WO2019043795A1 - Unité de transmission de puissance, convoyeur de transport et partie de support de bobine - Google Patents

Unité de transmission de puissance, convoyeur de transport et partie de support de bobine Download PDF

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Publication number
WO2019043795A1
WO2019043795A1 PCT/JP2017/030985 JP2017030985W WO2019043795A1 WO 2019043795 A1 WO2019043795 A1 WO 2019043795A1 JP 2017030985 W JP2017030985 W JP 2017030985W WO 2019043795 A1 WO2019043795 A1 WO 2019043795A1
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WO
WIPO (PCT)
Prior art keywords
coil
power transmission
power
parallel
transmission unit
Prior art date
Application number
PCT/JP2017/030985
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English (en)
Japanese (ja)
Inventor
壮志 野村
加藤　進一
Original Assignee
株式会社Ｆｕｊｉ
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社Ｆｕｊｉ filed Critical 株式会社Ｆｕｊｉ
Priority to JP2019538794A priority Critical patent/JP6823185B2/ja
Priority to PCT/JP2017/030985 priority patent/WO2019043795A1/fr
Publication of WO2019043795A1 publication Critical patent/WO2019043795A1/fr

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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
    • B60L5/00—Current collectors for power supply lines of electrically-propelled vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60M—POWER SUPPLY LINES, AND DEVICES ALONG RAILS, FOR ELECTRICALLY- PROPELLED VEHICLES
    • B60M7/00—Power lines or rails specially adapted for electrically-propelled vehicles of special types, e.g. suspension tramway, ropeway, underground railway
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G35/00—Mechanical conveyors not otherwise provided for
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
    • H01F38/00—Adaptations of transformers or inductances for specific applications or functions
    • H01F38/14—Inductive couplings
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
    • H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling

Definitions

  • the present invention relates to a power transmission unit that performs noncontact power feeding on a movable body, a transport conveyor, and a coil holding unit that holds power transmission coils of the power transmission unit.
  • the non-contact power feeding apparatus includes a power feeding means comprising a primary side wiring provided along the traveling guide of the traveling path, and a power receiving means comprising a secondary side coil provided on the moving body.
  • a wiring support is provided on a frame provided with a traveling guide or a column supporting the frame.
  • the pair of wires of the feeding means is supported by the wire support and is disposed to face each other in the vertical direction on one side of the movable body.
  • the power receiving means is supported by the movable body via the movable support.
  • the movable side support supports the power receiving means in a state of being inserted between the power feeding means opposed in the vertical direction.
  • Patent Document 1 does not specifically describe how the power feeding means and the power receiving means are disposed in the curved portion of the traveling path.
  • the wiring support is curved according to the curve of the curved portion, and the primary wiring arranged above the secondary coil of the power receiving means and the primary wiring arranged below And need to support.
  • the movable side support needs to support the secondary coil between the pair of primary side wires so as not to contact the wire support and the primary side wires.
  • the present application has been made in view of such circumstances, and it is an object of the present invention to provide a power transmission unit, a conveyer, and a coil holding portion that can simplify the structure while transmitting power without contact at curved portions of a traveling path. It will be an issue.
  • the present application is a power transmission unit having a power receiving coil and transmitting power without contact to a movable body moving on a predetermined moving plane, and a parallel plane parallel to the moving plane.
  • a coil holding portion that is curved in a direction in which the movable body bends and moves, and is disposed on the parallel surface and is disposed to face the power receiving coil, and transmits power toward the power receiving coil
  • a power transmission coil, the parallel surface is disposed to face the movable body in a direction orthogonal to the parallel surface, and the power transmission coil is extended in a bending direction in which the coil holding portion is bent
  • the contents of the present application can be implemented not only as a power transmission unit, but also as a transport conveyor including the power transmission unit and a coil holding unit that holds the power transmission coil of the power transmission unit.
  • the parallel surface is disposed to face the movable body in the orthogonal direction of the parallel surface.
  • the power transmission coil is extended in the bending direction, folded back, and wound in a direction parallel to the parallel surface. Therefore, the power transmission coil is wound on the parallel surface.
  • the means on the power receiving side (power receiving coil) is not interposed between the means on the power feeding side (power transmission coil) as in the conventional case, but the means on the power receiving side is disposed on one side in the orthogonal direction of the parallel plane.
  • the means on the power supply side are disposed on the other side, and are configured to face each other.
