WO2013008669A1

WO2013008669A1 - Apparatus movement system

Info

Publication number: WO2013008669A1
Application number: PCT/JP2012/066927
Authority: WO
Inventors: 文珠縄手; 陽平石上; 藤原　茂喜; 秀明安倍
Original assignee: 三洋電機株式会社
Priority date: 2011-07-14
Filing date: 2012-07-03
Publication date: 2013-01-17
Also published as: JP2013020589A

Abstract

An apparatus movement system (1) comprises a movement unit (2) which is capable of moving along a proscribed movement surface (S). The movement unit (2) further comprises: a movement body (11) whereupon an arbitrary apparatus (10) is mounted; an actuator (3) which is integrally disposed upon the movement body (11); and a binding device (13) which binds the movement body (11) to the movement surface (S). The actuator (3) emits an impulse based on electromagnetic force and moves the movement body (11) in the direction of the impulse. The binding device (13) binds the movement unit (2) to the movement surface (S) with either mechanical or electromagnetic force to be mobile and create friction. When the apparatus (10) is a power supply primary coil which supplies power to a power receiving apparatus, and the power receiving apparatus is mounted in an arbitrary location above the movement surface (S), the movement unit (2) moves in a lower part of the power receiving apparatus, and is capable of moving the power supply primary coil to the location of the power receiving apparatus and of causing the power supply primary coil to supply power to the power receiving apparatus, as well as making the power supply primary coil have flexibility in a power supply site.

Description

Equipment movement system

The present invention relates to a device moving system that moves devices such as a primary coil for non-contact power feeding.

Conventionally, as a device moving apparatus that moves a small electric device or the like to a predetermined position, for example, a power receiving device in which a device including a primary coil for power feeding in a non-contact power feeding system is placed at an arbitrary position on a wide power feeding surface There is a device for moving the coil directly below the secondary coil. Here, when the non-contact power supply system is described, when there is a one-to-one correspondence between the power receiving device and the power supply device with respect to the type, size, number, and the like, for example, a dedicated power supply for an electric toothbrush or a mobile phone is used. A non-contact power feeding system including a power feeding device has been put into practical use. In these systems, a guide for positioning the power receiving device is provided on the power feeding device side so that the primary coil and the secondary coil are reliably positioned with respect to each other, and the position where the power receiving device is placed is clearly indicated. A mark, an LED indicator, and the like are provided. In recent years, a system having a mechanism for automatically guiding a primary coil of a power feeding device to a lower portion of a secondary coil of a power receiving device by simply placing the power receiving device at an arbitrary position within a wide range is known (for example, a patent) Reference 1).

JP 2009-81945 A

However, the system as shown in Patent Document 1 described above moves the primary coil in the XY plane by a biaxial actuator using a motor, and the structure of the actuator is large, and the power supply device is small. And cost reduction is difficult. Furthermore, although there is a large area where the power receiving device can be placed, only one power receiving device can supply power at a time, and installation efficiency is low. This is because the actuator structure is large and spreads over the entire lower space where the power receiving device can be placed, so the actuator that moves the other primary coil is installed within the operating range of the actuator that moves one primary coil. It can't be done.

An object of the present invention is to solve the above-mentioned problems, and to provide a device movement system capable of autonomously moving any device in a given direction along a predetermined moving surface with a simple configuration. And

In order to achieve the above object, an apparatus moving system according to the present invention includes an arbitrary apparatus, a moving body that moves along with the apparatus along a predetermined moving surface, and a power supply that is provided integrally with the moving body. Generates an impact based on electromagnetic force, and uses the impact force as a driving force to move the moving body in the direction of the impact force, and the moving unit composed of the moving body and the actuator is movable relative to the moving surface. And a restraining means for restraining by a mechanical force or an electromagnetic force so that a frictional force is generated.

In this equipment movement system, a plurality of actuators are provided on the moving body, and the moving unit can be rotated or moved straight along the moving surface by a driving force of the plurality of actuators.

In this device moving system, the restraining means can be configured to include a magnetic body, an electromagnet, or a permanent magnet that generates an attractive force by a magnetic force between the moving unit and the moving surface.

In this device moving system, the restraining means can be configured to include a pressing plate that is on the opposite side of the moving surface of the moving unit and sandwiches the moving unit with the moving surface.

In this equipment movement system, a plurality of movement units are provided on the movement surface, and each of them can be moved individually.

The apparatus moving system further includes a position sensor that detects the position of the moving unit on the moving surface, and a control unit that controls the actuator by controlling power supplied to the actuator. The actuator may be controlled to receive data and move the moving unit to a predetermined target position based on the position data.

In this device moving system, the device is a primary coil for non-contact power feeding, and when a power receiving device having a secondary coil fed by the primary coil is arranged in a region where the moving body moves, the power receiving device A device sensor for detecting the position of the device is provided, the control unit receives the position data of the power receiving device from the device sensor, moves the moving unit to the position of the power receiving device, and supplies power to the power receiving device from the primary coil. can do.

In this device moving system, the primary coil is formed by arranging a plurality of coils in an array, and the control unit adjusts the number of primary coils used in accordance with the area of the secondary coil of the power receiving device during power feeding. Can be.

In this device moving system, the primary coil is formed by concentrically arranging a plurality of coils having different diameters, and the control unit uses the primary coil in accordance with the area of the secondary coil of the power receiving device during power feeding. The number can be adjusted.

In this equipment movement system, when a plurality of primary coils are used, the control unit can synchronize the voltage or current applied to these coils.

According to the device movement system of the present invention, the movement unit moves freely by autonomous driving by the actuator, so that the mechanism for movement does not increase with respect to the increase of the movement range, and is small and low cost. A system can be realized. In addition, since the mobile unit moves by autonomous driving instead of separate excitation driving, there is no problem of interference between the driving mechanisms of a plurality of mobile units, and a plurality of mobile units are installed in the same system. Can be moved.

