WO2006059505A1 - 磁気吸引型非接触搬送装置 - Google Patents
磁気吸引型非接触搬送装置 Download PDFInfo
- Publication number
- WO2006059505A1 WO2006059505A1 PCT/JP2005/021273 JP2005021273W WO2006059505A1 WO 2006059505 A1 WO2006059505 A1 WO 2006059505A1 JP 2005021273 W JP2005021273 W JP 2005021273W WO 2006059505 A1 WO2006059505 A1 WO 2006059505A1
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- WO
- WIPO (PCT)
- Prior art keywords
- magnetic
- type non
- magnetic attraction
- transfer device
- contact transfer
- Prior art date
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L13/00—Electric propulsion for monorail vehicles, suspension vehicles or rack railways; Magnetic suspension or levitation for vehicles
- B60L13/04—Magnetic suspension or levitation for vehicles
- B60L13/06—Means to sense or control vehicle position or attitude with respect to railway
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N15/00—Holding or levitation devices using magnetic attraction or repulsion, not otherwise provided for
- H02N15/02—Holding or levitation devices using magnetic attraction or repulsion, not otherwise provided for by Foucault currents
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/26—Rail vehicles
Definitions
- the present invention relates to a magnetic attraction type non-contact conveyance device that attracts an object using an electromagnet and floats it to convey or rotate.
- magnetic bearings for motors, magnetic levitation railways, non-contact conveyance devices, and the like have attracted attention and are put to practical use as applications of magnetic levitation technology.
- stop holding devices and magnetic levitation transfer devices such as those described in Japanese Patent Application Laid-Open Nos. 6-46592 and 7-123528, respectively, are used to hold a conveyed product in a non-contact state.
- stop holding devices and magnetic levitation transfer devices such as those described in Japanese Patent Application Laid-Open Nos. 6-46592 and 7-123528, respectively, are used to hold a conveyed product in a non-contact state.
- it has the advantage of eliminating frictional wear and lubrication problems. This is suitable for maintenance-free processing of objects in a vacuum or clean room.
- the present invention has been made in view of the power situation, and the sensor (displacement meter) and the magnet are integrated to make the device compact, for example, even when the object is transported far away, It is intended to provide a magnetic attraction type non-contact transfer device that does not require a large number of sensors.
- a magnetic attraction type non-contact transfer device that meets the above-described object is provided with a coil wound around the tip.
- a magnetic body that forms a magnetic pole in the section, a displacement meter that measures the displacement of an object that is incorporated in the magnetic body and is attracted by the magnetic pole, and an output from the displacement meter is used as an input to control the current flowing through the coil.
- one or more magnetic attraction elements having a control device for controlling the position of the object.
- a current is passed through the coil to magnetize the magnetic material, and an object (a part or all of the upper part is made of a magnetic material) is attracted.
- the position of the attracted object is measured with a displacement meter, the current flowing through the coil is controlled, and the position of the object is controlled by balancing the attracting force by the magnetic pole (magnet) and the weight of the object.
- the attractive force by the magnetic pole is inversely proportional to the square of the distance from the magnetic pole, and since gravity does not change with the displacement of the object, the distance to the object can be easily controlled.
- the magnetic attraction type non-contact conveyance device can be made compact as a whole because the displacement meter is incorporated in the magnetic body. Further, by combining a plurality of such magnetic attraction elements, even an object having a complicated shape can be conveyed, controlled in position, and sometimes controlled in rotation.
- the displacement meter is formed inside the magnetic body (for example, a central portion) and is integrally incorporated in a hollow portion having at least a lower portion opened.
- the displacement of the object directly under the magnetic pole is directly detected.
- a displacement meter exists immediately above the object, and the displacement of the object can be measured more accurately.
- any displacement meter that uses electromagnetic waves, ultrasonic waves, light, magnetism, or capacitance can be used.
- the object is not affected by the current flowing through the coil wound around the magnetic material. It can be controlled not to fall.
- the displacement meter is preferably arranged with a gap from the magnetic body. Further, the displacement meter may be disposed in the cavity by surrounding the displacement meter, having a gap with the displacement meter, or being housed in a high-permeability case in close contact with the displacement meter. As a result, the displacement meter is less affected by the magnetic field caused by the current flowing through the coil, and the displacement can be measured more accurately.