  • FIG. 1 shows an outline of a production system 1 of the present embodiment.
  • a linear conveyer 10 and a curved conveyer 10 are connected to each other to form an annular production line.
  • the power transmission unit of the present embodiment is mounted on these transport conveyors 10 as described later.
  • the production system 1 includes, for example, a management device (not shown) that controls the production line in an integrated manner.
  • the management device controls each device in the production line, and moves the plurality of carriers 13 on the annular production line in the direction of the arrow 2 in the figure while performing the work on the work 3 transported by the carriers 13.
  • the work 3 is, for example, a part used for production or a finished product.
  • the loading robot 5 disposed at the loading position 4 of the production line places the work 3 on the carrier 13 disposed at the loading position 4.
  • the transport conveyor 10 at the loading position 4 loads the carrier 13 from the loading position 4 by a linear motor described later.
  • an articulated robot 6 that performs work on the work 3 and an articulated robot 7 are disposed.
  • the plurality of connected transfer conveyors 10 are coordinated and controlled to move the carrier 13 carried in from the carry-in position 4 to the work process position of the articulated robot 6, 7.
  • the articulated robots 6 and 7 perform work on the work 3 of the carrier 13 disposed at the work process position.
  • the transport conveyor 10 carries out the carrier 13 for which the work on the work 3 has been completed to the carry-out position 8.
  • the unloading robot 9 disposed at the unloading position 8 unloads the work 3 for which the work has been completed.
  • the carrier 13 having carried out the work 3 moves to the carry-in position 4 again. In this manner, the carrier 13 is circulated to execute production.
  • the work apparatus provided in the production system 1 is not limited to the articulated robot, but may be another apparatus, for example, an XY robot.
  • FIG. 2 shows a perspective view of the transfer conveyor 10 constituting a straight path. Moreover, FIG. 2 has shown the state which arrange
  • the transport conveyor 10 is a device that slides the carrier 13 with respect to the fixed portion 11 by the drive of a linear motor based on the control of the management device described above. In the following description, as shown in FIG.
  • the direction in which the carrier 13 is slid is the X direction
  • the direction perpendicular to the X direction and the direction parallel to the surface on which the fixing portion 11 is mounted is the Y direction
  • the direction perpendicular to the direction is described as the Z direction.
  • FIG. 3 shows only a part of the inside of the transfer conveyor 10 by removing the front side member of the transfer conveyor 10 in the Y direction.
  • FIG. 4 shows a cross section obtained by cutting the fixing portion 11 in a plane orthogonal to the X direction. As shown in FIGS. 2 to 4, the fixing portion 11 is extended in the X direction. The cross-sectional shape of the fixing portion 11 cut in a plane orthogonal to the X direction is substantially U-shaped with the upper part in the Z direction opened.
  • the fixing portion 11 includes a bottom plate 21 and a pair of side plates 22 and 23.
  • the bottom plate 21 extends in the X direction, is open at the bottom, and has a substantially box-like shape that is thin in the vertical direction.
  • a control board 25 for controlling non-contact power feeding is provided at the lower part of the bottom plate 21, a control board 25 for controlling non-contact power feeding is provided.
  • the control board 25 is housed in a bottom plate 21 whose lower portion is opened, and is fixed to the lower surface of
  • the pair of side plates 22 and 23 are provided upright on the upper surface of the bottom plate 21 and have the same height in the Z direction.
  • the pair of side plates 22 and 23 is extended along the X direction.
  • the fixing portion 11 forms a groove (rail) extending in the X direction by the bottom plate 21 and the pair of side plates 22 and 23.
  • the carrier 13 is housed in the rail of the fixed portion 11.
  • a plurality of magnets 26 are attached as stators to the inner walls of the pair of side plates 22 and 23.
  • the plurality of magnets 26 have, for example, a plate shape extending in the Z direction, and are arranged along the X direction, that is, along the moving direction of the carrier 13 on the inner walls of the side plates 22 and 23 at equal intervals. .
  • Each of the magnets 26 has, for example, different polarities (N and S poles) adjacent to each other in the X direction such that N and S poles appear alternately on the inner surface facing the carrier 13 in the Y direction. It has become. In other words, the plurality of magnets 26 are arranged such that different polarities are directed inward alternately along the X direction.
  • 3 and 4 show a state in which the cover 27 shown in FIG. 2 covering the magnet 26 is removed. Moreover, FIG. 3 has shown the state which removed the side plate 22 of the near side of the Y direction.
