KR101489928B1 - Electromagnetic linear propulsion and guide system - Google Patents

Abstract

The present invention relates to a linear propulsion and guide system. The main objective of the present invention is to provide an electromagnetic linear propulsion and guide system which can perform the propulsion, lateral position control, and yaw control of a moving body through simple configuration by using power generated by the interaction between a permanent magnet and a coil, can remove the necessity of supplying power to the moving body, and can be more advantageous to long distance transfer. To achieve the objective of the present invention, the electromagnetic linear propulsion and guide system comprises: a plurality of transfer coils installed in a fixed body to be arranged along the transfer path of a moving body; a propulsion module installed on the moving body, having a permanent magnet installed to electromagnetically interact with the transfer coil, and generating the propulsive force of the moving body by the interaction between the transfer coil to which a current is applied and the permanent magnet; and a guide module installed on the moving body, having a permanent magnet to electromagnetically interact with the transfer coil, and generating guide force for the lateral position control of the moving body by the interaction with the transfer coil to which a current is applied, wherein the transfer coil is used as a common coil to generate the propulsive force and the guide force.

Description

[0001] Electromagnetic linear propulsion and guidance system [0002]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a linear propulsion and guidance system, and more particularly, to an electromagnetic propulsion and guidance system capable of performing lateral position control (guiding control) while propelling a moving body using a force generated by an interaction between a permanent magnet and a coil. Propulsion and guidance system.

In general, a linear power transmission apparatus converts linear electric power into mechanical energy by converting electric energy into mechanical energy. The linear power transmission apparatus uses a force generated by the interaction between a permanent magnet and a coil to provide a linear power for linearly moving a moving object It is known.

In the case of obtaining linear power by using a rotary type transmission device and a ball screw to linearly transfer a moving object, the system becomes complicated and a clean transfer system can not be implemented. Therefore, the use of the linear type transmission device is gradually increasing Trend.

Such a linear power transmission apparatus can be classified into a seed transmission apparatus and a transverse flux transmission apparatus in accordance with the flow direction of the magnetic flux. When the flow direction of the magnetic flux is the same as the moving direction of the moving body, The transverse speed gear unit is referred to as a transverse speed gear unit.

In the seed transmission, the direction of the current applied to the transport coil is perpendicular to the moving direction of the moving object, and the direction of the current applied to the moving coil coincides with the moving direction of the moving object in the transverse flux transmission device.

Of these, the transverse speed transmission device is disclosed in Japanese Patent Application No. 10-0820160 (Apr. 1, 2008), Registration No. 10-0977471 (Aug. 17, 2010), Registration No. 10-0960880 (May 25, No. 10-1031854 (Mar. 21, 2011).

In the case of the transverse speed transmission device known in the above-mentioned patent documents, it has a device configuration for generating a normal force (bearing force) and a propulsive force for conveying the moving object.

Also, in a transfer system for linearly transferring a moving body physically supported by mechanical elements such as bearings or the like supported by a magnetic levitation, a fluid floating system, or the like, interaction between the permanent magnet and the coil Electric interaction) is used as the electromagnetic propulsion system.

For example, a moving object such as a tray, a cassette, or a carrier accommodated in a substrate or a product such as a liquid crystal display (LCD), a plasma display panel (PDP), or an organic light emitting diode A magnetically levitated transportation system capable of transferring the particles at high speed while solving the problem of generation of particles, problems of parts damage caused by friction, abrasion, and noise is used.

Such a magnetic levitation transport system is a system that allows a moving object to be levitated by magnetic levitation. It has no energy loss, no noise, no noise, no vibration, etc., since there is no mechanical contact or friction between a moving object and a fixed object such as a rail. Low vibration, super clean transfer system can be realized.

In order to transport a moving body supported in a magnetic levitation, a fluid levitation (for example, air levitation), a mechanical type, or other electric type as described above, a supporting force (supporting force or levitation force in the Z- (Force in the X-axis direction), which is the force in the transport direction for transporting the moving object, and a guide force (hereinafter referred to as the guide force) for performing the lateral position control and yaw control Y-axis direction) is required.