The block diagram of the apparatus movement system which concerns on the 1st Embodiment of this invention. (A) is a perspective view which shows the mode of movement of the movement unit which comprises the apparatus movement system, (b) is a perspective view which shows the mode of movement to the other direction of the movement unit. (A) is a perspective view which shows the mode of the rectilinear movement of the other mobile unit which comprises the apparatus movement system, (b) is a perspective view which shows the mode of rotational movement of the mobile unit. (A) is a perspective view showing a state in which a further moving unit constituting the device moving system is moving straight, (b) is a perspective view showing a state in which the moving unit is moved in the other direction, and (c) is a perspective view. The perspective view which shows the mode of the rotational movement of the movement unit. (A) is a perspective view which shows a mode that the movement unit which comprises the apparatus movement system is restrained by the wall surface, (b) is sectional drawing of the movement unit and a wall surface. The side view which shows the example which restrains the movement unit which comprises the apparatus movement system to a movement surface. (A) is a perspective view which shows the example which restrains the movement unit which comprises the apparatus movement system to a movement surface with a press board, (b) is a side view of the movement unit. The side view which shows the other example which restrains the movement unit which comprises the apparatus movement system to a movement surface. The perspective view which shows the further another example which restrains the movement unit which comprises the apparatus movement system to a movement surface. (A) (b) is sectional drawing explaining the left direction operation | movement of the actuator applied to the movement unit which comprises the apparatus movement system, (c) (d) is sectional drawing explaining the right direction operation | movement of the actuator. (A) is sectional drawing of the other actuator applied to the movement unit, (b) is a schematic diagram explaining the principle of operation of the actuator. (A) (b) is sectional drawing explaining the leftward operation | movement of the further another actuator applied to the movement unit, (c) is a time change graph of the electric current sent through an electromagnetic coil, when operating this actuator to the left. (A) (b) is sectional drawing explaining the rightward operation | movement of the actuator, (c) is a time change graph of the electric current sent through an electromagnetic coil, when operating the actuator rightward. (A) (b) is sectional drawing explaining operation | movement of the further another actuator applied to the movement unit, (c) is a schematic diagram explaining the operation principle of the actuator. (A) is a plan sectional view of still another actuator applied to the moving unit, (b) is a sectional view taken along line AA in (a), and (c) is a sectional view taken along line BB in (b). (A)-(c) is a side view of a partial cross section showing an operation example of the actuator. (A) (b) is a time change graph of the electric current sent through an electromagnetic coil, when operating the actuator. Sectional drawing of the further another actuator applied to the movement unit. (A) and (b) are the elements on larger scale of the actuator. (A)-(d) is a partial cross section side view which shows the mode of operation | movement of the actuator. (A) is a perspective view explaining operation | movement of the movement unit in the apparatus movement system which concerns on 2nd Embodiment, (b) is a perspective view which shows a mode that the movement unit moved to the target position. (A) is a perspective view which shows a mode that the several mobile unit in the apparatus movement system is equipped with the primary coil for electric power feeding, and is arrange | positioned on a movement surface, (b) is for receiving power on the touch panel of the movement system. The perspective view which shows a mode that this secondary coil was mounted, (c) is a perspective view which shows a mode that the movement unit moved under the secondary coil for the same power reception. The perspective view which shows a mode that the movement unit in the apparatus movement system is equipped with the primary coil for electric power feeding of several array form arrangement | positioning. (A) is a perspective view showing a state in which a mobile unit having two primary coils for power feeding supplies power to a secondary coil for power reception in a large area, and (b) shows 2 for power reception in a small area by the mobile unit. The perspective view which shows a mode that electric power is supplied to a next coil. (A) is a perspective view showing a state in which a mobile unit having two concentric primary coils for power feeding supplies power to a secondary coil for power reception in a large area, and (b) is a power reception for small areas in the mobile unit. The perspective view which shows a mode that electric power is supplied to the secondary coil of.

(First embodiment)
Hereinafter, an apparatus movement system according to an embodiment of the present invention will be described with reference to the drawings. 1 to 4 show a device movement system 1 according to a first embodiment of the present invention. As shown in FIG. 1, the device moving system 1 includes a moving unit 2 that can move along a predetermined moving surface S. This moving unit 2 includes a moving body 11 on which an arbitrary device 10 is mounted, an actuator 3 provided integrally with the moving body 11, and a restraining device 13 that restrains the moving body 11 on the moving surface S so as to be movable. Restraining means). In addition, the device movement system 1 includes a control unit 14 that controls the actuator 3. The actuator 3 generates an impact based on an electromagnetic force by supplying electric power, and uses the impact force as a driving force to move the moving body 11 in the direction of the impact force (the direction of the operating axis of the actuator). The actuator 3 uses an impact force as a driving force, and in this sense is also called an impact actuator. The moving unit 2 is restrained by the restraining device 13 on the moving surface S and moves along the moving surface S. The device 10 is moved as the moving unit 2 moves. The moving surface S is not limited to a flat surface, and can be an arbitrary curved surface in a three-dimensional space. Furthermore, a one-dimensional surface, that is, an arbitrary curve in a three-dimensional space can be used as the moving surface S. The restraining device 13 restrains the moving unit 2 with a mechanical force or an electromagnetic force so as to be movable with respect to the moving surface S and generate a frictional force. For example, the restraining device 13 mechanically applies a restraining force F as a pressure for pressing the moving unit 2 toward the moving surface S, or a restraining force F as an attractive force for attracting the moving unit 2 from the back side of the moving surface S. Generated or electromagnetically generated. The control unit 14 controls the driving power supplied to the actuator 3 and controls the movement of the moving unit 2 by the control. When only one actuator 3 is provided, the moving unit 2 moves straight along the moving surface S. If the actuator 3 is bidirectional, the moving unit 2 moves forward and backward, and moves unidirectionally. If it is a thing, it will only go straight in one direction.

The moving unit 2 can include a plurality of actuators 3. For example, as shown in FIGS. 2 (a) and 2 (b), two actuators 3 are provided with their operation axes orthogonal to each other, thereby moving in a two-dimensional plane by synthesizing two degrees of freedom of linear movement. be able to. When only one actuator 3 is driven, the moving unit 2 goes straight on the moving surface S in the direction of impact of the actuator. When only the other actuator 3 is driven, it also goes straight in the impact direction. When the moving surface S is a plane on which orthogonal x and y coordinate axes are set and the moving unit 2 is moved to the target point and positioned, the moving unit S moves to the target point by moving in the x and y directions with respect to the target point. If they are driven simultaneously, they move in an oblique direction. Note that the operation axes of the two actuators 3 are arranged so as to pass through the center of the moving body 11, respectively, so that only a straight advance force is generated without generating a rotational force.

Further, as shown in FIGS. 3A and 3B, when the two actuators 3 are provided on both sides of the center of the moving body 11 with the operation axes being parallel to each other, the linear movement of one degree of freedom and the position thereof are performed. The movement in the two-dimensional plane can be performed by the combination with the rotational motion. When the two actuators 3 are driven by applying an impact force in the same direction, the moving unit 2 moves straight on the moving surface S in the impact direction. When the two actuators 3 are driven in directions opposite to each other, the moving unit 2 rotates on the spot by a couple of forces and changes its direction. When positioning to the target position on the moving surface S, the shortest distance to the target can be moved by changing the direction toward the target point and going straight.

Further, as shown in FIGS. 4A, 4B, and 4C, three actuators 3 can be provided. In this example, two actuators 3 are arranged on both sides of the center of the moving body 11 with their operating axis directions being parallel to each other, and one actuator 3 whose operating axis direction is orthogonal to these is located at the center of the moving body 11. It is arranged. The mobile unit 2 having such an arrangement can perform both the operation of the mobile unit 2 shown in FIG. 2 and the operation of the mobile unit 2 shown in FIG. That is, when the two actuators 3 arranged in parallel are driven in the same direction, the moving unit 2 moves straight on the moving surface S in the impact direction. When the two actuators 3 are driven in opposite directions, the moving unit 2 is rotated in place by the couple and changes its direction. By driving the other one independently, the moving unit 2 is driven to the side. Increasing the number of actuators 3 increases the degree of freedom of movement, and the moving unit 2 can move and position on the moving surface S in a shorter time.