  • the rail part 28 is provided in the upper part of each of the side plates 22 and 23 in a Z direction.
  • the rail portion 28 is, for example, a V rail whose slide surface is formed in a V-shape, and to which groove rollers 43 of the carrier 13 described later are attached.
  • a linear scale 29 is attached to the upper surface of the rail portion 28 provided on the upper portion of the side plate 22.
  • a linear head 40 is attached to the carrier 13 at a position facing the linear scale 29 of the fixed portion 11 in the Z direction. The linear head 40 moves on top of the linear scale 29 as the carrier 13 moves in the X direction, and outputs the position of the carrier 13 in the X direction as a position signal.
  • FIG. 3 has shown the state which removed the driving
  • the lower portions 22A and 23A of the side plates 22 and 23 extend inward in the Y direction and along the upper surface of the bottom plate 21.
  • a power transmission coil portion 31 for performing non-contact power feeding is provided on lower portions 22A and 23A extended on the bottom plate 21.
  • the power transmission coil unit 31 includes a coil holding unit 33 extending in the X direction, a power transmission coil 35, and a resonant capacitor 62 (see FIG. 6). 2 and 3 show a state in which the power transmission coil 35 is removed.
  • the coil holding portion 33 has a substantially plate shape extending in the X direction.
  • the material of the coil holding portion 33 is, for example, a magnetic material such as ferrite or a magnetic steel sheet.
  • the cross-sectional shape of the coil holding portion 33 cut in a plane orthogonal to the X direction has a substantially E shape projecting upward.
  • the power transmission coil 35 is formed as a wiring pattern of the printed circuit board 93 as shown in FIG. 7 described later.
  • the resonant capacitor 62 is connected to the power transmission coil 35 and mounted on the printed circuit board 93. Details of the printed circuit board 93 will be described later.
  • the carrier 13 includes a main body 41 and a work bench 42.
  • the main body portion 41 has a box-like shape elongated in the X direction and the Z direction, and various devices are incorporated therein.
  • the work table 42 has a substantially plate shape elongated in the X direction, and is fixed to the upper portion of the main body 41.
  • FIG. 5 is a side view of the carrier 13 as viewed from the X direction, and shows a state in which a part of the main body 41 is removed. As shown in FIG. 5, a plurality of groove rollers 43 are attached to the lower surface of the work table 42.
  • a plurality of groove rollers 43 according to the present embodiment are attached to the side edge portion of the work bench 42 in the Y direction, three pieces in total (six pieces in total). Further, the above-described linear head 40 is attached to the lower surface of the work table 42.
  • a traveling roller 45 is attached to the lower surface of the main body portion 41.
  • a plurality of traveling rollers 45 are provided in the X direction, with two arranged in parallel in the Y direction as one set. Each traveling roller 45 is rotatable around a rotation axis along the Z direction.
  • the carrier 13 has the main body portion 41 inserted in the rail of the substantially U-shaped fixed portion 11 in a state where the work table 42 is disposed above the fixed portion 11.
  • the main body portion 41 inserted into the fixing portion 11 has a certain gap between the side plates 22 and 23 of the fixing portion 11.
  • Each of the plurality of groove rollers 43 is rotatably attached to a rail portion 28 provided on the top of the side plates 22 and 23.
  • the traveling roller 45 is disposed in the traveling rail 30 provided on the upper surface of the bottom plate 21 and is in a rotatable state in contact with the inner wall of the traveling rail 30.
  • the carrier 13 can be moved in the X direction by rotatably attaching the grooved roller 43 and the traveling roller 45 to the fixed portion 11, and the work 3 (see FIG. 1) is placed on the work table 42 and moved. .
  • the power receiving coil unit 47 includes a coil holding unit 48 extending in the X direction and a power receiving coil 49.
  • the coil holding portion 48 has a substantially plate shape extending in the X direction.
  • the cross-sectional shape of the coil holding portion 48 cut in a plane orthogonal to the X direction has a substantially E shape projecting downward.
  • the material of the coil holding portion 48 is, for example, a magnetic material such as ferrite or a magnetic steel sheet.
  • the power receiving coil 49 is wound around the protruding portion of the central portion of the coil holding portion 48 in the Y direction. In a state in which the carrier 13 is disposed in the fixed portion 11 and supported by the groove roller 43 or the like, the power receiving coil portion 47 is disposed to face the power transmitting coil portion 31 with a predetermined gap in the Z direction.
