KR102200021B1 - Magnetic levitation transfer apparatus and driving method thereof - Google Patents

Abstract

There is provided a magnetic levitation transport apparatus and operation method capable of stably transporting an object to be transported while reducing the number of required electromagnets. The magnetic levitation transfer device is arranged in an asymmetric structure on both sides of a support plate, a carrier that floats from the top of the support plate and moves the loaded object while moving along a movement path, and the carrier is arranged in an asymmetric structure on both sides of the upper portion of the carrier. It includes a plurality of floating electromagnets floating from the support plate.

Description

Magnetic levitation transfer apparatus and driving method thereof TECHNICAL FIELD

The present invention relates to a magnetic levitation transport device, and more particularly, to a magnetic levitation transport device capable of reducing the number of electromagnets for magnetic levitation, and an operating method thereof.

Conventional automation conveying systems used for conveying semiconductor wafers, PDP panels, or LCD panels mainly utilize conveyor systems such as belt conveyors, roller conveyors, and vibration conveyors. Such a system obtains rotational force by an electric motor and applies a reduction system in the middle to convert rotational motion into linear motion to transfer raw materials and products.

However, the existing transport system has limitations in speed increase and control due to the mechanism of the components, and friction occurs in certain parts according to the application of the mechanical devices, so noise, vibration, and dust generation are inevitable.

In order to reduce such noise, vibration, and dust, and to prevent breakdowns due to wear, it is necessary to periodically check the relevant components, replace parts, and repair, which inevitably leads to an increase in maintenance costs. Particularly, vibration or dust generated while the product is loaded causes product damage and scratches.

Accordingly, a magnetic levitation transport system has been proposed to replace the existing mechanical transport system. The magnetic levitation conveyance system is a system in which an object to be carried, for example a carrier, is conveyed in a state in which a carrier is floated to a certain height from a track by using the electromagnetic force of an electromagnet. In such a magnetic levitation transport system, since the carrier is propelled from the track in a non-contact state, noise and vibration are less generated, and high-speed propulsion is possible.

1 is a diagram schematically showing the configuration of a conventional magnetic levitation transport device, and FIG. 2 is a cross-sectional view of FIG. 1 taken along the line II-II'.

Referring to the drawings, a conventional magnetic levitation transport apparatus 1 includes a support plate 2, a carrier 3, and a plurality of electromagnets 4 and 5.

A track (not shown) is formed on the support plate 2 so as to correspond to the moving path of the carrier 3.

The carrier 3 has a product to be conveyed, for example, a carrier 6 such as a liquid crystal panel, mounted on the upper surface. The carrier 3 is disposed on the support plate 2 to transport the object 6 to be carried along the trajectory. The carrier 3 is made of a metallic material.

A plurality of electromagnets 4 and 5 are arranged to correspond to each other on the upper part of the support plate 2. In addition, the carrier 3 is disposed between the plurality of electromagnets 4 and 5 and the support plate 2.

In other words, a plurality of electromagnets (4, 5) are arranged in parallel with the moving direction of the carrier (3) on one side of the upper portion of the support plate (2) and the upper portion of the support plate (2). It includes a second electromagnet group 5 arranged in parallel with the first electromagnet group 4 on the other side. Here, the electromagnets 4a and 4b of the first electromagnet group 4 and the electromagnets 5a and 5b of the second electromagnet group 5 are mutually disposed to the left/right side of the support plate 2 or the carrier 3 It is arranged to be symmetrical.

The magnetic levitation transfer device 1 of the above-described configuration is provided with a signal provided to the plurality of electromagnets 4 and 5 from a control circuit (not shown), for example, according to the electromagnetic force generated by the current signal, the carrier 3 is supported by the support plate 2 ) To a predetermined height d, and in that state, the carrier 3 is moved to transport the object 6 to be carried.

That is, between the electromagnets 4 and 5 and the carrier 3 due to the electromagnetic force generated in the plurality of electromagnets 4 and 5, a force that attracts each other, for example, an attractive force, is generated. At this time, the control circuit adjusts the strength of signals applied to the plurality of electromagnets 4 and 5 so that the carrier 3 does not attach to the electromagnets 4 and 5 so that the carrier 3 , 5) and the support plate (2) to maintain the floating state.