Examples of magnetic levitation transport systems are typically provided with magnetic levitation force and guidance force from a levitation electromagnet and are provided with propulsion from a linear propulsion system or the like.

In this case, the magnetic levitation force can be obtained by controlling the current flowing through the winding of the floating electromagnet while maintaining a constant gap between the floating electromagnet and the moving body by adjusting the attraction force.

In the magnetic levitation transfer system, the guidance force is generated by the levitation force and the propulsive force and the force in the vertical direction between the levitation electromagnet and the moving body, so that the moving object does not deviate from the orbit.

However, in the case of a fluid floating system, a mechanical supporting system, or any other electrical supporting system, a separate guide force generating means for lateral position control and yaw control of the moving body must be provided.

Of course, in the magnetic levitation conveying system in which the moving body must be moved along various types of paths such as a straight line and a curved line, a separate guide force generating means for controlling the output for precise lateral position control and yaw control must be provided.

However, if a separate guide force generating means is provided in addition to the apparatus configuration for lifting, supporting, and propelling, the overall configuration of the transfer system becomes complicated, and a method for simplifying the system configuration is required.

In addition, when a coil for transferring is mounted on a moving object, the heat of the coil generated by the application of current may be transferred to a product (for example, a display product such as an LCD or an LED) loaded on the moving object,

In addition, there is a difficulty in supplying power to moving moving bodies for driving the coils, which is disadvantageous in constructing a system for long distance transportation.

SUMMARY OF THE INVENTION Accordingly, the present invention has been made to solve the above-mentioned problems, and it is an object of the present invention to provide a motor control apparatus and a control method thereof, And it is an object of the present invention to provide an electromagnetic linear propulsion and guidance system having a configuration in which power supply to a moving body is unnecessary and which is more advantageous for long distance transportation.

In order to achieve the above-mentioned object, the present invention provides a conveying apparatus comprising: a plurality of conveying coils installed on a fixed body so as to be arranged along a conveying path of a moving body; A propulsion module fixed to the moving body and having a permanent magnet installed to be capable of electromagnetic interaction with the moving coil and generating a propelling force of the moving body by an interaction between the moving coil and the permanent magnet to which current is applied; And a guide for generating a guide force for controlling the lateral position of the movable body by interaction with the feed coil fixedly mounted on the movable body and having a permanent magnet provided so as to be capable of electromagnetic interaction with the feed coil, Wherein the transfer coil is used as a common coil for generating a propulsive force and a guide force.

Here, the propulsion module and the guiding module are installed to be arranged back and forth along the arrangement of the transfer coils installed on the fixed body in the moving body.

Further, the propulsion module and the guiding module in the moving body are disposed on the left or right side or the left and right sides, respectively, with respect to the forward and backward moving directions of the moving body, and the moving coil of the stationary body interacting with the permanent magnet of the propulsion module and the guiding module, And are arranged so as to be arranged side by side on the left side, the right side, or the left and right sides.

The guide module is installed at the forward and rearward positions along the arrangement of the transport coils in the moving body so that yaw control can be performed on the moving body.

And a propulsion module is disposed between the guide module on the front side and the guide module on the rear side.

Further, the propulsion module and the guide module have a plurality of permanent magnets arranged to be positioned on the upper side of the transfer coil, the lower side of the transfer coil, or the upper side and the lower side of the transfer coil along the arrangement of the transfer coil.

The propulsion module and the guide module have a "U" -shaped yoke. The plurality of permanent magnets are arranged on one or both sides of an upper inner side surface and a lower inner side surface of the yoke, And is installed in the fixed body so as to be positioned in the inner space of the yoke between the upper inner side surface and the lower inner side surface.

And permanent magnets are installed in adjacent permanent magnets in the permanent magnet array of the propulsion module so that their polarities are opposite to each other.

And the permanent magnets are installed so as to have the same polarity direction between the adjacent permanent magnets in the permanent magnet array of the guide module.