- a permanent magnet may be incorporated inside or outside the magnetic body.
- the permanent magnet should be smaller than the magnetic force that can attract and hold the object. As a result, the magnetic force generated by energizing the coil and the magnetic force of the permanent magnet are added together and applied to the object.
- an auxiliary coil that applies a rotational torque to the object may be provided inside or outside the magnetic body.
- rotational torque can be applied to the object, and rotation control of the position and speed of the object can be performed.
- the object is a sphere made of a magnetic material, a cylinder or a cylinder, or an object other than an axis object (for example, a prism, a pyramid, a pyramid).
- the object when the object is a sphere made of a magnetic material or other axis target object, the object can be rotated while being suspended magnetically. Further, when the object is a sphere, a pattern can be written on the surface thereof to make an ornament such as a globe.
- the magnetic adsorption element may be provided at a tip portion of an arm of a robot hand.
- the object can be moved to an arbitrary place by using the arm of the robot hand, and the angle and posture of the object can be freely controlled by using a plurality of robot hands.
- a plurality of the magnetic adsorption elements are provided on a common gantry, and a magnet provided above the object is provided between the magnetic adsorption elements. It is also possible to provide an anti-adsorption magnet that has the same magnetic pole and the force is directed downward. As a result, when the object is subjected to a load or impact of a low force, the adsorption prevention magnet repels the magnetic pole provided on the object, and the object is attracted to the magnetic adsorption element and collides with it. Can be prevented.
- FIG. 1 is an explanatory view showing the structure of a magnetic attraction element used for a magnetic attraction type non-contact transfer device according to a first embodiment of the present invention.
- FIG. 2 is an explanatory diagram of an electric circuit of the magnetic attraction type non-contact transfer device.
- FIG. 3 is a graph showing the relationship between current and magnetic attractive force.
- FIG. 4 is a graph showing the relationship between the gap between the object and the magnetic pole and the attractive force of the magnetic pole.
- FIG. 5 is a graph showing the relationship between time and gap when the displacement target value is changed.
- FIGS. 6A and 6B are partial cross-sectional views of a magnetic attraction element of a magnetic attraction type non-contact transfer device according to a second embodiment of the present invention.
- FIG. 7 (A) is an explanatory view of a magnetic attraction type non-contact transfer device according to a third embodiment of the present invention
- FIG. 7 (B) is a cross-sectional view taken along the line AA in FIG. 7 (A). .
- the magnetic attraction type non-contact transfer device includes a magnetic adsorption element 10.
- the magnetic attraction element 10 includes an iron core 12 which is an example of a magnetic body having an annular cavity 11 formed therein, a coil 14 provided in the cavity 11 surrounding the magnetic core 13 at the center of the iron core 12, and a magnetic core.
- an eddy current sensor 15 which is an example of a displacement meter embedded in the central portion of the portion 13. These will be described in detail below.
- the eddy current sensor 15 can also be arranged eccentrically with respect to the axis of the magnetic pole core part 13.
- the iron core 12 is formed of an iron material having a high saturation magnetic flux density, and in this embodiment, the iron core 12 is formed in a circular cross section around the magnetic pole core portion 13 at the center. Since direct current is passed through the coil 14, eddy current hardly flows in the iron core 12, and the laminated iron core is not necessarily required.
- the core 12 may be formed by stacking force E-shaped core pieces having a circular cross section.
- the coil 14 is preferably made of a thick conductor and low impedance in order to enhance the responsiveness to the variability of the displacement of the object 16.
- the time constant is preferably 1Z2000 to 1Z100 seconds.
- the coil 14 and the iron core 12 form an electromagnet 17.
- magnetic poles center magnetic pole and annular magnetic pole
- the eddy current sensor 15 has a rod-shaped portion 19 at the center, a cylindrical portion 20 around the center, and an upper portion of the rod-shaped portion 19 and the cylindrical portion 20 at the top.