According to the equipment movement system 1, since the movement unit 2 moves by autonomous driving by the actuator 3, not by separately excited driving, the mechanism for movement does not increase with an increase in the movement range. In addition, since there is no problem of mutual drive mechanism interference between the plurality of moving units 2, the plurality of moving units 2 can be introduced to move the plurality of devices 10. In addition, the movement unit 2 and thus the device 10 can be freely moved and positioned on a wide range of surfaces without using an external drive transmission mechanism. The following usage forms of this system are conceivable. The device 10 has a primary coil for supplying power to another device, the other device has a secondary coil as a power receiving device, and the power receiving device is located on a surface facing the moving surface S of the device 10. . In such a configuration, the control unit 14 controls the moving unit 2 to move the device 10 to the lower surface side of the power receiving device, so that the power receiving device can be supplied with power. The device 10 can be freely moved to the position of the power receiving device, and the power feeding location can be made flexible.

5 and 6 show specific examples of the restraining device 13. These restraining devices 13 include a magnetic body, an electromagnet, or a permanent magnet that generates an attractive force due to a magnetic force between the moving unit 2 and the moving surface S. That is, as shown in FIGS. 5 (a) and 5 (b), the restraining device 13 is constituted by a magnet 13a provided inside the moving body 11, and a magnetic body 13b having a surface as a moving surface S, for example, an iron plate. Yes. The moving unit 2 is restrained by the moving surface S by the attractive force between the magnet 13a and the magnetic body 13b. The moving surface S is not the surface of the magnetic body 13b itself, but the surface of the non-magnetic material interposed on the surface of the magnetic body 13b can be the moving surface S. Further, an appropriate frictional force needs to be present on the contact surface between the moving body 11 and the moving surface S. The moving surface S can be a slope, a wall surface, a ceiling surface, or the like in addition to a horizontal plane, regardless of the presence or absence of the action of gravity, and the moving unit 2 can move while being restrained by such a moving surface S. it can. The magnet 13a may be a permanent magnet or an electromagnet, and the arrangement of the magnetic poles only needs to be an arrangement that can generate an attractive force as an effective binding force. Further, as shown in FIG. 6, the restraining device 13 may be configured by a magnetic body 13 d provided inside the moving body 11 and a magnet 13 e arranged below the moving surface S.

FIGS. 7A and 7B show another example of the restraining device 13. The restraining device 13 includes a pressing plate 13 c that is on the opposite side of the moving unit 2 from the moving surface S and sandwiches the moving unit 2 with the moving surface S. An urging buffer member made of an elastic body such as a spring or rubber for flexibly pressing the pressing plate 13c against the moving unit 2 to generate the restraining force F may be additionally provided. The moving surface S and the pressing plate 13c can be arranged not only horizontally but also with a vertical wall surface or other arbitrary inclination with the moving unit 2 sandwiched therebetween. The moving unit 2 on which the actuator 3 is mounted is sandwiched between two plates and held by frictional force with the plates. In this case, the surface of one of the two plates or the surface of both plates can be regarded as the moving surface S. When the surface of one of the two plates is the moving surface S, the friction force between the moving surface S and the other plate is eliminated by, for example, providing a wheel structure. Is easy to set. When the actuator 3 is driven, the moving unit 2 can move on the moving surface S at an arbitrary angle by the impact force, and can move toward the target position.

FIG. 8 shows still another example of the restraining device 13. The restraining device 13 covers a deformable sheet 13f from the upper part of the moving unit 2, and mechanically presses and restrains the moving unit 2 on the moving surface S by the pressure from the sheet 13f. The moving unit 2 moves while pushing away the sheet 13f through the gap between the sheet 13f and the moving surface S. The restraining force F can be used as the restraining force F by applying, for example, water pressure or air pressure from behind the seat 13f. Alternatively, the sheet 13f may be formed of a rubber magnet, the moving surface S may be formed of an iron plate, and the attractive force due to the magnetic force may be used as the binding force F. Furthermore, static electricity may be generated between the sheet 13f and the moving surface S, and the binding force F may be an adsorption force due to the static electricity. FIG. 9 shows still another example of the restraining device 13. The restraining device 13 includes a support portion 13g provided in a space facing the moving surface S, and a bendable restraining arm 13h extending from the support portion 13g to the moving unit 2. The restraining arm 13h is deformed following the movement of the moving unit 2 and moves the point of action while restraining the moving unit 2 against the moving surface S by applying the restraining force F to the moving unit 2.

(Eddy current impact actuator)
Hereinafter, the configuration and operation principle of the actuator 3 will be described in detail with reference to FIGS. FIG. 10 shows an eddy current type actuator 3. As shown in FIG. 10A, the actuator 3 includes left and right electromagnetic coils 31 that are spaced apart from each other and are coaxially opposed and integrated, an elastic body 30 that is disposed between the electromagnetic coils 31, and each electromagnetic And two conductors 32 disposed between the coil 31 and the elastic body 30. Each conductor 32 is configured to be movable along the axial direction of the electromagnetic coil 31 at least within a range where the elastic body 30 expands and contracts. The electromagnetic coils 31 are integrated by a shaft bar 31a disposed on the central axis thereof and are respectively stored in a coil frame 31b. The conductor 32 is a donut-shaped metal disk made of a good conductor such as aluminum, for example, and the movement direction is restricted by the shaft bar 31a. The elastic body 30 extends so that the conductor 32 is brought close to the electromagnetic coil 31 when the actuator 3 is not driven. The degree of proximity between the conductor 32 and the electromagnetic coil 31 may be a distance that can generate an eddy current necessary for the conductor 32. The elastic body 30 can be configured using, for example, a coil spring, a leaf spring, rubber, or the like. The actuator 3 includes a pair including one electromagnetic coil 31 and one conductor 32 so as to be symmetrically arranged on both sides of the elastic body 30 along the shaft rod 31a.

The operation of the actuator 3 having the above configuration will be described. The actuator 3 moves the moving body 11 in the direction of the shaft 31a by giving an impact to the moving body 11. The force generated by the impact is referred to as impact force or impact. The electromagnetic coil 31 is a source of impact when supplied with electric power. The moving body 11 is moved to the left by the operation of the left group, and is moved to the right by the operation of the right group. First, the operation of the left group will be described. The left conductor 32 is repelled to the right as shown in FIG. 10A by the repulsive force generated due to the eddy current generated in the conductor 32 when the left electromagnetic coil 31 is energized. Is done. Then, the elastic body 30 is compressed by the moving conductor 32 and then pushes the conductor 32 back to the left by the extension force. At this time, the energization of the electromagnetic coil 31 is turned off. Therefore, as shown in FIG. 10B, the conductor 32 collides with the left electromagnetic coil 31, and an impact toward the left is generated by the collision. The moving body 11 is pushed to the left by this impact and moves to the left. The control unit 14 (see FIG. 1) performs power control on the electromagnetic coil 31 so as to flow current at a stretch so that a necessary eddy current and a repulsive force resulting from the eddy current can be obtained, and the conductor 32 and the electromagnetic coil 31. Turn off the power so that the collision with is not disturbed. Further, the control unit 14 repeats such energization, thereby repeatedly giving an impact to the moving body 11 and moving the moving body 11 to the left in a pulse manner. FIGS. 10C and 10D show a case where the moving body 11 is moved to the right by the operation of the right group. It can be considered that the operation is obtained by inverting the operation in the case of FIGS. In order to move the moving body 11 in one direction due to an impact, a mechanism for preventing backward movement is necessary. As the mechanism, a frictional force between the lower surface of the moving body 11 and the moving surface S is used, and the frictional force is It is generated based on the restraining force F by the restraining device 13 (see FIG. 1). This frictional force is the same in other actuators 3 to be described later.