In addition, in the case where the permanent magnet array of the propulsion module or the guide module is installed so as to be located above and below the transfer coil, the permanent magnets are installed so that the polarities of the permanent magnets are the same between the two permanent magnets arranged up and down .

Each of the transfer coils in the arrangement of the transfer coils has a portion that interacts with the permanent magnet of the propulsion module to generate propulsion force and a portion that interacts with the permanent magnet of the guiding module to generate the guiding force, The permanent magnets of the guide module are located on the upper side or the lower side or both the upper and lower sides of the portion generating the guiding force in the transporting coil So as to be able to be used.

The moving coil is installed such that the current direction in the portion generating the propulsive force and the portion generating the guiding force is orthogonal to the direction of the magnetic field formed by the permanent magnets of the propulsion module and the guiding module.

The moving coil is a coil wound in a rectangular shape so that a portion of the entire rectangular conveying coil which generates a driving force is a portion parallel to the transverse direction of the moving body moving direction and a portion for generating a guiding force is a moving body moving direction So that the first and second side walls are in parallel with each other.

Accordingly, the linear propulsion and guidance system of the present invention has the following advantages.

1) Since the moving coil for generating the driving force and generating the guiding force is installed in the fixed body, power supply to the moving body is unnecessary for driving the coil.

2) Since the propulsion module and the guidance module share the coil for the generation of the propulsion force and the generation of the guidance force, there is an advantage that the configuration becomes simple.

3) It is possible to carry long distance by selectively energizing and controlling drive coil of the part where propulsion module and guide module are located.

1 is a perspective view schematically showing the configuration of a linear propulsion and guidance system according to an embodiment of the present invention.
2 and 3 are views showing propulsion modules in a linear propulsion and guidance system according to an embodiment of the present invention.
4 and 5 are views showing a guide module in a linear propulsion and guidance system according to an embodiment of the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings, which will be readily apparent to those skilled in the art.

FIG. 1 is a perspective view schematically illustrating the configuration of a linear propulsion and guidance system according to an embodiment. In the present specification, the moving direction (moving direction) of the moving body 100 is referred to as an X axis direction, Axis direction and a direction perpendicular to both the X-axis direction and the Y-axis direction (the vertical direction in the drawing) is defined as the Z-axis direction.

At this time, the force in the X-axis direction becomes a driving force for moving the movable body 100 along the conveying path (X-axis direction: driving force acting direction), and the force in the Y- (Y-axis direction: guide force acting direction) for direction control (yaw direction control about the Z-axis).

As shown in the figure, the linear propulsion and guidance system of the embodiment includes a plurality of transport coils 130 fixedly disposed along a transport path of the moving body 100, a transport coil 130 fixedly installed on the moving body 100, And a transfer coil 130 fixedly mounted on the moving body 100 and having a current applied thereto. The moving module 100 includes a driving module 110 for generating driving force of the moving body 100, And a guide module 120 for generating a guide force for lateral (Y-axis) position control and yaw direction control.

Here, the propulsion module 110 generates a force (driving force) for moving the moving body 100 in the X-axis direction together with the transporting coil 130. The guiding module 120 includes a transporting coil 130, (Guide force) for moving the moving body 100 in the Y-axis direction.

First, the moving body 100 may be lifted or supported in the Z-axis direction by a magnetic levitation system (not shown), a fluid floating (e.g., air levitation) system, a mechanical supporting system such as a bearing or the like, In this case, the linear propulsion and guidance system of the embodiment becomes an apparatus for providing the propulsive force and the guiding force of the moving body 100 in the transport system including the above-mentioned float system or support system.

1 is a perspective view of the propulsion module 110 and the guiding module 120 which are disposed on the left and right sides of the moving body 100 in the forward and backward directions of travel of the moving body and the permanent magnets 112 and 122 In the present invention, the propulsion module 110 and the guiding module 120 are arranged so that the moving coils 130 of the stationary bodies interacting with the moving module 100 are arranged in parallel on both sides of the moving body 100. However, And the transfer coil 130 may be disposed either on the left side or on the right side of the moving body 100, either on the left side or on the right side of the moving body 100 and on the moving body 100.