  • the transport conveyor 10 of the present embodiment constitutes a so-called moving coil type linear motor in which the magnet 26 is disposed on the stator (fixed portion 11) and the mover (winding portion 53) is disposed on the carrier 13.
  • the power receiving substrate 50 is connected to the power receiving coil unit 47, and is supplied with power according to the AC power supplied from the power transmission coil unit 31 to the power receiving coil unit 47.
  • the power receiving substrate 50 is connected to the servo amplifier 51 and supplies power to the servo amplifier 51.
  • the servo amplifier 51 generates a drive current to be applied to the winding unit 53 from the power supplied from the power receiving substrate 50.
  • the winding portions 53 are provided on both sides of the main body portion 41 in the Y direction.
  • a winding 53B is wound around each of three yokes 53A.
  • Each of the three windings 53B corresponds to, for example, each of the U phase, the V phase, and the W phase.
  • the yokes 53A and the windings 53B of each phase are arranged side by side in the X direction, that is, the moving direction of the carrier 13.
  • the servo amplifier 51 supplies three-phase alternating current to each winding 53B as a drive current.
  • the winding portion 53 generates a magnetic field (a north pole and a south pole are induced) when an alternating current is supplied from the servo amplifier 51 to the winding 53B, and a propulsive force is generated between the fixed portion 11 and the magnet 26.
  • the carrier 13 moves in the X direction by the propulsive force generated between the winding 53 and the magnet 26.
  • the power reception substrate 50 controls the drive current (three-phase alternating current) supplied to the winding portion 53 through the servo amplifier 51 to move the magnetic field formed by the winding 53B, that is, the direction in which the carrier 13 is moved. Control the speed.
  • FIG. 6 shows a portion related to the non-contact power feeding device 60 of the transport conveyor 10.
  • the non-contact power feeding device 60 of the present embodiment includes a power transmission unit 60A and a power reception unit 60B.
  • the power transmission unit 60A includes a DC power supply 67 and the like in addition to the control board 25 and the power transmission coil unit 31 described above.
  • the power reception unit 60B includes the above-described power reception substrate 50, the power reception coil unit 47, the servo amplifier 51, and the like.
  • the non-contact power feeding device 60 non-contactly feeds AC power from the power transmission coil portion 31 to the power receiving coil portion 47.
  • the control board 25 on the power transmission side includes a half bridge circuit 61, a power transmission control unit 63, and a current detector 65.
  • the half bridge circuit 61 is connected to the DC power supply 67 and functions as an AC power supply of the non-contact power feeding device 60.
  • the DC power supply 67 is attached, for example, under the bottom plate 21 of the fixed portion 11.
  • the DC power supply 67 may be a power supply device provided separately from the transport conveyor 10.
  • the DC power supply 67 outputs a DC voltage Vdc to the half bridge circuit 61.
  • the half bridge circuit 61 includes two switching elements TR1 and TR2 and two diodes D1 and D2.
  • the switching elements TR1 and TR2 are, for example, N-type MOSFETs.
  • the diodes D1 and D2 are, for example, body diodes of the switching elements TR1 and TR2, respectively, and are diodes for commutation operation.
  • the gates of the switching elements TR1 and TR2 are connected to the power transmission control unit 63.
  • the power transmission control unit 63 is, for example, a processing circuit mainly composed of a CPU.
  • the power transmission control unit 63 supplies a PWM (Pulse Width Modulation) signal PWM as a gate voltage to each gate of the switching elements TR1 and TR2 to perform a switching operation.
  • PWM Pulse Width Modulation
  • the power transmission control unit 63 turns on and off the switching elements TR1 and TR2 alternately. As a result, alternating current flows in the resonant capacitor 62 and the power transmission coil 35 of the power transmission coil unit 31.
  • the power transmission control unit 63 performs switching operation of the switching elements TR1 and TR2 to convert, for example, the DC voltage Vdc into a rectangular wave AC voltage Vac (AC power), and outputs the AC voltage Vac to the power transmission coil unit 31.
  • the power transmission control unit 63 changes the AC voltage Vac by changing the duty ratio of the PWM signal PWM, and performs non-contact power supply.
  • One end of the power transmission coil 35 of the power transmission coil unit 31 is connected to the source of the switching element TR1 via the resonance capacitor 62 and the first power supply line L1.