However, in the conventional magnetic levitation transfer device 1, since a plurality of electromagnets 4 and 5 are arranged symmetrically to the left/right side of the carrier 3, the number of electromagnets corresponding to one carrier 3 is even It must be composed of, and approximately 4 or more electromagnets are required.

Accordingly, the conventional magnetic levitation transfer device 1 has a problem that not only increases the cost for configuring it, but also increases the number of electromagnets to be controlled by the control circuit, thus complicating the system configuration.

An object of the present invention is to provide a magnetic levitation transport device capable of stably transporting an object to be transported while reducing the number of electromagnets required, and a method of operating the same.

Magnetic levitation transport device according to an embodiment of the present invention for achieving the above object, the support plate; A carrier floating from an upper portion of the support plate and moving along a movement path to transport the loaded object; And a plurality of floating electromagnets arranged in an asymmetric structure on both upper sides of the carrier and floating the carrier from the support plate according to a current provided from the outside.

In order to achieve the above object, a method of operating a magnetic levitation transport apparatus according to an embodiment of the present invention includes: outputting position information on a current position of a carrier that is moved by being floated above a support plate; Determining a movement path of the carrier according to the location information; And controlling the carrier to maintain the floating state by supplying currents of different sizes to a plurality of floating electromagnets each arranged in an asymmetric structure on both sides of the upper portion of the carrier according to the determination result.

A method of operating a magnetic levitation transport apparatus according to another embodiment of the present invention for achieving the above object includes: outputting vertical position information of a carrier that is moved and floated above a support plate; Determining a distance between the carrier and a plurality of floating electromagnets each arranged in an asymmetric structure on both sides of the upper portion of the carrier according to the location information; And controlling the carrier to maintain a horizontal level by adjusting the magnitude of the current supplied to the plurality of floating electromagnets according to the determination result.

The magnetic levitation transport device and its operation method of the present invention are to arrange a minimum electromagnet in an asymmetric structure on the left/right side along the moving path of the object to be carried, and apply different currents to the left electromagnet and the right electromagnet. Thus, by maintaining the equilibrium, it is possible to stably transport the object to be carried while reducing the number of electromagnets.

1 is a diagram schematically showing the configuration of a conventional magnetic levitation transport device.
FIG. 2 is a cross-sectional view of FIG. 1 taken along the line II-II'.
3 is a schematic perspective view of a magnetic levitation transport device according to an embodiment of the present invention.
4 is a cross-sectional view of the magnetic levitation transfer device of FIG. 3 taken along lines IVa to IVa' and IVb to IVb'.
5 is a schematic plan view of the magnetic levitation transport device of FIG. 3.
6 is a diagram showing the configuration of the control unit of FIG. 5.
7 is a flow chart of a conveying operation of the magnetic levitation conveying device according to an embodiment of the present invention.
8 is a flow chart for a position control operation of the magnetic levitation transport device according to an embodiment of the present invention.

Hereinafter, with reference to the accompanying drawings will be described in detail the magnetic levitation transport device and the operation method according to the present invention.

3 is a schematic perspective view of a magnetic levitation transport device according to an embodiment of the present invention, and FIG. 4 is a cross-sectional view of the magnetic levitation transport device of FIG. 3 taken along lines IVa to IVa' and IVb to IVb'.

In addition, FIG. 5 is a schematic plan view of the magnetic levitation transport device of FIG. 3, and FIG. 6 is a view showing the configuration of the control unit of FIG. 5.

3 to 5, the magnetic levitation transport apparatus 100 according to the present embodiment is for a plurality of levitation for levitation of a support plate 10, a carrier 20, a plurality of electromagnets, for example, the carrier 20 It may include electromagnets 30 and 40 and a control unit 60.

The support plate 10 fixes and supports a plurality of floating electromagnets 30, 40, and the movement path of the carrier 20 on the upper surface, that is, the movement path of the carrier 110 loaded on the carrier 20. Thus, a track 71 is formed.