As described above, the actuator 3 can move the moving body 11 in either the left direction or the right direction, and the moving unit 2 can be realized in a small size, light weight, and low cost. The elastic body 30 serves as a damper that softens the impact by being compressed over time. In this actuator 3, a one-side drive actuator can be configured as a configuration excluding one (right side) electromagnetic coil 31 and conductor 32. Since the single-side drive actuator 3 can be made smaller than the double-side drive (reciprocating drive) actuator 3, it has the flexibility to disperse a plurality in a narrow space.

(Permanent magnet type impact actuator)
FIG. 11 shows another actuator. As shown in FIG. 11 (a), the actuator 3 is obtained by replacing the two conductors 32 with two permanent magnets 33 arranged corresponding to each other in the actuator 3 shown in FIG. is there. The permanent magnet 33 is repelled and moved by a repulsive force due to the interaction between the coil current flowing by energization of the electromagnetic coil 31 and the magnetic field of the permanent magnet 33. The permanent magnet 33 has a donut disk shape like the conductor 32 and is magnetized in the radial direction from the center side toward the outer periphery side. In the case of this example, the center side is the S pole and the outer peripheral side is the N pole. As shown in FIG. 11B, the permanent magnet 33 receives a repulsive force or an attractive force (not shown) depending on the direction of the current flowing through the electromagnetic coil 31. In addition, in FIG.11 (b), the magnetic force line is shown by the arrow curve.

The operation of the actuator 3 having the above configuration will be described with respect to, for example, a set of the left electromagnetic coil 31 and the permanent magnet 33. When the actuator 3 passes a current through the electromagnetic coil 31 so as to apply a repulsive force to the permanent magnet 33 and then turns off the current, the permanent magnet 33 is received by the elastic body 30 on the right side and then rebounded by the elastic body 30. And collide with the original electromagnetic coil 31. That is, the actuator 3 uses a repulsive force due to the interaction between the coil current flowing by energization of the electromagnetic coil 31 and the magnetic field of the permanent magnet 33 instead of the repulsive force generated due to the eddy current. As a compromise configuration between the one shown in FIG. 10 and the one shown in FIG. 11, one conductor 32 and one permanent magnet 33 may be provided. In the case of this configuration, the left and right operations and configurations are not necessarily symmetrical with each other. On the other hand, by utilizing the fact that it is not symmetrical, it is possible to optimize the cost and the operating characteristics by changing the characteristics of the reciprocating operation.

In this actuator 3, the elastic body 30 can be removed by substituting the repulsive force of the elastic body 30 by the mutual magnetic repulsive force of the left and right permanent magnets 33 (not shown). In this case, when the two permanent magnets 33 approach each other, the impact of the collision is reduced by the damping effect of the mutual magnetic repulsion force. When the two permanent magnets 33 are separated from each other, the moving speed continues to be accelerated until the permanent magnets 33 that are moving relative to each other exert a magnetic force and collide with the electromagnetic coil 31. In consideration of this, the interval between the left and right sets is appropriately set. As described above, the actuator that uses the repulsive force between the permanent magnet 33 and the electromagnetic coil 31 can generate a larger impact than the case of eddy current and can perform a large movement at one time. In addition, there is no heat generation due to Joule heat in the case of eddy current, and stable and energy efficient operation is possible.

(Single-coil impact actuator)
12 and 13 show still another actuator. As shown in FIG. 12A, the actuator 3 includes an electromagnetic coil 31, a permanent magnet 33, a stopper 34, and a control unit 14 (FIG. 1) that controls the current supplied to the electromagnetic coil 31 over time. ing. The permanent magnet 33 moves relative to the electromagnetic coil 31 by an electromagnetic action generated by energizing the electromagnetic coil 31. The stopper 34 is integrated with the electromagnetic coil 31 so as to limit the range of relative movement of the permanent magnet 33 to form a collision target. In the actuator 3, an impact is generated when the permanent magnet 33 collides with a collision target (that is, one of the electromagnetic coil 31 and the stopper 34) by energizing the electromagnetic coil 31. The collision target is used as a term indicating an opponent (an opponent of relative movement) with which the permanent magnet 33 collides. The electromagnetic coil 31 is housed in a coil frame, and is integrated with the stopper 34 by a shaft bar 31a disposed on the central axis thereof. The permanent magnet 33 has a donut disk shape, and is magnetized in the radial direction from the center side toward the outer peripheral side. In the case of this example, the center side is the S pole and the outer peripheral side is the N pole. The permanent magnet 33 receives a repulsive force or an attractive force depending on the direction of the current flowing through the electromagnetic coil 31.

The operation of the actuator 3 configured as described above will be described with reference to FIGS. 12A, 12B, and 12C in the case where the moving body 11 is moved to the left. The controller 14 reciprocates the permanent magnet 33 by the attractive force (J <0, time t3) and repulsive force (J> 0, time t5) by the electromagnetic coil 31 by time-controlling the coil current J energized to the electromagnetic coil 31. The permanent magnet 33 is made to collide with the electromagnetic coil 31 by attractive force. That is, as shown in FIG. 12A, the permanent magnet 33 moves to the left from the position between the electromagnetic coil 31 and the stopper 34 by the attractive force at time t3 in FIG. ) Collides with the electromagnetic coil 31 as shown in FIG. Thereafter, the permanent magnet 33 returns to the position shown in FIG. 12A due to the repulsive force at time t5 in FIG. Such operation of the permanent magnet 33 (operation at times t3 and t5) is repeated, and the moving body 11 moves to the left in a pulse manner. FIG. 12C shows an example in which the operation is started by the repulsive force at time t2 from the initial state where the permanent magnet 33 is on the electromagnetic coil 31 side as shown in FIG. 12B. Times t1 and t4 are drive adjustment times.

The case where the moving body 11 is moved to the right will be described with reference to FIGS. 13 (a), 13 (b) and 13 (c). FIG. 13A is the same diagram as FIG. The controller 14 reciprocates the permanent magnet 33 by repulsive force (J> 0, time t4) and attractive force (J <0, time t5) by the electromagnetic coil 31 by time-controlling the coil current J energized to the electromagnetic coil 31. The permanent magnet 33 is made to collide with the stopper 34 by repulsive force. That is, the permanent magnet 33 moves to the right by the repulsive force at time t4 in FIG. 13C from the position between the electromagnetic coil 31 and the stopper 34 as shown in FIG. As shown in FIG. Thereafter, the permanent magnet 33 returns to the position shown in FIG. 13A by the attractive force at time t5 in FIG. The operation of the permanent magnet 33 (operation at times t4 and t5) is repeated, and the moving body 11 moves to the right in a pulse manner. Here, the operation of the permanent magnet 33 at the times t1 and t2 in FIG. At time t1, it is assumed that the permanent magnet 33 is in the initial state. In the initial state, the coil current J is zero, the permanent magnet 33 is not in the intermediate position between the electromagnetic coil 31 and the stopper 34 (the state shown in FIG. 13A), and the permanent magnet 33 is not in the above-described FIG. As shown in FIG. 2, the electromagnetic coil 31 is on the side. The permanent magnet 33 is at the left end of the moving range in its initial state. In the first collision in which the permanent magnet 33 moves to the right from the initial state at the left end and collides with the stopper 34, as shown at time t2, the coil current J gradually increases and then the coil current J that becomes a constant value flows. . The reason why the coil current J is gradually increased at the beginning of the time t2 is to suppress the leftward movement of the moving body 11 due to the reaction caused by the sudden separation.