  • the resonant capacitor 62 is connected in series to the power transmission coil 35 to configure a resonant circuit.
  • the other end of the power transmission coil 35 is connected to the source of the switching element TR2 via the second power supply line L2.
  • the rectangular wave AC voltage Vac generated by the half bridge circuit 61 is made sinusoidal by the resonant capacitor 62 and the power transmission coil 35.
  • the power transmission coil 35 generates a magnetic field (alternating magnetic field) by being supplied with the AC voltage Vac from the half bridge circuit 61.
  • the power reception coil 49 of the power reception coil unit 47 is electromagnetically coupled to the power transmission coil 35 to perform non-contact power feeding. For example, an induction current is generated in response to the alternating magnetic field generated in the power transmission coil 35, and the power reception coil 49 is supplied with power in a noncontact manner.
  • the power receiving substrate 50 of the power receiving unit 60 ⁇ / b> B includes a power receiving conversion unit 71 and a power receiving control unit 72.
  • the power reception conversion unit 71 includes a resonance capacitor 73 and an AC / DC conversion circuit 75.
  • the resonant capacitor 73 is connected in parallel to the power receiving coil 49 to form a resonant circuit.
  • the AC / DC conversion circuit 75 is connected to the power receiving coil 49 and the resonance capacitor 73.
  • the AC / DC conversion circuit 75 includes a diode 77 and a capacitor 78, and half-wave rectifies the received voltage Vac2 (AC power) supplied by the power receiving coil 49 in a contactless manner to convert it into a DC voltage Vdc2.
  • the AC / DC conversion circuit 75 supplies the converted DC voltage Vdc2 to the power reception control unit 72.
  • the power reception control unit 72 steps down the DC voltage Vdc2 supplied from the AC / DC conversion circuit 75 and supplies the DC voltage Vdc2 to the servo amplifier 51. Further, the power reception control unit 72 includes, for example, a communication unit (not shown) capable of wirelessly communicating with the management device that manages the production system 1 shown in FIG. 1 and transmits the position signal detected by the linear head 40 to the management device Do. The management device determines the control content of the carrier 13 (see FIG. 1) based on the received position signal. The power reception control unit 72 controls the power supplied to the servo amplifier 51 according to the control command received from the management device via the communication unit. Thereby, the carrier 13 moves, stops, accelerates, etc. according to the control command of the management device.
  • the power reception control unit 72 may control the power supplied to the servo amplifier 51 according to the position of the carrier 13 detected based on the position signal of the linear head 40, and may move or stop. In this case, the carrier 13 automatically adjusts the position and speed, not a command from an external management device.
  • the current detector 65 of the control board 25 on the power transmission side is for detecting the common mode current Ic flowing through the power transmission coil portion 31 and includes an annular core 81 and an amplifier 82.
  • the annular core 81 passes through two power supply lines of the first and second power supply lines L1 and L2.
  • the amplifier 82 is connected to the coil 83 wound around the annular core 81, and outputs a detection signal Sc corresponding to the common mode current Ic flowing through the first and second power supply lines L1 and L2 to the power transmission control unit 63.
  • the power transmission control unit 63 detects an increase in the common mode current Ic based on the detection signal Sc input from the amplifier 82.
  • the power transmission control unit 63 reduces the duty ratio of the PWM signal PWM supplied to the half bridge circuit 61 according to the increase of the common mode current Ic, and reduces the AC voltage Vac. Accordingly, it is possible to reduce radiation noise generated when the common mode current Ic flows through the first and second power supply lines L1 and L2 and the power transmission coil portion 31.
  • the power transmission unit 60A may not have the current detector 65.
  • FIG. 7 shows a top view of the bent power transmission coil portion 31.
  • the power transmission coil unit 31 includes a coil holding unit 33 bent at a predetermined angle, and a printed circuit board 93. As described above, the power transmission coil 35 is formed on the printed circuit board 93 as a wiring pattern.
  • the power transmission coil unit 31 has the coil holding unit 33 and the printed circuit board 93 molded by the molding unit 95.
  • the shape and configuration of the power transmission coil portion 31 shown in FIG. 7 are an example, and are appropriately changed according to the degree of bending of the curved portion, the length of the traveling path, and the like.
  • the mold portion 95 is, for example, an insulating resin material, and the entire coil holding portion 33 and the printed circuit board 93 are molded and integrated.
  • the power transmission coil unit 31 is placed, for example, on the lower portions 22A and 23A illustrated in FIG. 4 in a state in which the coil holding unit 33 and the like are integrated by the mold unit 95.