In addition, at least one linear motor 73 may be disposed on the track 71. The linear motor 73 may provide a linear propulsion force so that the carrier 20 can be floated to a predetermined height from the upper surface of the support plate 10 and moved along the track 71.

The carrier 20 may be disposed on the support plate 10. The carrier 20 may be formed in the form of a flat plate with both sides bent in a concave structure. The carrier 20 may be formed of a metal material that can be magnetically coupled with a plurality of floating electromagnets 30 and 40 to be described later.

On the upper surface of the carrier 20, a carrier 110, such as a liquid crystal panel, may be mounted. Such a carrier 20 may be floated from the upper portion of the support plate 10 and moved along the track 71 to transport the carrier 110.

A plurality of floating electromagnets 30 and 40 may be disposed on both upper sides of the carrier 20, respectively. Such a plurality of floating electromagnets 30 and 40 may float the carrier 20 from the support plate 10 by generating electromagnetic forces respectively according to signals provided from the controller 60 to be described later. Here, in the plurality of levitation electromagnets 30 and 40, the magnitude of the electromagnetic force generated according to the magnitude of the provided signal may also be increased.

A number of levitation electromagnets 30 and 40 may be configured as a group at the top of the carrier 20. For example, a plurality of first floating electromagnets 30 are configured as a first group on one side of the carrier 20 and may be arranged side by side along the movement path of the carrier 20. In addition, the upper portion of the other side of the carrier 20 is composed of a second group of a plurality of second floating electromagnets 40 may be arranged side by side along the movement path of the carrier (20).

The above-described plurality of levitation electromagnets, that is, a plurality of first levitation electromagnets 30 and a plurality of second levitation electromagnets 40 may correspond to the carrier 20 by being bundled in a predetermined number. In this case, the first floating electromagnet 30 and the second floating electromagnet 40 corresponding to the carrier 20 may have an asymmetric structure in which the number is not the same.

For example, a plurality of first floating electromagnets 30 may be spaced apart from one side of the carrier 20 at a certain distance and arranged in a row. In addition, the plurality of second floating electromagnets 40 may be spaced apart from the top of the other side of the carrier 20 by a predetermined distance and disposed in a row. At this time, each of the plurality of second floating electromagnets 40 may be disposed between each of the plurality of first floating electromagnets 30. That is, a plurality of first floating electromagnets 30 and a plurality of second floating electromagnets 40 may be disposed to be intersected at both sides of the upper portion of the carrier 20. Here, the separation distance of each of the plurality of first floating electromagnets 30 and the separation distance of each of the plurality of second floating electromagnets 40 may be the same.

As described above, a plurality of first levitation electromagnets 30 and a plurality of second levitation electromagnets 40 are intersected at the top of the carrier 20, and thus, one carrier 20 has an odd number of Levitation electromagnets can be used.

As shown in FIG. 5, a total of three floating electromagnets may correspond to one carrier 20. For example, two first floating electromagnets 30 and one second floating electromagnet 40 are corresponding to one carrier 20, or one first floating electromagnet 30 and two second floating electromagnets Dragon electromagnet 40 may correspond.

On the other hand, the number of floating electromagnets corresponding to the carrier 20 may vary depending on the size of the carrier 20, for example, 3, 5, 7 floating electromagnets, such as 3, 5, 7, etc., may correspond to the carrier 20. In this case, the first floating electromagnet 30 and the second floating electromagnet 40 may have at least one difference.

The plurality of first floating electromagnets 30 and the plurality of second floating electromagnets 40 each have an electromagnetic force according to a signal provided from the control unit 60, for example, the first current signal I1 and the second current signal I2. By generating the carrier 20 can be horizontally floated from the support plate (10).

In addition, although not shown in the drawings, a gap sensor (not shown) capable of detecting a gap between the plurality of first floating electromagnets 30 and the carrier 20 may be further disposed. . Likewise, a gap sensor may be disposed between the plurality of second floating electromagnets 40 and the carrier 20.

