

18: sixth electromagnet 20: seventh electromagnet

21: 8th electromagnet 31 ~ 38: gap sensor

41: first electromagnet frame 42: second electromagnet frame

43: third electromagnetic frame 44: fourth electromagnetic frame

45: fifth electromagnet frame 46: sixth electromagnet frame

51: first support member 52: second support member

53: third support member 54: fourth support member

55: fifth support member 56: sixth support member

51a, 55a: T-bracket 51b, 55b: Rotary bearing

51c, 51d, 55c, 55d: Bolt 61: First rail

62: second rail 70: loading box

80: lift frame 90: rope

Claims (5)

In the self-guided lift comprising a first and second rails, a stacking box disposed to be able to move up and down along the first and second rails and a lift frame surrounding the first and second rails, At each corner position of the magnetic guide lift, an X-axis electromagnet supporting the force in the X-axis direction while being positioned along the X-axis direction on both sides with each protrusion between the first and second rails interposed therebetween, Y-axis electromagnets, which are positioned along the Y-axis direction at the front of each protrusion of the first and second rails and supporting the force in the Y-axis direction, are spaced apart from each other, and the X-axis and Y-axis electromagnets can move independently of each other. To assemble the electromagnet frame and supporting member so that An electromagnet frame, in which the X-axis electromagnet is fixedly mounted, is coupled to the side of the loading box via the support member to remove the disturbance torque generated about the Z axis, and the Y axis to remove the disturbance torque generated about the X axis. Electromagnet frame is fixed to the electromagnet is coupled to the side of the loading box via the support member, The support member is a magnetic guide lift having a disturbance removal characteristics, characterized in that consisting of a bracket that is fixed to the side of the loading box with a bolt, and a rotary bearing connecting the front end of the bracket and the rear end of the electromagnet frame. delete The method according to claim 1, The electromagnet frame fixedly mounted with the X-axis electromagnet is adopted in a "c" cross-sectional structure, and the electromagnet frame fixed with the Y-axis electromagnet is arranged in a vertical direction (Z-axis) along a side portion of the loading box. Magnetically guided lift with disturbance removal characteristics. delete The method according to claim 1, A gap sensor for measuring the gap between the X-axis electromagnet and the first and second rails is mounted at the upper and lower positions of the side portions of the loading box, and a gap sensor for measuring the gap between the Y-axis electromagnet and the first and second rails. The magnetic guide lift having disturbance removal characteristics, characterized in that the Y-axis electromagnet is fixedly mounted on the electromagnet frame.

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