  • thermosetting resins such as a phenol resin, an epoxy resin, unsaturated polyester, and thermoplastic resins, such as PBT and PPS, can be used, for example.
  • the power transmission unit 60A of the present embodiment is formed of a resin material, and includes a molding unit 95 that molds the coil holding unit 33 and the printed circuit board 93. According to this, by unifying the coil holding part 33 and the printed circuit board 93 by the mold part 95, handling of the power transmission unit 60A becomes easy. In addition, by using an insulating resin material, the insulation resistance between the power transmission coil 35 generating high voltage and other electronic devices can be increased, and the insulation distance (for example, creeping distance) between elements can be shortened. . As a result, the power transmission unit 60A can be miniaturized.
  • the resonance capacitor 62 of the present embodiment is provided on the power transmission coil unit 31 side, and mounted on the printed circuit board 93. If the resonance capacitor 62 is provided in the control board 25, it is necessary to secure an insulation distance between the resonance capacitor 62 generating high voltage and other elements, which may increase the size of the control board 25. On the other hand, by providing the resonant capacitor 62 on the power transmission coil portion 31 side, design in consideration of such an insulation distance becomes unnecessary, and the control board 25 can be miniaturized.
  • the molding unit 95 may mold only a part of the coil holding unit 33 and the printed circuit board 93 without molding the whole.
  • the mold unit 95 may mold only the upper surface (the surface on the carrier 13 side) of the coil holding unit 33 and the printed circuit board 93.
  • the power transmission coil unit 31 may have a configuration in which at least one of the coil holding unit 33 and the printed circuit board 93 is not molded.
  • the coil holding portion 33 is curved in a moving direction 97 (an example of a bending direction) shown in FIG. 7 in which the carrier 13 bends and moves.
  • the moving direction 97 is the direction shown by the arrow 2 in FIG.
  • the coil holding portion 33 is divided into divided cores 99 which are a plurality of members in the moving direction 97, and is configured by mutually connecting the divided plurality of divided cores 99.
  • the plurality of divided cores 99 are integrated with the printed circuit board 93 by the mold portion 95.
  • the coil holding portion 33 is formed of a magnetic material, is divided into a plurality of members (divided cores 99) in the moving direction 97 (curved direction), and is configured by mutually connecting the plurality of divided members. Be done.
  • one curve portion for example, the entire curve is formed of one magnetic body
  • the coil holding portion 33 is divided into a plurality of parts in the bent movement direction 97 of the carrier 13, and the divided members are connected. This makes it possible to manufacture the bent coil holding portion 33 relatively easily.
  • the coil holding portion 33 may be formed of one member without being divided.
  • FIG. 8 is a top view of the split core 99 as viewed from above (the upper side in the Z direction shown in FIG. 4).
  • FIG. 9 is a side view of the split core 99 as viewed from the front side in the movement direction 97 (the front side in the X direction shown in FIG. 2).
  • the plurality of divided cores 99 are formed in accordance with the shape of the curved conveyance path, and have mutually different shapes. For this reason, the shape of the split core 99 shown in FIG. 8 and FIG. 9 is an example.
  • the split core 99 has a bottom 101 and three protrusions 102, 103, and 104.
  • the bottom 101 and the three protrusions 102, 103, and 104 are integrally formed of, for example, a magnetic material.
  • the bottom portion 101 has a plate shape, and an upper surface 101A facing the carrier 13 in the vertical direction (Z direction) is formed.
  • the bottom portion 101 also has a front side edge 101 B provided on the front side in the moving direction 97 of the carrier 13 and a rear side edge 101 C provided on the rear side in the moving direction 97.
  • the rear side edge 101C is provided at a position facing the front side edge 101B with the upper surface 101A interposed therebetween in the moving direction 97.
  • the front side edge 101B When viewed from the upper side in the Z direction, in other words, from one side in the power transmission direction from the power transmission coil 35 toward the power reception coil 49, the front side edge 101B has a predetermined angle with respect to the rear side edge 101C. It extends in the direction of Further, the first side edge 101D and the second side edge 101E provided on both sides in the width direction (Y direction in FIG. 4) of the split core 99 are parallel to each other. Therefore, when viewed in plan from above, the shape of the split core 99, that is, the shape of the entire top surface of the split core 99 including the top surface 101A (surface facing the carrier 13) is trapezoidal.