Accordingly, the control unit 60 to be described later includes a distance d1 between the plurality of first floating electromagnets 30 and the carrier 20 and a plurality of second floating electromagnets according to the sensing signal SI output from the gap sensor. The size of the first current signal I1 and the second current signal I2 may be adjusted so that the distance d2 between the 40 and the carrier 20 is the same.

Meanwhile, the magnetic levitation transport apparatus 100 according to the present embodiment may further include a plurality of position sensors 50 for sensing the position of the carrier 20.

The plurality of position sensors 50 may be disposed on both sides of the support plate 10, for example, a plurality of first floating electromagnets 30 and a plurality of second floating electromagnets 40 may be disposed adjacent to each. have.

The plurality of position sensors 50 may detect the current position of the carrier 20 and provide the result to the control unit 60. The controller 60 includes a first current signal I1 and a second current signal supplied to the first floating electromagnet 30 and the second floating electromagnet 40 according to sensing signals provided from the plurality of position sensors 50. By blocking (I2) or changing the size, it is possible to keep the carrier 20 in a floating state on the support plate 10.

In addition, the magnetic levitation transport device 100 may further include a plurality of position control electromagnets 35 and 45. The plurality of position control electromagnets 35 and 45 may assist the plurality of first levitation electromagnets 30 and the plurality of second levitation electromagnets 40 described above, and adjust the left and right positions of the carrier 20. Can be controlled.

The plurality of position control electromagnets 35 and 45 may be formed in the same number as the number of floating electromagnets, that is, a plurality of first floating electromagnets 30 and a plurality of second floating electromagnets 40.

For example, the plurality of position control electromagnets 35 and 45 are adjacent to the plurality of first floating electromagnets 30 and arranged in the same number as a plurality of first position control electromagnets 35 and a plurality of second floating electromagnets ( It may include a plurality of second position control electromagnets 45 arranged in the same number adjacent to 40).

The plurality of first position control electromagnets 35 and the plurality of second position control electromagnets 45 are each electromagnetic force according to signals provided from the control unit 60, for example, the third current signal I3 and the fourth current signal I4. The left and right positions of the carrier 20 can be adjusted by generating.

For example, each of the plurality of first position control electromagnets 35 may adjust an interval with one side of the carrier 20 according to the third current signal I3. In addition, each of the plurality of second position control electromagnets 45 may adjust an interval with the other side of the carrier 20 according to the fourth current signal I4.

In addition, although not shown in the drawing, a gap sensor (not shown) capable of detecting a gap between the plurality of first position control electromagnets 35 and one outer wall of the carrier 20 may be further disposed. . Likewise, a gap sensor may be further disposed between the plurality of second position control electromagnets 45 and the other outer wall of the carrier 20.

Accordingly, the control unit 60 includes a distance d3 between the first position control electromagnet 35 and the carrier 20 and the second position control electromagnet 45 and the carrier 20 according to the sensing signal SI provided from the gap sensor. The distance d4 between) can be controlled to be the same.

The controller 60 includes a plurality of electromagnets, that is, a plurality of floating electromagnets 30 and 40 and a plurality of position control electromagnets 35 according to a sensing signal SI provided from an external, for example, a plurality of position sensors 50 or gap sensors. , 45), for example, a first current signal I1 to a fourth current signal I4.

Referring to FIG. 6, the control unit 60 may include a position detection unit 61, a determination unit 63, a movement control unit 65 and a position control unit 67.

The position detection unit 61 may detect a current position of the carrier 20 according to a sensing signal SI provided from a plurality of position sensors 50 or a plurality of gap sensors, and output position information PI.

The determination unit 63 may output the first control signal CNT1 and the second control signal CNT2 according to the position information PI output from the position detection unit 61.

Here, the first control signal CNT1 is a signal for controlling a plurality of floating electromagnets 30 and 40. The second control signal CNT2 is a signal for controlling a plurality of position control electromagnets 35 and 45.

The movement control unit 65 may generate and output the first current signal I1 and the second current signal I2 according to the first control signal CNT1 output from the determination unit 63. The first current signal I1 and the second current signal I2 are output to a plurality of first floating electromagnets 30 and a plurality of second floating electromagnets 40 to control the generation of electromagnetic force thereof.