As described above, the moving body 11 is moved to the left when the permanent magnet 33 collides with the left electromagnetic coil 31, and is moved to the right when the permanent magnet 33 collides with the right stopper 34. The Therefore, when moving the moving body 11 to the left, it is necessary to apply a magnetic force from the electromagnetic coil 31 to the permanent magnet 33 so that the permanent magnet 33 does not collide with the stopper 34. Conversely, when moving the mobile body 11 to the right, it is necessary to apply a magnetic force from the electromagnetic coil 31 to the permanent magnet 33 so that the permanent magnet 33 does not collide with the electromagnetic coil 31. The control unit 14 that controls the coil current J causes a collision in one direction of relative movement of the electromagnetic coil 31 and the permanent magnet 33, avoids the collision in a direction opposite to the one direction, and reverses the direction of the relative movement. . The control unit 14 performs time control on the coil current J applied to the electromagnetic coil 31 so as to repeatedly generate only an impact in one direction. Since the moving body 11 including the control unit 14 and the actuator 3 can generate an impact due to a collision in any direction of relative movement of the electromagnetic coil 31 and the permanent magnet 33, the moving body 11 can reciprocate. Movement can be realized. Further, since the actuator 3 is formed by combining the permanent magnet 33 and the stopper 34 with one electromagnetic coil 31, the structure is small and simple.

(Coil moving impact actuator)
FIG. 14 shows still another actuator. As shown in FIG. 14A, the actuator 3 replaces the electromagnetic coil 31 and the permanent magnet 33 with each other and replaces the stopper 34 with a separate permanent magnet 33 in the actuator 3 shown in FIG. It is a thing. That is, the actuator 3 includes two disk-shaped permanent magnets 33 that are coaxially arranged apart from each other and fixed to both ends of the shaft rod 31a, and the electromagnetic coil 31 that is movable along the shaft rod 31a. I have. The electromagnetic coil 31 is housed in a coil frame, and is inserted through a shaft 31a on the central axis. The two permanent magnets 33 are integrated with the stopper 34 by a shaft bar 31a to form a collision target (in this case, a counterpart to which the electromagnetic coil 31 collides). The electromagnetic coil 31 moves relative to the two permanent magnets 33 by an electromagnetic action generated by energizing the electromagnetic coil 31. The range of the relative movement is limited by the collision object (by the permanent magnets 33 at both ends). The two permanent magnets 33 have a donut disk shape and are magnetized in the radial direction from the center side toward the outer peripheral side. In the case of this example, the center side is the S pole and the outer peripheral side is the N pole.

The operation of the actuator 3 having the above configuration will be described with reference to FIGS. 14B and 14C in which the moving body 11 is moved to the left. When the electromagnetic coil 31 sandwiched between the permanent magnets 33 as described above is energized, it receives a repulsive force from one permanent magnet 33 and an attractive force from the other permanent magnet 33 as shown in FIG. Receive. Therefore, the moving direction of the electromagnetic coil 31 can be selected as either the left side or the right side depending on the direction of the current flowing through the electromagnetic coil 31. Therefore, the control unit 14 controls the coil current of the electromagnetic coil 31 in time, thereby causing the electromagnetic coil 31 to collide with the left permanent magnet 33 and moving the moving body 11 to the left as shown in FIG. Can be moved to. Similarly, the moving body 11 can be moved rightward by causing the electromagnetic coil 31 to collide with the right permanent magnet 33. The control unit 14 causes a collision in one direction of relative movement of the electromagnetic coil 31 and the permanent magnet 33, avoids the collision in a direction opposite to the one direction, and reverses the direction of relative movement. The control unit 14 time-controls the current supplied to the electromagnetic coil 31 so as to repeatedly generate only an impact in one direction. By repeating such control, the control unit 14 moves the moving body 11 in a pulse manner to the left, similarly to the right.

(Voice coil type impact actuator)
15, 16 and 17 show still another actuator. As shown in FIGS. 15A, 15B, and 15C, the actuator 3 includes a rectangular plate-shaped permanent magnet 33 and two permanent magnets 33 that are respectively disposed on the opposing inner surfaces of the rectangular magnetic circuit 35. And an electromagnetic coil 31 movably disposed between them. The electromagnetic coil 31 and the two permanent magnets 33 are combined with each other to form a voice coil structure. In the electromagnetic coil 31, a magnetic circuit provided inside the magnetic circuit 35 is inserted (the insertion direction is the X-axis direction), and this magnetic circuit portion is a counter magnetic pole of each permanent magnet 33. The upper part of the electromagnetic coil 31 is rotatably supported by a rotary bearing 31c. Further, a hammer 34 a is provided as a part of the electromagnetic coil 31 below the electromagnetic coil 31. At both ends in the X-axis direction on the outer periphery of the magnetic circuit 35, stoppers 34 are provided at positions where the hammer 34a can collide. The permanent magnet 33 and the stopper 34 are integrated to form a collision target.

The magnetic field by the permanent magnet 33 is set in the horizontal direction orthogonal to the X-axis direction. Therefore, when the electromagnetic coil 31 disposed in the magnetic field is energized, the electromagnetic coil 31 moves in the positive direction of the X axis (right arrow direction) or the opposite negative direction according to the direction of the coil current. Receive the power to make. Therefore, as shown in FIG. 16A, when the electromagnetic coil 31 receives a leftward force, the electromagnetic coil 31 performs a pendulum motion on the left side, the hammer 34a collides with the left stopper 34, and the moving body 11 moves. Move to the left. In order to repeatedly perform the operation of the actuator 3 between the states shown in FIGS. 16A and 16B, the control unit 14 changes the current supplied to the electromagnetic coil 31 with the time change shown in FIG. To control time. For example, the coil current J has a function form in which a sine function is shifted in the positive direction of the coil current J. As shown in FIG. 16A, the electromagnetic coil 31 swings to the left and collides with the left side on the positive side of the coil current J, and shown on FIG. 16B on the negative side of the coil current J. Thus, after returning to the neutral point, the movement to the left and the collision are repeated according to the time change of the coil current J. Further, when the operation of the actuator 3 is repeatedly performed between the states shown in FIGS. 16B and 16C and the moving body 11 is moved to the right, the coil current J is as shown in FIG. , The sine function is a time change in which the coil current J is shifted in the negative direction.