  • the entire top surface of the split core 99 including the top surface 101A is a parallel plane parallel to a predetermined moving plane 106 (see FIG. 1) on which the carrier 13 (moving body) moves.
  • the movement plane 106 mentioned here is, for example, a virtual plane including a locus along which the carrier 13 travels (for example, a locus 107 indicated by a broken line in FIG. 1) when the carrier 13 moves in an annular or linear shape.
  • the movement plane 106 is a plane orthogonal to the Z direction, and is a plane passing through the central portion of the power receiving coil unit 47 in the Z direction.
  • the parallel plane referred to here is, for example, a plane (including the upper surface 101A) formed in the split core 99 (the coil holding portion 33) and opposed to the movement plane 106.
  • the parallel plane is not limited to the plane actually formed in the split core 99, but may be the entire side surface of the split core 99 facing the movement plane 106 (facing the movement plane 106).
  • the parallel surface is, for example, the entire top surface of the split core 99 including the top surface 101A shown in FIG.
  • the movement plane 106 in the present application is not limited to the plane orthogonal to the Z direction, and may be, for example, a plane along the Z direction.
  • the movement plane 106 may be a plane along a direction forming a predetermined angle with the X direction, the Y direction, or the Z direction.
  • the parallel plane may be changed as appropriate according to the position, orientation, and inclination of the movement plane 106.
  • the projecting portion 102 projects upward from the bottom portion 101, and extends along the first side edge 101D, that is, along the movement direction 97 from the front side edge 101B to the rear side edge 101C.
  • the projecting portion 104 protrudes upward from the bottom portion 101, and extends along the second side edge 101E, that is, along the movement direction 97 from the front side edge 101B to the rear side edge 101C.
  • a plane perpendicular to the Z direction is formed on the upper surfaces of the protrusions 102 and 104.
  • the protrusions 102 and 104 protrude in the Z direction.
  • the protruding heights of the protrusions 102 and 104 are the same.
  • the thickness of the protrusion part 102,104 is substantially identical. Therefore, in the split core 99, the protrusions 102 and 104 are formed along the first and second side edge portions 101D and 101E in the width direction.
  • the protrusion 103 is formed at the center in the width direction of the split core 99 and protrudes upward from the bottom 101.
  • the projecting portion 103 is extended along the movement direction 97 from the front side edge portion 101B to the rear side edge portion 101C.
  • a plane perpendicular to the Z direction is formed on the upper surface of the protrusion 103.
  • the protrusion 103 protrudes in the Z direction.
  • the protruding height of the protrusion 103 is the same as the other protrusions 102 and 104.
  • the projecting portions 103 of the plurality of divided cores 99 constitute one erected wall extended along the moving direction 97.
  • each of the above-described protrusions 102 and 104 also constitutes one erected wall extended along the moving direction 97, similarly to the protrusion 103.
  • the shapes and the like of the above-described protrusions 102 to 104 are merely examples, and can be changed as appropriate.
  • an insertion hole 93 ⁇ / b> A is formed at the center in the width direction of the split core 99.
  • the insertion hole 93A is formed along the moving direction 97.
  • the protruding portion 103 of the split core 99 is inserted into the insertion hole 93A.
  • the printed circuit board 93 has the projecting portion 103 inserted into the central insertion hole 93A, and is inserted into the recess surrounded by each of the projecting portions 102 to 104.
  • the shape of the printed circuit board 93 conforms to the shape of the groove constituted by the projecting portions 102 to 104 of the split core 99 and the upper surface 101A.
  • the power transmission coil 35 formed on the printed circuit board 93 moves in the moving direction 97 so as to go around the projecting portion 103 formed by connecting the plurality of divided cores 99. After being extended, they are folded and wound in a direction parallel to the upper surface 101A (parallel surface).
  • the coil holding portion 33 of the present embodiment is formed of a magnetic material, and has the projecting portion 103 (wound portion).
  • the projecting portion 103 protrudes from the upper surface 101A toward the power receiving coil 49 along the direction (Z direction) orthogonal to the upper surface 101A (parallel surface), and extends in the moving direction 97 (curved direction). Be inserted.
  • the protruding portion 103 (wound portion) of the coil holding portion 33 which is a magnetic body protrudes from the upper surface 101A (parallel surface) and extends in the moving direction 97 (curved direction), and is inserted into the power transmission coil 35 Be done.