The position control unit 67 may generate and output the third current signal I3 and the fourth current signal I4 according to the second control signal CNT2 output from the determination unit 63. The third current signal I3 and the fourth current signal I4 are output to a plurality of first position control electromagnets 35 and a plurality of second position control electromagnets 45 to control the generation of their electromagnetic force.

Meanwhile, reference numeral 80 shown in the drawings, but not described, is a cover of a plurality of electromagnets, that is, a plurality of floating electromagnets 30 and 40 and a plurality of position control electromagnets 35 and 45, and 90 is a stopper ( stopper).

As described above, the magnetic levitation transport apparatus 100 according to the present invention is moved in a state in which the carrier 20 is floated by the electromagnetic force emitted from the plurality of floating electromagnets 30 and 40, and is loaded on the carrier 20. The transported object 110 may be conveyed to a desired destination.

And, while the carrier 20 is moved, while adjusting the current supplied to a plurality of floating electromagnets (30, 40) and a plurality of position control electromagnets (35, 45) so that the carrier 20 can be horizontally floated and moved. The position of the carrier 20 can be controlled.

Hereinafter, a transport operation and a position control operation of the magnetic levitation transport apparatus 100 according to the present invention will be described in detail with reference to the drawings.

7 is a flow chart for a conveying operation of the magnetic levitation conveying device according to an embodiment of the present invention.

5 to 7, when a plurality of position sensors 50 sense the current position of the carrier 20 and output a sensing signal SI, the position detection unit 61 of the controller 60 is Position information (PI) for the current location of) can be output (S10).

Here, the location information PI output by the location detection unit 61 may be information on the current location of the carrier 20 that is moved on the support plate 10. Further, the plurality of position sensors 50 may detect the position of the end of the carrier 20 and output a sensing signal SI.

The determination unit 63 may determine a current position and a movement path of the carrier 20 according to the position information PI output from the position detection unit 61 (S20).

For example, the determination unit 63 may determine the current position of the carrier 20 and the number of floating electromagnets corresponding thereto according to the location information PI, that is, the first floating electromagnet 30 and the second floating electromagnet 40 Can judge the number of

5, the determination unit 63 is the carrier 20 is currently located at the position A according to the location information (PI), at this time, the floating electromagnet corresponding to the carrier 20 is two first floating electromagnets It can be determined that it is 30 and one second floating electromagnet 40.

In addition, the determination unit 63 may determine the movement path of the carrier 20. For example, the determination unit 63 may determine that the carrier 20 is moved according to the movement path of the carrier 20, for example, in the direction of an arrow.

Subsequently, the determination unit 63 may compare the number of newly corresponding floating electromagnets according to the movement path of the carrier 20, and output the first control signal CNT1 according to the comparison result (S30).

For example, as shown in FIG. 5, when the carrier 20 moves from the A position to the A'position, the determination unit 63 corresponds to the first floating electromagnet 30 at the A'position of the carrier 20 And the number of the second floating electromagnet 40 can be compared.

As a result of the comparison of the determination unit 63, if the number of the first floating electromagnets 30 is less than the number of the second floating electromagnets 40 (Y), the determination unit 63 is reduced to the movement control unit 65. 1 The control signal CNT1 can be output.

Further, the movement control unit 65 may generate a first current signal I1 and a second current signal I2 having a size smaller than that of the first current signal I1 in response to the first control signal CNT1, respectively. have.

Subsequently, the movement control unit 65 outputs the first current signal I1 to a plurality of first floating electromagnets 30, and outputs the second current signal I2 to a plurality of second floating electromagnets 40. Thus, it is possible to control the movement of the carrier 20 (S40).

Here, when the carrier 20 is moved to the A'position, the number of the corresponding second floating electromagnets 40 is twice the number of the first floating electromagnets 30, so the first current signal I1 is It may be generated at twice the size of the second current signal I2.