- the sensor core 22 does not easily cause loss or heat generation with respect to the high frequency (for example, 10 to 200 kHz) flowing through the force coil 23 using a sintered core such as a ferrite core having good high frequency characteristics. As long as it is a material, other magnetic materials can be used.
- the sensor core 22 is embedded in a cylindrical hollow portion 25 having an open lower portion on the front side of the magnetic core portion 13, but is disposed with a gap from the surrounding magnetic core portion 13.
- the gap is filled with grease 26.
- the positions of the lower end of the central rod-shaped part 19 and the lower end of the surrounding cylindrical part 20 coincide with the lower end of the magnetic pole core part 13, and the sensor core 22 is exposed at the lower end of the magnetic pole core part 13, that is, the magnetic pole force. ing.
- the lower end of the sensor core 22 is physically exposed to the magnetic pole force, but the sensor core 22 also has a lower end force of the magnetic pole of the magnetic pole core portion 13 even when grease is applied to the surface. It is magnetically exposed and is within the scope of the present invention.
- the cylindrical cavity 25 is formed only at the lower portion of the magnetic core 13, but penetrates the magnetic core 13 up and down as shown by a broken line e in FIG.
- This also has the advantage that the iron core force is facilitated and the eddy current sensor 15 is affected by the magnetic field.
- a case made of a material having high magnetic permeability can be provided around the eddy current sensor 15, and in this case, the case may be disposed in close contact with the eddy current sensor 15 or with a gap. The magnetic flux force from the surroundings passes through this case, and the influence of the magnetic field on the eddy current sensor 15 is further reduced. This case is arranged in the cylindrical cavity 25.
- FIG. 2 shows the controller connected to the coil 23 of the eddy current sensor 15 provided in the force electromagnet 17 showing the control device 28 of the magnetic attraction element 10 used in the magnetic attraction type non-contact transfer device.
- the AZD converter 29 converts the analog signal from the controller 24 (that is, the displacement signal of the object 16) and sends the signal to the computer (computer) 30. It is.
- the computer 30 performs PD control or PID control from the set displacement (reference height h) of the object 16 and the displacement signal of the object 16 to generate a digital output, which is converted into a D / A converter.
- the signal is converted into an analog signal at 31 and amplified by a power amplifier 32, and the coil 14 of the electromagnet 17 is energized.
- FIG. 3 shows the relationship between the attraction force (N) and the excitation current (A) at the position of 1 mm directly below the tip force of the central magnetic pole (magnetic pole core portion 13) of the electromagnet 17,
- the attractive force is proportional to the excitation current.
- Fig. 4 shows the gap (mm: gap) between the tip of the central magnetic pole of the electromagnet 17 and the object 16 and the attractive force (N) when the same electromagnet 17 is used and the excitation current is 0.06A.
- the attractive force decreases in inverse proportion to the square of (gap length + constant).
- the reference value of the predetermined displacement x (gap) of the computer 30 is changed.
- this reference value is changed, the object 16 rises or falls according to the difference, and is held at the preset predetermined displacement (see FIG. 5).
- the magnetic attraction type non-contact transfer device to which the magnetic attracting element 10 is attached is moved horizontally, for example, the distance between the object 16 and the central magnetic pole of the electromagnet 17 tends to increase for a moment. It is controlled by force and moves horizontally while balancing the gravity of the object 16.
- the distance between the object 16 and the central magnetic pole of the electromagnet 17 necessarily has a minimum value and a maximum value corresponding to the magnetic force of the electromagnet 17 and the weight of the object 16. There is a controllable displacement area to do.
- the displacement of the object 16 is gradually lowered. By doing. When the object 16 on the table is lifted, the reverse operation is performed.
- the magnetic attraction element 35 of the magnetic attraction type non-contact transfer device will be described with reference to FIGS. 6 (A) and (B).
- the same constituent elements as those of the magnetic adsorption element 10 used in the embodiment are denoted by the same reference numerals, and detailed description thereof is omitted.
- the magnetic adsorption element 35 is an annular permanent magnet around the iron core 12. 36 is provided.
- the magnetic pole at the lower end of the permanent magnet 36 is the same as the magnetic pole at the lower end of the outer cylinder 37 of the iron core 12, and the permanent magnet 36 is arranged in the direction that increases the magnetism of the electromagnet 17.