The conveying coil 130 is fixed to a fixed body disposed on one side or both sides of the moving body 100. Although the fixed body is not illustrated in FIG. 1, the fixed body moves along the conveying path of the moving body 100 In the present embodiment, the fixed body is not limited to the shape and the kind of the fixed body as long as it can arrange the transfer coil 130 along a predetermined transport path of the moving body 100. [

In the linear propelling and guiding system of the embodiment, a plurality of conveying coils 130 are arranged along the X-axis direction, which is the conveying direction of the moving body 100, to the fixture, and the current application of each conveying coil 130 is performed by the controller Each of the transfer coils 130 is individually connected to the drive circuit so as to be independently controllable.

That is, a current is selectively applied to a single or a plurality of feed coils 130 for driving. At this time, each phase current is supplied to n (n is an arbitrary natural number) 130 in order to perform driving through current control of the n-phase.

One or more of the propulsion module 110 and the guiding module 120 may be installed on one side or both sides of the moving body 100. The propulsion module 110 and the guiding module 120 may be installed on one side Or may be arranged so as to be arranged back and forth along the arrangement of the transport coils 130 common to both sides.

Particularly, the guide module 120 is disposed at the front and rear positions along the arrangement of the conveying coils 130 in the moving body 100 so as to perform yaw control of the moving body 100 about the Z- As shown in FIG.

For example, as shown in FIG. 1, the guide module 120 is installed at the front side and the rear side of the mobile unit 100, and at this time, the propulsion module 110 is connected to the front side guide module 120, (Not shown).

Referring to FIG. 1, the propulsion module 110 and the guide module 120 are installed on both sides of the moving body 100, The guide modules 120 may be fixed to the left and right side portions of the moving body 100 and two guide modules 120 may be arranged at the respective side portions of the moving body 100 forward and backward.

At this time, the propulsion module 110 may be installed at an intermediate position between the front and rear two guide modules 120 as illustrated in each side portion of the moving body 100, in which case the permanent magnet 112 and the moving coil 130 that electromagneticly interacts with the permanent magnets 122 of the guide module 120 are arranged side by side on both sides of the moving body 100 in the forward and backward transport directions.

Each of the propulsion modules 110 and the guiding module 120 includes a plurality of permanent magnets 112 and 122 for generating a propulsive force and a guiding force by interaction with the conveyance coil 130 in the energized state, The module 110 and the guide module 120 may have a plurality of permanent magnets 112 and 122 arranged to be positioned on both upper and lower sides of the transfer coil 130 along the arrangement of the transfer coils 130. [

Basically, in order to perform the lateral position control and yaw control while propelling the moving body 100 along the predetermined transport path in the linear propulsion and guidance system of the embodiment, a controller (not shown) for controlling the current of each of the transport coils 130 And the drive coil (not shown), and the transfer coil 130 of the portion where the propulsion module 110 and the guide module 120 are positioned.

2 and 3 are diagrams showing the construction of the propulsion module 110 in the linear propulsion and guidance system according to the embodiment of the present invention. The permanent magnet 122 of the propulsion module 110 and the arrangement of the transfer coil 130 State.

First, the configuration of the propulsion module will be described as follows.

In the linear propulsion and guidance system of the embodiment, the propulsion module 110 includes a yoke 111 having a 'C' shape and a front and a rear of the upper inner side surface and the lower inner side surface of the yoke 111, And a plurality of permanent magnets 112 to be installed.

At this time, the transfer coils 130 of the fixed bodies may be arranged in the fixed body so as to be positioned in the inner space of the yoke 111 between the upper inner side surface and the lower inner side surface, The magnets 112 can be positioned on the upper side of the transfer coil or on the lower side of the transfer coil or on the upper side and the lower side of the transfer coil along the arrangement of the transfer coil 130.