In addition, when the carrier 20 moves from the A position to the A'' position, the determination unit 63 corresponds to the first floating electromagnet 30 and the second floating electromagnet at the A'' position of the carrier 20. The number of (40) can be compared.

As a result of the comparison of the determination unit 63, if the number of the first floating electromagnets 30 is greater than the number of the second floating electromagnets 40 (N), the determination unit 63 is the first floating control unit 65 The control signal CNT1 can be output.

In addition, the movement control unit 65 may generate a first current signal I1 and a second current signal I2 having a larger size than the first current signal I1 in response to the first control signal CNT1. have.

Subsequently, the movement control unit 65 outputs the first current signal I1 to a plurality of first floating electromagnets 30, and outputs the second current signal I2 to a plurality of second floating electromagnets 40. Thus, it is possible to control the movement of the carrier 20 (S50).

Here, when the carrier 20 is moved to the A'' position, the number of the corresponding second floating electromagnets 40 is 1/2 times the number of the first floating electromagnets 30, so the first current signal ( I1) may be generated with a size of 1/2 times the second current signal I2.

As described above, the magnetic levitation transfer device 100 according to the present embodiment compares the number of floating electromagnets corresponding to the carrier 20 according to the position of the carrier 20, that is, the current position and the movement path, and compares By adjusting the magnitude of the current supplied to the floating electromagnet according to the result, the carrier 20 is floated in a horizontal state from the support plate 10 so that it can be stably moved.

Accordingly, the magnetic levitation transport device 100 according to the present embodiment can stably move the carrier 20 while reducing the number of levitation electromagnets corresponding to the carrier 20 compared to the conventional magnetic levitation transport device. .

8 is a flow chart for a position control operation of the magnetic levitation transport device according to an embodiment of the present invention.

First, a description will be given of the vertical position control operation of the magnetic levitation transport apparatus according to the present embodiment.

4 to 6 and 8, when a plurality of gap sensors sense the current position of the carrier 20 and output a sensing signal SI, the position detection unit 61 of the control unit 60 is the carrier 20 Position information (PI) for the current location of) may be output (S110).

Here, the plurality of gap sensors are sensors disposed between the plurality of floating electromagnets 30 and 40 and the carrier 20, and the position information PI output by the position detection unit 61 is the carrier 20 and the plurality of It may be vertical position information about the distance (d1, d2) between the floating electromagnets (30, 40).

The determination unit 63 may determine the distance between the carrier 20 and the electromagnets from the position information PI output from the position detection unit 61 (S120). In addition, the determination unit 63 may compare the distance between the carrier 20 and the electromagnets (S130).

Referring to FIG. 4, the determination unit 63 includes a distance between the carrier 20 and the first floating electromagnet 30, that is, a first distance d1, and the carrier 20 and the second floating electromagnet 40. The interval between ), that is, the second interval d2 can be compared.

As a result of the comparison of the determination unit 63, if the first interval d1 and the second interval d2 are the same (Y), the determination unit 63 outputs a second control signal CNT2 to the position control unit 67 can do.

In addition, the position control unit 67 is a current supplied to the first floating electromagnet 30 and the second floating electromagnet 40 in response to the second control signal CNT2, for example, a first current signal I1. And the supply amount of the second current signal I2 may be maintained (S140).

However, as a result of the comparison of the determination unit 63, if the first interval d1 and the second interval d2 are not the same (N), the determination unit 63 transmits the second control signal CNT2 to the position control unit 67. ), and the position control unit 67 may change the amount of current supplied to the first floating electromagnet 30 and the second floating electromagnet 40 in response to the second control signal CNT2 ( S150).

In other words, when it is determined that the first distance d1 and the second distance d2, which are the distances between the floating electromagnets 30 and 40 and the carrier 20, are not the same, the carrier 20 is the support plate ( This is because the level cannot be maintained at the top of 10).

Accordingly, the determination unit 63 is a floating electromagnet of a portion having a larger interval among the first interval (d1) and the second interval (d2) in order to maintain the carrier 20 horizontally. The second control signal CNT2 may be output to provide a current signal having a greater intensity to the device.