The actuator 3 described with reference to FIGS. 12 to 17 can be expressed more generally as follows. That is, the actuator 3 is a device that moves the object by giving an impact to the object. The actuator 3 includes an electromagnetic coil 31, a permanent magnet 33 that moves relative to the electromagnetic coil 31 by an electromagnetic action generated by energization of the electromagnetic coil 31, and a stopper 34. The stopper 34 is integrated with either the electromagnetic coil 31 or the permanent magnet 33 so as to limit the relative movement / BR> range and constitutes a collision target. In such an actuator 3, when the electromagnetic coil 31 is energized, the impact is generated when the collision object collides with either the electromagnetic coil 31 or the permanent magnet 33 that is not integrated with the collision object. It is. FIG. 12 shows an example in which the permanent magnet 33 and the stopper 34 form a collision target. FIG. 14 shows an example in which a second permanent magnet 33 is provided as the stopper 34 and a collision object is formed by the two permanent magnets 33. Moreover, the case where a collision object is formed by the permanent magnet 33 and the two stoppers 34 is an example of FIGS. Thus, since the impact due to the collision can be generated in any direction of the relative movement of the electromagnetic coil 31 and the permanent magnet 33, the reciprocating movement of the moving body 11 can be easily realized. Further, since the actuator 3 is formed by combining the single magnet coil 31 with the permanent magnet 33 and the stopper 34, the structure is small and simple.

(Neutral point return type impact actuator)
18, 19, and 20 show still another actuator 3. As shown in FIG. 18, the actuator 3 is integrated with an electromagnetic coil 31, a stator 35 a disposed at both ends thereof, and a shaft bar 31 a that reciprocally moves on the central axes of the electromagnetic coil 31 and the stator 35 a. A moving mass body 3a (movable element 3a). The moving mass body 3a performs relative movement with respect to the electromagnetic coil 31 and the stator 35a. The moving mass 3a is disposed at both ends of the shaft 31a, the two permanent magnets 33 disposed on the inner diameter side of the stator 35a, the iron core 35b inserted between the permanent magnets 33, and both the permanent magnets 33. A yoke 35c, two collision head pieces 37, and an impact enhancement weight 36. The collision head piece 37 is arranged in direct contact with one yoke 35c, and the other collision head piece 37 is arranged with the collision head piece 37 interposed in the other yoke 35c. The actuator 3 further includes an outer cylinder (shield case 38) containing the electromagnetic coil 31, the stator 35a, and the moving mass 3a, and a bearing plate 39 that is disposed at both ends of the shield case 38 and supports the shaft rod 31a. I have. The electromagnetic coil 31 and the stator 35 a are fixed to the inner wall of the shield case 38. FIG. 18 shows a state where the electromagnetic coil 31 is not energized. In this state, the moving mass body 3a is located at a neutral point by the attractive force caused by the magnetic field generated by the permanent magnet 33, the iron core 35b, the yoke 35c, and the stator 35a.

The shaft 31a is concentric with the electromagnetic coil 31 and the stator 35a. Each component of the moving mass 3a excluding the shaft rod 31a is disposed so as to be concentric with the shaft rod 31a, and is integrated with the shaft rod 31a. The length of the iron core 35 b is equal to the length of the electromagnetic coil 31. In other words, the iron core 35b has a length that fits between the stators 35a. In addition, the iron core 35b has a shape in which both end portions of the cylinder are provided with flange portions, and the diameter of the central portion is formed smaller than the diameter of both end portions. As a result, a magnetic circuit having a low magnetic resistance is formed between both end portions of the iron core 35b and the stators 35a adjacent thereto. The permanent magnet 33 has a ring shape and is magnetized in the thickness direction (center axis direction). The two permanent magnets 33 are arranged at both ends of the iron core 35b with the directions of the magnetic poles opposite to each other. The thickness of the permanent magnet 33 is thinner than the thickness of the stator 35a, and the total thickness of the permanent magnet 33 and the yoke 35c is thicker than the thickness of the stator 35a.

In the neutral state shown in FIG. 18, the distances D between the two collision head pieces 37 and the respective bearing plates 39 facing them are set equal to each other. The bearing plate 39 is a collision object that is collided by the collision head piece 37, and restricts the movement range of relative movement of the moving mass body 3a integrated with the shaft 31a with respect to the electromagnetic coil 31 and the stator 35a. That is, the movable range of the moving mass 3a is twice the distance D (see FIG. 19). This distance D is within a distance at which the moving mass body 3a can return to the neutral point by the mutual attractive force between the permanent magnet 33 and the stator 35a from the position where the moving mass body 3a collides with any of the collision head pieces 37. Is set to

The operation principle of the actuator 3 will be described with reference to FIG. When a current is passed through the electromagnetic coil 31 in a certain direction, a magnetic field is generated, for example, as schematically shown by the lines of magnetic force B in FIG. The magnetic field of the electromagnetic coil 31 weakens the magnetic field generated by one of the two permanent magnets 33 and increases the magnetic field generated by the other. Therefore, the magnetic field generated by the electromagnetic coil 31 causes asymmetry in the magnetic force acting on the permanent magnet 33, the iron core 35b, and the yoke 35c, and the moving mass body 3a moves as indicated by the white arrow. When a current is passed through the electromagnetic coil 31 in the direction opposite to the predetermined direction, the moving mass body 3a moves in the direction opposite to the above as shown in FIG. 19A and 19B, when the coil current is turned off and the magnetic field by the electromagnetic coil 31 is removed, the moving mass body 3a is caused by the mutual attractive force between the permanent magnet 33 and the stator 35a. As shown in FIG. 18, the neutral point is restored.

Referring to FIG. 20, a series of movements in the left direction by the actuator 3 will be described. As shown in FIG. 20A, the actuator 3 is placed on the surface S via the moving body 11. The actuator 3 and the moving body 11 are integrated with each other. In this state, the electromagnetic coil 31 is not excited, the moving mass body 3a is at the neutral point, and the left end of the moving body 11 is at the position x0. When a current is passed through the electromagnetic coil 31, as shown in FIG. 20B, the moving mass body 3a moves and collides with the bearing plate 39, and the moving body 11 moves together with the actuator 3 due to the impact, and the tip of the moving body 3a moves. The position x1 is reached. The magnitude of the impact depends on the magnitude of the current passed through the electromagnetic coil 31 and the speed of its rise, and a larger magnitude of the impact can be generated by flowing a larger current more rapidly. When the current flowing through the electromagnetic coil 31 is stopped after the collision, the moving mass 3a inside the actuator 3 returns to the neutral point as shown in FIG. Since this return movement is performed slowly by the magnetic force of the permanent magnet 33, there is no reaction that exceeds the static friction force between the moving body 11 and the surface S, and there is no movement of the moving body 11. Also, by setting conditions such as adjusting the magnetic force of the permanent magnet 33 and adjusting the frictional force with the surface S, it is possible to prevent the moving body 11 from moving when returning to the neutral point. Thereafter, by supplying a current again to the electromagnetic coil 31, as shown in FIG. 20D, the tip of the moving body 11 further moves to reach the position x2. The actuator 3 can move the moving body 11 intermittently by repeating such an operation. Any of the actuators 3 described above can be made compact, and by providing such an actuator 3 in the moving body 11, the moving unit 2 can be made smaller than when a motor, a driving force transmission device, or the like is used. -Lightweight and inexpensive.