- the exciting current of the electromagnet 17 is set to 0
- the permanent magnet 36 having such a strength that the object 16 cannot be pulled up only by the strength of the permanent magnet 36 is used.
- the magnetic flux from the permanent magnet 36 is added to the magnetic flux of the electromagnet 17 and the excitation current can be reduced.
- the arrangement position of the permanent magnet may be in the iron core 12 or in the middle of the iron core 12 as long as the magnetic flux of the permanent magnet can be superimposed on the magnetic flux of the electromagnet 17.
- an auxiliary coil 38 that generates a rotating magnetic field can be provided outside (or inside) the electromagnet 17.
- the structure of the auxiliary coil 38 is the same as that of the stator of the induction motor.
- a rotational torque is applied to the object accordingly.
- the object is a sphere, for example, it can be rotated.
- a force that uses only the upper part of the rotating body as a magnetic body, or a permanent magnet that is attracted to the central magnetic pole of the electromagnet 17 is placed on the rotating body. And then, ok.
- the magnetic attracting element 35 is provided with a male screw 39 via a support case 12a, so that an attachment frame of a magnetic suction type non-contact transfer device (for example, a robot hand which is an example of a magnetic suction type non-contact transfer device). It has a structure that can be fixed to the tip of the arm).
- a magnetic attraction type non-contact transfer device 40 according to a third embodiment of the present invention will be described with reference to FIG.
- the magnetic attraction type non-contact conveyance device 40 includes a conveyance base 41 and magnetic adsorption elements 42 provided at the four corners below the conveyance frame 41.
- the structure of the magnetic adsorption element 42 is substantially the same as the magnetic adsorption elements 10 and 35 described above. Therefore, each magnetic adsorption element 42 has a control device independently.
- the conveyance object 43 is provided with iron pillars 44 to 47 which are examples of magnetic attachments at positions corresponding to the magnetic adsorption elements 42.
- the surfaces of the steel pillars 44 to 47 are at the same height, and each forms a smooth plane.
- anti-adsorption magnets 50 to 53 having magnetic poles directed downward are provided at the intermediate portion between adjacent magnetic adsorption elements 42.
- permanent magnets 54-57 are provided at positions corresponding to the anti-adsorption magnets 50-53.
- the polarities of the permanent magnets 54 to 57 and the corresponding anti-adsorption magnets 50 to 53 are the same polarity!
- the anti-adsorption magnets 50 to 53 are preferably permanent magnets, but may be electromagnets. It is preferable that the exposed magnetic poles of the anti-adsorption magnets 50 to 53 and the permanent magnets 54 to 57 are all the same magnetic pole (for example, N pole).
- the tips of the adsorption preventing magnets 50 to 53 preferably protrude from the tip of the magnetic adsorption element 42 by a distance L.
- the anti-adsorption magnets 50 to 53 repel the permanent magnets 54 to 57, so that the iron pillars 44 to 47 collide and adhere to the magnetic adsorption element 42. There is no. If the repulsive force between the anti-adsorption magnets 50 to 53 and the permanent magnets 54 to 57 is too large, the iron pillars 44 to 47 (that is, the object to be conveyed 43) are not adsorbed by the magnetic adsorption element 42.
- the anti-adsorption magnets 50-53 as electromagnets, measure the distance to the iron pillars 44-47 with the eddy current sensor 15, and control the current of the anti-adsorption magnets 50-53.
- the anti-adsorption magnets 50 to 53 and the permanent magnets 54 to 57 are omitted, and the magnetic adsorption elements 42 are caused to attract the iron pillars 44 to 47, thereby eddy currents.
- the transport object 43 can be lifted by keeping the displacement of the iron pillars 44 to 47 appropriately by the sensor 15. In this case, the conveyance object 43 also moves along with the movement of the magnetic attraction type non-contact conveyance device 40.
- permanent magnets can also be used for some or all of the iron pillars 44 to 47, thereby reducing the current flowing through the magnetic attracting element 42.
- the transport target 43 has a specially generated carriage force, and, for example, a radioactive substance, a semiconductor or a device thereof, and other chemical substances are arranged therein.