In embodiments, the permanent magnets 112 of the propulsion module 110, i.e., the upper permanent magnets and the lower permanent magnets, may be positioned above and below the transfer coil 130, respectively, as illustrated, The permanent magnets 112 may be arranged at the same position and at the same interval in the upper inner side surface and the lower inner side surface of the permanent magnets 111.

In this arrangement, the transfer coils 130 inserted into the yoke 111 of the propulsion module 110 pass between the upper permanent magnet array and the lower permanent magnet array while the moving body 100 is transported along the predetermined transport path .

Each of the permanent magnets 112 is provided such that the pole opposite to the upper surface and the lower surface of the transfer coil 130 is a pole of N pole or S pole, As shown in FIG.

2, the permanent magnets 112 may be installed so that the polarities of adjacent permanent magnets in the upper and lower permanent magnets of the propulsion module 110 are opposite to each other.

In addition, the permanent magnets 112 may be installed such that the polarities of the two permanent magnets disposed directly above and below the propulsion module 110 are the same.

Although only three transfer coils 130 are shown between the upper permanent magnet array and the lower permanent magnet array in FIG. 2, in practice, as shown in FIG. 1, a plurality of transfer coils 130 are arranged along the transfer path of the moving body 100 It should be understood that they are continuously arranged at regular intervals.

The conveying coils 130 arranged along the conveying direction (X-axis direction) of the moving body are sequentially energized for the propulsion of the moving body 100 and the current application to the continuously arranged conveying coils 130 is sequentially switched A driving force for moving the moving body 100 along a predetermined path is generated.

FIG. 2 shows only the transfer coils 130 simultaneously energized in the embodiment configured to generate the propulsive force by applying the currents of the three phases, that is, only three transfer coils to which different phases (a / b / c phase) (Three transfer coils which are simultaneously energized at the moving object position in Fig. 2) and three transfer coils 130, respectively.

However, the present invention is not limited to the illustrated embodiment, and it is possible to have n-phase (n is an arbitrary natural number) configuration such as two-phase and three-phase, When driving the propulsion module 110, the propulsion force is generated by simultaneously energizing the feed coils 130 corresponding to an integral multiple of n.

The present invention is also characterized in that a driving coil 130 is commonly used in the driving module 110 and the guide module 120. The permanent magnet 112, The modules 110 and 120 commonly use one array of the transfer coils 130 to generate a force.

At this time, each of the transport coils 130 may be constituted of a coil portion used for generating a thrust and a coil portion used for generating a guiding force.

Referring to FIG. 3, the coil portion 130, which generates a driving force by interacting with the permanent magnet of the propulsion module 110 in one transfer coil 130, is connected to a dotted box of 'A' It becomes a corresponding part.

As shown in 'A', the portion generating the force in the propulsion module 110 is a portion of two coils arranged side by side in the transporting coil 130, and the current direction (in the Y-axis direction) The transfer coil 130 is disposed so as to be orthogonal to the magnetic field direction (magnetic flux direction, i.e., Z-axis direction) formed by the two permanent magnets 112.

In this arrangement, the propulsive force direction is the direction perpendicular to the current direction and the magnetic field direction (in the X-axis direction).

That is, when a current is applied to the transporting coil 130 located inside the propulsion module 110 to transport the moving body 100 in the X axis direction, a portion corresponding to 'A' of the transported transporting coil 130 The driving force is generated by the interaction with the permanent magnet 112, and the entire moving body 100 is propelled in the X-axis direction by the driving force.

The coil portion ('A' portion) for generating a thrust in each of the transport coils 130 may be a portion parallel to the transverse direction (Y axis direction) of the moving direction of the moving object while the coil portion 5 'in FIG. 5) may be a portion parallel to the moving direction of the moving body (X-axis direction).

In addition, the shape of each of the transfer coils 130 is formed to be relatively long as compared with the coil portion (the 'B' portion in FIG. 5) for generating the urging force It can be one rectangle.