Further, the position control unit 67 changes and outputs one of the first current signal I1 and the second current signal I2 according to the second control signal CNT2, so that the carrier 20 It can be controlled to be horizontal from 10).

Next, the horizontal position control operation of the magnetic levitation transfer device according to the present embodiment will be described.

4 to 6 and 8, when a plurality of gap sensors sense the current position of the carrier 20 and output a sensing signal SI, the position detection unit 61 of the control unit 60 is the carrier 20 Position information (PI) for the current location of) may be output (S110).

Here, the plurality of gap sensors are sensors disposed between the plurality of position control electromagnets 35 and 45 and the carrier 20, and the position information (PI) output from the position detection unit 61 is the carrier 20 and the plurality of It may be horizontal position information about the distances d3 and d4 between the position control electromagnets 35 and 45.

The determination unit 63 may determine the distance between the carrier 20 and the electromagnets from the position information PI output from the position detection unit 61 (S120). In addition, the determination unit 63 may compare the distance between the carrier 20 and the electromagnets (S130).

Referring to FIG. 4, the determination unit 63 includes a distance between the carrier 20 and the first position control electromagnet 35, that is, a first distance d3, and the carrier 20 and the second position control electromagnet 45. The interval between ), that is, the second interval d4 can be compared with each other.

As a result of the comparison of the determination unit 63, if the first interval d3 and the second interval d4 are the same (Y), the determination unit 63 outputs a second control signal CNT2 to the position control unit 67 can do.

In addition, the position control unit 67 is a current supplied to the first position control electromagnet 35 and the second position control electromagnet 45 in response to the second control signal CNT2, for example, a third current signal I3. And the supply amount of the fourth current signal I4 may be maintained (S140).

However, as a result of the comparison of the determination unit 63, if the first interval d3 and the second interval d4 are not the same (N), the determination unit 63 transmits the second control signal CNT2 to the position control unit 67. ), and the position control unit 67 may change the amount of current supplied to the first position control electromagnet 35 and the second position control electromagnet 45 in response to the second control signal CNT2 ( S150).

In other words, when it is determined that the first interval (d3) and the second interval (d4), which are the intervals between the plurality of position control electromagnets 35 and 45 and the carrier 20, are not the same, the carrier 20 is supported. This is because it is biased from the top of the plate 10 to one side.

Accordingly, the determination unit 63 provides the second control signal (a second control signal (d) to supply a current signal of a greater intensity to the electromagnet for position control of a portion having a larger interval of the first interval (d3) and the second interval (d4). CNT2) can be printed.

Further, the position control unit 67 changes and outputs one of the third current signal I3 and the fourth current signal I4 according to the second control signal CNT2, so that the carrier 20 is 10) It can be controlled so as not to be biased from the top.

As described above, the magnetic levitation transport apparatus 100 according to the present embodiment includes a plurality of levitation electromagnets 30 and 40 or a plurality of position control electromagnets 35 and 45 according to the position information PI of the carrier 20. ) By maintaining or changing the intensity of the current supplied to the support plate 10, it is possible to control the carrier 20 to be moved at the correct position on the upper portion.

Although many items are specifically described in the above description, this should be construed as an example of a preferred embodiment rather than limiting the scope of the invention. Therefore, the invention should not be determined by the described embodiments, but should be defined by the claims and equivalents to the claims.

100: magnetic levitation transfer device 10: support plate
20: carrier 30, 40: floating electromagnet
35, 45: electromagnet for position control 50: position sensor
60: control unit

Claims (15)