- an eddy current sensor is used as a displacement meter.
- an optical distance meter a distance meter using ultrasonic waves or radio waves, and a distance meter using electrostatic capacity in some cases.
- the present invention also applies.
- the object is preferably a sphere made of a magnetic material or other axial object, but the present invention is not limited to the above shape, and may be a box-like object or a bowl-like object. .
- the magnetic attraction type non-contact transfer device can be used not only to provide a decorative object having a suspended object (for example, the earth or a moon model) but also to be stored in a tank or a chamber. It is possible to control the position and movement of the target object from the outside, and it can be used in the fields of semiconductor manufacturing equipment, chemical and biological experimental equipment, and space development.
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
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Abstract
Description
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Priority Applications (1)
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JP2006547756A JP4802332B2 (ja) | 2004-11-30 | 2005-11-18 | 磁気吸引型非接触搬送装置 |
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JP2004346842 | 2004-11-30 | ||
JP2004-346842 | 2004-11-30 |
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WO2006059505A1 true WO2006059505A1 (ja) | 2006-06-08 |
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PCT/JP2005/021273 WO2006059505A1 (ja) | 2004-11-30 | 2005-11-18 | 磁気吸引型非接触搬送装置 |
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WO (1) | WO2006059505A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN104129650A (zh) * | 2014-07-18 | 2014-11-05 | 华南理工大学 | 一种定位传送投放装置 |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH02262802A (ja) * | 1989-03-31 | 1990-10-25 | Toshiba Corp | 浮上式搬送装置 |
JPH04236172A (ja) * | 1991-01-18 | 1992-08-25 | Masafumi Yano | 静電力または磁力を利用した空間保持装置 |
JPH04260534A (ja) * | 1991-02-18 | 1992-09-16 | Ebara Corp | 超電導式つり上げ装置 |
JPH04286303A (ja) * | 1991-03-15 | 1992-10-12 | Kanetetsuku Kk | 磁気浮上装置 |
JPH06197413A (ja) * | 1992-12-25 | 1994-07-15 | Ebara Corp | 磁気浮上搬送装置 |
JPH0917846A (ja) * | 1995-06-30 | 1997-01-17 | Nikon Corp | 磁気浮上型ステージ |
JP2002140116A (ja) * | 2000-11-01 | 2002-05-17 | Toshin Denki Kk | 塗装システム |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH06179524A (ja) * | 1992-07-18 | 1994-06-28 | Ebara Corp | 磁気浮上真空搬送装置 |
JP2001295842A (ja) * | 2000-04-14 | 2001-10-26 | Mitsubishi Electric Corp | 磁気軸受装置 |
-
2005
- 2005-11-18 WO PCT/JP2005/021273 patent/WO2006059505A1/ja active Application Filing
- 2005-11-18 JP JP2006547756A patent/JP4802332B2/ja active Active
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH02262802A (ja) * | 1989-03-31 | 1990-10-25 | Toshiba Corp | 浮上式搬送装置 |
JPH04236172A (ja) * | 1991-01-18 | 1992-08-25 | Masafumi Yano | 静電力または磁力を利用した空間保持装置 |
JPH04260534A (ja) * | 1991-02-18 | 1992-09-16 | Ebara Corp | 超電導式つり上げ装置 |
JPH04286303A (ja) * | 1991-03-15 | 1992-10-12 | Kanetetsuku Kk | 磁気浮上装置 |
JPH06197413A (ja) * | 1992-12-25 | 1994-07-15 | Ebara Corp | 磁気浮上搬送装置 |
JPH0917846A (ja) * | 1995-06-30 | 1997-01-17 | Nikon Corp | 磁気浮上型ステージ |
JP2002140116A (ja) * | 2000-11-01 | 2002-05-17 | Toshin Denki Kk | 塗装システム |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN104129650A (zh) * | 2014-07-18 | 2014-11-05 | 华南理工大学 | 一种定位传送投放装置 |
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Publication number | Publication date |
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JP4802332B2 (ja) | 2011-10-26 |
JPWO2006059505A1 (ja) | 2008-06-05 |
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