As described above, in the linear propulsion and guidance system of the embodiment, the entire section of each of the transport coils 130 is divided into parts for generating the propulsive force and the guide force. In the conventional linear propulsion system, the feed coils 130 The end coil portion (the end portion of the transfer coil 130 excluding the 'A' region in FIG. 3, that is, the portion parallel to the X axis direction) becomes an invalid region that can not be used for generation of the propulsive force.

On the contrary, in the present invention, the end coil portion of each of the transport coils 130 is used as a coil portion for generating a guide force, and the transport coil 130 is shared and efficiently used.

As described above, in the linear propulsion and guidance system of the embodiment, a part of the entire portion of the transfer coil 130 is used to generate a propulsive force, and the other part is used to generate a guiding force, The coil portion for generating the force is a different portion in the transport coil 130.

Accordingly, the permanent magnets 112 of the propulsion module 110 are arranged to be positioned on the upper side or the lower side or both the upper and lower sides of the coil portion ('A' portion) generating the propulsive force The magnets 122 are arranged so as to be positioned on the upper side or the lower side or both the upper and lower sides of the coil portion ('B' portion) generating the guide force (see FIG. 5).

4 and 5 are views showing the arrangement of the guide module 120 and the transfer coil 130 in the linear propulsion and guidance system according to the embodiment of the present invention, And a coil portion for generating thrust.

The configuration of the guide module will be described as follows.

As described above, the plurality of guide modules 120 arranged in the forward, rearward, left and right directions in each mobile unit 100 can be installed. Each guide module 120 has a 'C' shape A yoke 121 and a plurality of permanent magnets 122 that are arranged in a front and rear direction along one side or both sides of an upper inner side surface and a lower inner side surface of the yoke 121.

In this guide module 120, as well as in the propulsion module 110, the fixing coils 130 can be inserted and positioned in the inner space of the yoke 121 between the upper inner surface and the lower inner surface.

The permanent magnets 122 of the guide module 120 can be positioned on the upper side of the transfer coil or on the lower side of the transfer coil or on the upper side and the lower side of the transfer coil along the arrangement of the transfer coil 130.

In an embodiment, the permanent magnet 122 of the guide module 120, i.e., the upper permanent magnet and the lower permanent magnet, as illustrated, may be positioned above and below the transfer coil 130, respectively, The permanent magnets 122 may be arranged at the same position and at the same interval in the upper inner side surface and the lower inner side surface of the permanent magnets 121.

In the guide module 120, the conveying coils 130 inserted into the yoke 121 while the moving body 100 is being conveyed along the predetermined conveying path pass between the upper permanent magnet array and the lower permanent magnet array .

Each of the permanent magnets 122 may be installed such that the pole opposite to the upper surface and the lower surface of the transfer coil 130 is a pole of N pole or S pole. Unlike the propulsion module 110, The permanent magnets 122 may be installed such that the polarities of the adjacent permanent magnets are opposite to each other.

In addition, the permanent magnets 122 may be installed so that the polarities of the two permanent magnets disposed immediately above and below the guide module 120 are the same.

4, only three transfer coils 130 are shown between the upper permanent magnet array and the lower permanent magnet array in the same manner as in FIG. 2. In the embodiment configured to generate a guide force by applying a current of three phases, (Three transfer coils energized at the moving object position in FIG. 4), and three different transfer currents are applied to the three transfer coils 130 to generate propulsion force.

However, the present invention is not limited to the illustrated embodiment, and it is possible to have n-phase (n is an arbitrary natural number) configuration such as two-phase and three-phase, When the guide module 120 is driven, a coil corresponding to an integer multiple of n is simultaneously energized to generate a guide force.

In addition, the conveying coils 130 arranged along the conveying direction of the moving body 100 are sequentially energized in the same manner as when the propelling force is generated, when the guide force for controlling the lateral position and yaw direction of the moving body 100 is generated.