(Second Embodiment)
21 to 25 show the device movement system 1 according to the second embodiment. The apparatus movement system 1 of this embodiment arrange | positions the movement unit 2 which carries an apparatus (not shown) and moves two-dimensionally on the movement surface S which consists of a plane, as shown to Fig.21 (a) (b), The touch panel 4 disposed in parallel with the moving surface S is provided above the moving unit 2. The moving surface S and the touch panel 4 form a positioning system having a table-like shape as a whole, and a common coordinate axis XY is set for the moving surface S and the touch panel 4. The touch panel 4 is, for example, a resistive film type touch panel whose top surface detects a position where pressure is applied when the pressure is applied to the top surface, and a position based on an XY coordinate value that is the detection result. A transmission unit 41 that transmits information to the outside is provided. For example, when the object 5 is placed on the upper surface of the touch panel 4, the position of the object 5 is detected, and the position information is output by the transmission unit 41. The touch panel 4 can use various types other than the resistive film type.

The mobile unit 2 includes a control unit 14 that controls the actuator 3 by controlling supplied power, a power source 15 (battery), a position sensor 21 that detects a self-position on the moving surface S, and a transmission unit 41 of the touch panel 4. And a receiving unit 22 that receives information to be transmitted. Communication between the transmission unit 41 and the reception unit 22 may be wireless communication or wired communication. The power source 15 is used as a circuit power source for the control unit 14 and a driving power source for the actuator 3. The control unit 14 receives position data from the position sensor 21 and controls the actuator 3 to move the moving unit 2 to a predetermined target position based on the position data. The target position is, for example, the position P on the moving surface S corresponding to the position of the object 5 placed on the upper surface of the touch panel 4, and the position information is transmitted to the control unit 14 via the transmission unit 41 and the reception unit 22. Is transmitted to. When the moving unit 2 reaches the position P, a device (not shown) that is mounted on the moving unit 2 and moves together with the moving unit 2 is positioned below the object 5.

The position sensor 21 acquires the self position as an (X, Y) coordinate value, and includes a rotary encoder, an accelerometer, an inertial sensor, and the like, and is configured to be capable of dead reckoning (relative self position estimation). Further, the self position can include self posture information. For example, the self position information includes the (X, Y, θ) coordinate value including the inclination angle θ of the front direction of the self with respect to the X axis. The position sensor 21 can acquire initial values of the position and orientation as appropriate. For example, the control unit 14 moves the moving unit 2 to a predetermined wall whose angle with respect to the X axis is set and presses the moving unit 2 against the wall, thereby initializing the posture of the moving unit 2 and obtaining the posture information in the position sensor 21. It can be initialized. The position sensor 21 can acquire initial values of both the position and posture of the moving unit 2 by using two walls, for example, two walls whose arrangement positions are known that are provided in parallel to the XY axes. . The position sensor 21 is configured to read a moving surface S or a marker disposed around the moving surface S, or a magnetism of a position detecting magnetism generator (magnet or the like) provided with a magnetic sensor and disposed in the geomagnetism or the device moving system 1. It can be set as the structure which detects. With these configurations, the position sensor 21 can detect or initialize its own position and posture. Further, the position sensor 21 may receive a signal from the outside by the receiving unit 22 and detect its own position and posture. The signal from the outside can be a signal from a plurality of positions, such as a GPS signal, that can detect its own position based on the signals. Further, the position sensor 21 does not need to be incorporated in the moving unit 2, and the device moving system 1 includes a configuration for detecting the position and orientation from the outside of the moving unit 2 and transmitting the position information, and moves the position information. The unit 2 may be received by the receiving unit 22. The position sensor 21 can be configured by combining these various configurations.

Next, a specific example and operation of the device movement system 1 will be described with reference to FIG. As shown in FIG. 22A, the device moving system 1 includes three moving units 2 (generally an arbitrary number) on the moving surface S, and individually moves toward the target position. The device 10 is a primary coil 10a for non-contact power feeding, the above-described object 5 is a power receiving device 5, and the power receiving device 5 has a secondary coil 5a that is fed by the primary coil 10a. The device 10 is connected to a power line (not shown) for receiving power used for power supply from the outside, and the power line is configured not to prevent the movement of the mobile unit 2. When such a power line is connected, the mobile unit 2 can use this as a power source, and therefore the power source 15 need not be provided. On the contrary, the power supply 15 can be used as a power supply for power supply. In this case, an external power line is not necessary. As shown in FIG. 22B, when the power receiving device 5 is placed on the upper surface of the touch panel 4, the touch panel 4 detects the position of the power receiving device 5 and transmits position information to the mobile unit 2 via the transmission unit 41. . That is, the touch panel 4 functions as a device sensor that detects the position of the power receiving device 5. Then, as illustrated in FIG. 22C, the control unit 14 of the moving unit 2 receives the position data of the power receiving device 5 from the device sensor 4 and moves the moving unit 2 to the position (target position) of the power receiving device 5. Then, power is supplied from the primary coil 10 a to the secondary coil 5 a of the power receiving device 5.

When there are a plurality of mobile units 2, information on the operation status of each mobile unit 2 is shared by the entire device mobile system 1 in order to suppress the conflict between these mobile units 2 and prevent mutual interference. Set fixed or dynamic priorities to deal with. Therefore, a control unit that controls the entire system may be provided in the device movement system 1, or mutual communication means between the movement units 2 or the touch panel 4 may be provided. The device moving system 1 has such a configuration, so that the plurality of moving units 2 are simultaneously moved to the respective target positions (positions of the power receiving device 5), and are supplied with power to the power receiving device 5.

According to the present embodiment in which the device moving system 1 is used for non-contact power feeding, it is possible to realize a power feeding system in which the power receiving device 5 can receive power at any position in a wide area without fixing the power receiving position. Further, according to the present embodiment, a wide power supplyable area can be provided, and power can be supplied (charged) to a plurality of power receiving devices at the same time. Furthermore, since the moving unit 2 moves not by separately driven driving but by autonomous driving by the actuator 3, the positioning of the primary coil and the secondary coil can be made precise, leakage magnetic flux is reduced, and magnetic coupling is improved. Highly efficient transmission. Such a system can be described in different ways as follows. There is a charging table (surface is touch panel 4) that can be wirelessly charged by electromagnetic induction between coils. On the plane (moving surface S) inside the charging table, there are three (generally plural) power transmission coil units (moving units 2) on which the actuator 3 and the position sensor 21 are mounted. When two power receiving devices 5 containing secondary coils 5a (power receiving coils) for receiving power are placed on the charging table, the position sensor (touch panel 4) of the table detects the place where the power is placed and the target is set to the mobile unit 2. Send the ground. The two mobile units 2 determine and detect the power receiving device 5 that is closer to each other, drive the actuator 3, and proceed in a direction in which the respective power receiving coils are targeted. When the moving unit 2 is positioned at the target position, the actuator 3 is stopped and wireless charging is performed. When there is the other moving unit 2 on the path of one moving unit 2, the moving unit 2 moves avoiding each other. In order to prevent mutual collision of the plurality of mobile units 2, for example, when current position information and movement target position information are transmitted to each other and the movement paths cross each other, one of them stops or follows the path according to a predetermined priority. It can be set as the structure which changes and a course change mutually. Such transmission / reception means, route intersection determination means, route change means, and the like can be provided separately or in the control unit 14.