Support plate;
A carrier floating from an upper portion of the support plate and moving along a movement path to transport the loaded object;
A plurality of first floating electromagnets disposed on an upper side of the carrier;
A plurality of second floating electromagnets disposed on the other side of the upper part of the carrier and arranged asymmetrically with the first floating electromagnet; And
And a controller configured to determine a movement path of the carrier and supply currents of different sizes to the plurality of first floating electromagnets and the plurality of second floating electromagnets,
The control unit determines the number of the first floating electromagnet and the second floating electromagnet corresponding to the carrier according to the position of the carrier, and floating one of the first floating electromagnet and the second floating electromagnet A magnetic levitation transfer device that applies a current twice the size of the other levitation electromagnet to an electromagnet. The method of claim 1,
Each of the plurality of second floating electromagnets is disposed between each of the plurality of first floating electromagnets. delete delete The method of claim 1, wherein the control unit,
A position detection unit outputting position information of the carrier;
The current position and movement path of the carrier are determined according to the location information, and the number of the plurality of first floating electromagnets and the plurality of second floating electromagnets corresponding to the next position of the carrier according to the movement path A judgment unit to determine; And
And a movement control unit for generating a first current signal and a second current signal having different sizes according to a determination result of the determination unit and outputting the first and second current signals to the plurality of first floating electromagnets and the plurality of second floating electromagnets, respectively, ,
One of the first current signal and the second current signal has a size twice that of the other. The method of claim 1,
The magnetic levitation transfer device having an odd number of the plurality of first levitation electromagnets and the second levitation electromagnets corresponding to the carrier. The method of claim 1,
A plurality of position control electromagnets arranged in the same number adjacent to the plurality of first floating electromagnets and the second floating electromagnets, and adjusting vertical and horizontal positions of the carrier; And
Magnetic levitation transfer device further comprising at least one gap sensor for sensing a gap between the plurality of first and second levitation electromagnets and the carrier or between the plurality of position control electromagnets and the carrier. Outputting positional information on the current position of the carrier that is floating and moved above the support plate;
Determining a movement path of the carrier according to the location information; And
Magnetic levitation transfer device comprising the step of supplying different electric currents to a plurality of levitation electromagnets each arranged in an asymmetric structure on both sides of the upper portion of the carrier according to the determination result, and controlling the carrier to maintain the floating state Method of operation. The method of claim 8,
The plurality of levitation electromagnets include a plurality of first levitation electromagnets disposed on an upper side of the carrier and a plurality of second levitation electromagnets disposed on the other upper side of the carrier,
The determining of the movement path of the carrier further includes comparing the number of the plurality of first floating electromagnets and the plurality of second floating electromagnets corresponding at a next position of the carrier according to the movement path. How to operate the magnetic levitation transfer device. The method of claim 9,
The step of supplying currents of different sizes to the plurality of floating electromagnets,
As a result of the comparison, if the number of the plurality of first floating electromagnets corresponding to the next position of the carrier is greater than the number of the plurality of second floating electromagnets, the plurality of second floating electromagnets are more suitable than the plurality of first floating electromagnets. A method of operating a magnetic levitation transfer device that supplies a larger current to an electromagnet. The method of claim 10,
A method of operating a magnetic levitation transfer device in which the current supplied to the plurality of second levitation electromagnets is twice the current supplied to the plurality of first levitation electromagnets. The method of claim 8,
A method of operating a magnetic levitation transfer device having an odd number of the plurality of levitation electromagnets corresponding to the carrier. The method of claim 9,
Outputting vertical position information of the carrier floating and moving above the support plate;
Determining a distance between the plurality of first levitation electromagnets and the second levitation electromagnets arranged in an asymmetric structure on both sides of the carrier according to the location information; And
The method of operating a magnetic levitation transport apparatus further comprising the step of controlling the carrier to maintain a horizontal level by adjusting the magnitudes of currents supplied to the plurality of first levitation electromagnets and the second levitation electromagnets according to the determination result. Support plate;
A carrier floating from an upper portion of the support plate and moving along a movement path to transport the loaded object;
It consists of a plurality of first and second floating electromagnets respectively disposed along one side and the other side of the carrier,
The first and second floating electromagnets are alternately arranged on both sides of the carrier so that the carrier is floated by a different number of first and second floating electromagnets to move along a movement path, corresponding to the carrier A magnetic levitation transport device in which a current having a size inversely proportional to the number of batches is applied to the first and second levitation electromagnets. The method of claim 14, wherein the number of the first and second floating electromagnets corresponding to the carrier is arranged in a relationship of 1:2, and the magnitude of the current supplied to the first and second floating electromagnets is 2:1. Magnetic levitation transfer device.

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