5 is a view showing a coil portion generating a force in the guide module 120. In the one conveying coil 130, a guide force is generated by interacting with the permanent magnet 122 of the guide module 120 The coil part corresponds to the dotted box of 'B'.

Referring to FIG. 5 'B', the coil portion for generating a force in the guide module 120 is an end coil portion. In the current direction (X-axis direction) in this end coil portion, (In the direction of the magnetic flux, that is, the Z-axis direction) formed by the magnetic field generating portion 122 formed by the transfer coil 130.

In this arrangement structure, the guide force direction becomes a direction perpendicular to the current direction and the magnetic field direction (in the Y-axis direction).

In this manner, the end coil portion, which becomes the ineffective region (unused region) in the generation of the propulsive force among the entire portion of the conveying coil 130, which is the portion B parallel to the X axis direction of the moving body 100, As shown in FIG.

That is, when a current is applied to the transporting coil 130 located inside the guide module 120 for lateral position control and yawing control of the moving body 100, a current corresponding to 'B' of the transporting coil 130 A guide force is generated by the interaction with the permanent magnet at the portion where the movable body 100 is moved. By this guide force, it becomes possible to control the lateral position and the yaw direction of the entire movable body 100.

In this way, in the linear propulsion and guidance system of the embodiment, the transfer coils 130 arranged along the transfer path of the moving body 100 are commonly used as the coils for generating the propulsive force and the guiding force.

3 and 5, the transfer coil 130 is wound so as to have a rectangular shape in plan view so as to be positioned between the upper and lower permanent magnets 112 and 122 of the moving body 100 as shown in FIG. The portion for generating the propulsive force and the guiding force in each of the transport coils 130 may be different portions (i.e., portions 'A' and 'B').

Therefore, the permanent magnets 112 of the propulsion module 110 and the permanent magnets 122 of the guide module 120, which are required to interact with the respective coil parts, are arranged in the yokes 111, There may be differences in the form such as the layout structure.

That is, in the yoke 111 of the propulsion module 110, the permanent magnets 112 are positioned in the upper and lower right portions of the 'A' portion ('A' portion) while the moving body 100 is being transported along the transfer coil 130 The permanent magnets 122 in the yoke 121 of the guide module 120 are arranged in such a manner that they can be moved along the upper and lower portions of the 'B' The upper and lower positions opposite to the B 'portion).

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the scope of the present invention is not limited to the disclosed exemplary embodiments. Modified forms are also included within the scope of the present invention.

100: Moving body 110: Propulsion module
111: yoke 112: permanent magnet
120: Guide module 121: York
122: permanent magnet 130: transfer coil

Claims (13)