23 and 24 show modifications of the primary coil 10a when the device movement system 1 is used for non-contact power feeding. The primary coil 10a shown in FIG. 23 is formed by arranging a plurality of coils in an array, and the control unit 14 (not shown) performs primary operation in accordance with the area of the secondary coil 5a of the power receiving device 5 during power feeding. The number of coils 10a used is adjusted. In addition, when using a plurality of primary coils 10a, the control unit 14 synchronizes the voltages or currents applied to these coils and feeds them with the same waveform and the same timing. For example, as shown in FIG. 24A, the primary coil is composed of two primary coils 10a, and the size (area) of the secondary coil 5a is equal to the combined size of the two primary coils 10a. In the case of about, power is supplied using two primary coils 10a. In this case, by synchronizing the voltage or current applied to the two primary coils 10a with each other, electromagnetic coupling is efficiently performed to supply power. Also, as shown in FIG. 24B, when the size of the secondary coil 5a is equal to the size of one primary coil 10a, power is supplied using one primary coil 10a. Such an array-shaped primary coil 10a and its usage can flexibly cope with various power receiving devices 5 having different specifications of the secondary coil 5a. For example, a high-power power receiving device includes a plurality of primary coils. Power can be supplied simultaneously from the coil 10a, and power can be supplied efficiently.

25 (a) and 25 (b) show other modified examples of the primary coil when the device moving system 1 is used for non-contact power feeding. The primary coil is formed by concentrically arranging a plurality of coils having different diameters, and the control unit 14 adjusts the number of primary coils used in accordance with the area of the secondary coil of the power receiving device 5 during power feeding. Can be For example, as shown in FIG. 25A, the primary coil is composed of a primary coil 10a formed in a spiral shape from the center and a primary coil 10a formed in a spiral shape outside the primary coil 10a. The two concentric coils as a whole form a planar spiral coil. When the size of the secondary coil 5a is approximately the same as the size of the outer primary coil 10a, power is supplied using both the inner and outer primary coils 10a. As shown in FIG. 25B, when the size of the secondary coil 5a is equal to the size of the inner primary coil 10a, power is supplied using only the inner primary coil 10a. Such a concentric primary coil 10a and its method of use can flexibly cope with various power receiving devices 5 having different specifications of the secondary coil 5a, and a plurality of primary coils 10a are included in a high power power receiving device. Since the power can be supplied simultaneously, the efficiency can be increased and the power can be supplied efficiently.

It should be noted that the present invention is not limited to the above configuration and can be variously modified. For example, the configurations of the above-described embodiments can be combined with each other. The configuration of the restraining device 13 can be a configuration in which the various configurations described above are combined with each other. The configuration of the moving unit 2 does not distinguish between the actuator 3 and the moving body 11, and the actuator 3 itself may constitute the moving body 11. Further, the relationship between the mobile unit 2 and the device 10 is not limited to the relationship in which the device 10 is mounted on the mobile unit 2 but may be configured to include the actuator 3 in the device 10. The actuator 3 can be the moving body 11. In either case, the device 10 is configured to move along the moving surface S by the actuator 3. Further, when the device moving system 1 is used for non-contact power feeding, the degree of magnetic coupling between the primary coil and the secondary coil is measured, and a signal for moving the moving unit 2 is sent to the mobile unit 2 to optimize the alignment. The device 10 may be provided with a position adjusting means for outputting to the control unit 14. The device moving system 1 is not limited to non-contact power feeding and can be used in various industries. For example, the device 10 is a lighting device and is automatically moved and lit in a predetermined pattern, or the mobile unit 2 is provided with a remote control receiver or transmitter / receiver and a predetermined display at an arbitrary position on the moving surface S. It is possible to configure a display device that dynamically performs the above. The moving unit 2 can be provided with a cleaning means as the device 10 and can be configured to automatically move on the moving surface S and automatically clean the moving surface S or other surfaces close to the moving surface S.

DESCRIPTION OF SYMBOLS 1 Equipment movement system 10 Equipment 10a Primary coil 11 Moving body 13 Restraint device (restraint means)
13a Magnet (electromagnet, permanent magnet)
13b Magnetic body 13c Press plate 13d Magnetic body 13e Magnet (electromagnet, permanent magnet)
14 Control unit 2 Moving unit 21 Position sensor 3 Actuator 4 Touch panel (device sensor)
5 Power receiving device 5a Secondary coil P position, target position S Moving surface

Claims

Arbitrary equipment is mounted, and a moving body that moves along with the equipment along a predetermined moving surface;
An actuator provided integrally with the moving body, generating an impact based on electromagnetic force by supplying electric power, and moving the moving body in the direction of the impact force using the impact force as a driving force;
And a restraint means for restraining the moving unit constituted by the moving body and the actuator with a mechanical force or an electromagnetic force so as to be movable with respect to the moving surface and generating a frictional force. system.
A plurality of the actuators are provided on the moving body,
The apparatus moving system according to claim 1, wherein the moving unit performs rotational movement or linear movement of two degrees of freedom along the moving surface by driving force of the plurality of actuators.
The said restraining means is provided with the magnetic body, the electromagnet, or the permanent magnet which generate | occur | produces the attraction by a magnetic force between the said moving unit and the said moving surface, It is comprised, The Claim 1 or Claim 2 characterized by the above-mentioned. The equipment movement system described.
The said restraining means is provided with the press board which is on the opposite side to the said movement surface in the said movement unit, and pinches | interposes the said movement unit between the said movement surfaces. Item 3. The equipment movement system according to Item 2.
The apparatus moving system according to any one of claims 1 to 4, wherein a plurality of the moving units are provided on the moving surface and each move individually.
A position sensor for detecting the position of the moving unit on the moving surface;
A controller that controls the actuator by controlling power supplied to the actuator, and
The said control part receives position data from the said position sensor, and controls the said actuator so that the said moving unit may be moved to a predetermined | prescribed target position based on the position data. The apparatus movement system as described in any one of.
The device is a primary coil for non-contact power feeding,
A device sensor that detects a position of the power receiving device when a power receiving device having a secondary coil that is fed by the primary coil is disposed in a region in which the moving body moves;
The control unit receives position data of the power receiving device from the device sensor, moves the moving unit to the position of the power receiving device, and supplies power to the power receiving device from the primary coil. 7. The device moving system according to 6.
The primary coil is formed by arranging a plurality of coils in an array.
The apparatus control system according to claim 7, wherein the control unit adjusts the number of primary coils used in accordance with an area of a secondary coil of the power receiving apparatus during power feeding.
The primary coil is formed by concentrically arranging a plurality of coils having different diameters,
The apparatus control system according to claim 7, wherein the control unit adjusts the number of primary coils used in accordance with an area of a secondary coil of the power receiving apparatus during power feeding.
The apparatus moving system according to claim 8 or 9, wherein when the plurality of primary coils are used, the control unit synchronizes a voltage or a current applied to the coils.