delete A plurality of transport coils installed in the fixed body so as to be arranged along the transport path of the moving body;
A propulsion module fixed to the moving body and having a permanent magnet installed to be capable of electromagnetic interaction with the moving coil and generating a propelling force of the moving body by an interaction between the moving coil and the permanent magnet to which current is applied; And
A guiding module for generating a guiding force for controlling the lateral position of the moving body by interaction with the moving coil, which is fixed to the moving body and has a permanent magnet installed so as to be capable of electromagnetic interaction with the moving coil, ;
And an electromagnetic linear propulsion and guidance system using the transporting coil as a common coil for generating a propulsion force and a guide force,
Wherein the propulsion module and the guide module are installed so as to be arranged back and forth along the arrangement of the transfer coils installed on the fixed body in the moving body.
A plurality of transport coils installed in the fixed body so as to be arranged along the transport path of the moving body;
A propulsion module fixed to the moving body and having a permanent magnet installed to be capable of electromagnetic interaction with the moving coil and generating a propelling force of the moving body by an interaction between the moving coil and the permanent magnet to which current is applied; And
A guiding module for generating a guiding force for controlling the lateral position of the moving body by interaction with the moving coil, which is fixed to the moving body and has a permanent magnet installed so as to be capable of electromagnetic interaction with the moving coil, ;
And an electromagnetic linear propulsion and guidance system using the transporting coil as a common coil for generating a propulsion force and a guide force,
The propulsion module and the guide module in the moving body are disposed on the left or right side or the left and right sides respectively with respect to the forward and backward moving directions of the moving body and the moving coil of the fixed body interacting with the permanent magnet of the propulsion module and the guiding module, Or arranged side by side on the right or left and right sides.
A plurality of transport coils installed in the fixed body so as to be arranged along the transport path of the moving body;
A propulsion module fixed to the moving body and having a permanent magnet installed to be capable of electromagnetic interaction with the moving coil and generating a propelling force of the moving body by an interaction between the moving coil and the permanent magnet to which current is applied; And
A guiding module for generating a guiding force for controlling the lateral position of the moving body by interaction with the moving coil, which is fixed to the moving body and has a permanent magnet installed so as to be capable of electromagnetic interaction with the moving coil, ;
And an electromagnetic linear propulsion and guidance system using the transporting coil as a common coil for generating a propulsion force and a guide force,
Wherein the guide module is installed at the forward and rearward positions along the arrangement of the transfer coils in the moving body so that yaw control can be performed on the moving body.
The method of claim 4,
Wherein the propulsion module is disposed between the guide module on the front side and the guide module on the rear side.
A plurality of transport coils installed in the fixed body so as to be arranged along the transport path of the moving body;
A propulsion module fixed to the moving body and having a permanent magnet installed to be capable of electromagnetic interaction with the moving coil and generating a propelling force of the moving body by an interaction between the moving coil and the permanent magnet to which current is applied; And
A guiding module for generating a guiding force for controlling the lateral position of the moving body by interaction with the moving coil, which is fixed to the moving body and has a permanent magnet installed so as to be capable of electromagnetic interaction with the moving coil, ;
And an electromagnetic linear propulsion and guidance system using the transporting coil as a common coil for generating a propulsion force and a guide force,
Wherein the propulsion module and the guiding module have a plurality of permanent magnets arranged to be positioned above the transfer coil, below the transfer coil, or above and below the transfer coil along the arrangement of the transfer coils. Guidance system.
The method of claim 6,
Wherein the propulsion module and the guide module have a "U" -shaped yoke, the plurality of permanent magnets are arranged on one or both sides of an upper inner side surface and a lower inner side surface of the yoke, And is mounted on the fixture so as to be positioned in the inner space of the yoke between the inner side surface and the lower inner side surface.
The method of claim 6,
Wherein permanent magnets are installed in adjacent permanent magnets in the permanent magnet array of the propulsion module so that the polarities of the permanent magnets are opposite to each other.
The method of claim 6,
Wherein permanent magnets are installed so as to have the same polarity direction between adjacent permanent magnets in the permanent magnet array of the guide module.
The method of claim 6,
The permanent magnets are installed so that the direction of polarity is the same between two permanent magnets arranged directly above and below in the case where the permanent magnet array of the propulsion module or the guide module is installed so as to be positioned above and below the transfer coil An electromagnetic linear propulsion and guidance system.
The method of claim 6,
Each of the conveying coils in the arrangement of the conveying coils has a portion that interacts with the permanent magnet of the propulsion module to generate a propulsive force and a portion that interacts with the permanent magnet of the guiding module to generate a guiding force,
The permanent magnets of the propulsion module are arranged to be located on the upper side or the lower side or both the upper and lower sides of the portion generating the propulsion force in the transporting coil and the permanent magnets of the guide module are located on the upper side or the lower side Or both the upper and lower sides of the linear propelling and guiding system.
The method of claim 11,
Wherein the transfer coil is installed so that a current direction in a portion generating a thrust and a portion generating a guiding force is orthogonal to a direction of a magnetic field formed by the permanent magnets of the propulsion module and the guiding module .
The method of claim 11,
Wherein the transfer coil is a coil wound in a rectangular shape such that a portion of the entirety of the rectangular transfer coil that generates a propulsive force is a portion parallel to the lateral direction of the moving body moving direction, Wherein the first and second linear propelling and guiding systems are installed so as to be parallel to each other.

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