  • the magnetic flux generated from the power transmission coil 35 can be easily taken into the projecting portion 103, and the power supply efficiency can be improved.
  • the power transmission unit 60A of the present embodiment includes the printed circuit board 93 disposed on the upper surface 101A (parallel surface).
  • the power transmission coil 35 is a wiring pattern formed on the printed circuit board 93.
  • the size of the power transmission coil 35 is increased by the thickness of the electric wire 111 and the bobbin 112 holding the electric wire 111.
  • size reduction of the power transmission coil 35 can be achieved by forming the power transmission coil 35 by a wiring pattern.
  • the coil holding portion 48 of the power receiving coil portion 47 of the carrier 13 has, for example, the same shape as the coil holding portion 33 of the power transmission coil portion 31 and with respect to a plane orthogonal to the Z direction.
  • the shape is symmetrical to that of the coil holding portion 33.
  • the power receiving coil unit 47 and the power transmitting coil unit 31 are disposed at positions where the coil holding unit 48 and the coil holding unit 33 are close to each other. As a result, the magnetic flux generated from the power transmission coil portion 31 can be taken into the portions corresponding to the protruding portions 102 to 104 of the coil holding portion 33 and the protruding portion 102 of the power receiving coil portion 47 to improve the power supply efficiency.
  • the carrier 13 of the present embodiment is held at a predetermined height in the Z direction by the groove roller 43 and the rail portion 28.
  • a resonant capacitor 62 connected to the power transmission coil 35 and constituting a resonant circuit is mounted on the printed circuit board 93. Therefore, the line length of the power supply line connecting the power transmission coil 35 and the resonant capacitor 62 can be shortened. As a result, the power supply line to which the high voltage is applied can be shortened, and for example, the radiation noise radiated from the power supply line connecting the power transmission coil 35 and the resonance capacitor 62 can be reduced.
  • the half bridge circuit 61, the power transmission control unit 63, and the like may be mounted on the printed circuit board 93 in addition to the resonant capacitor 62 and the current detector 65. Conversely, the resonant capacitor 62 may not be mounted on the printed circuit board 93.
  • the power transmission coil 35 is not limited to the wiring pattern of the printed circuit board 93, and may be an electric wire (magnet wire).
  • 10 and 11 show a state in which the electric wire 111 is wound around the coil holding portion 33.
  • FIG. As shown in FIGS. 10 and 11, the electric wire 111 is wound so as to go around a projecting portion 103 configured by connecting a plurality of divided cores 99.
  • the electric wire 111 is extended in the moving direction 97, then folded back and wound in a direction parallel to the upper surface 101A (parallel surface).
  • the electric wire 111 is wound around, for example, a bobbin 112 disposed in a groove of the split core 99, and positional deviation is suppressed.
  • the bobbin 112 has, for example, a frame shape extended along the movement direction 97.
  • an adhesive may be applied to the surface of the wires 111 to fix the plurality of wires 111, or the wires 111 and the bobbin 112, to further suppress positional deviation of the wires 111.
  • the power transmission coil 35 and the power reception coil 49 should be opposed to each other in the Z direction with a certain distance therebetween. Can. Even when the electric wire 111 is used, the electric wire 111, the bobbin 112, and the coil holding portion 33 may be molded by the mold portion 95 (see FIG. 7).
  • the structure which winds the electric wire 111 with respect to the protrusion part 103 which connected and comprised the several split core 99 is not restricted to an above-described structure.
  • grooves 103A for inserting the electric wire 111 may be provided in the projecting portion 103 and the bobbin 112 of each of the divided cores 99.
  • the groove 103A is provided, for example, at the central portion of the protrusion 103 in the movement direction 97, and is cut at a predetermined width.
  • the electric wire 111 may be wound around the projecting portion 103 while being folded at the groove 103A of each divided core 99.
  • the carrier 13 is an example of a mobile.
  • the upper surface 101A is an example of a parallel surface.
  • the moving direction 97 is an example of the bending direction.
  • the protruding portion 103 is an example of a wound portion.
  • the power transmission unit 60A of the present embodiment is a power transmission unit having a power receiving coil 49 and transmitting power without contact to a carrier 13 (mobile body) moving on a predetermined moving plane 106.
  • Power transmission unit 60A has an upper surface 101A (parallel surface) parallel to moving plane 106, and is arranged on coil holding portion 33 curved in a direction in which carrier 13 bends and moves, and is disposed on upper surface 101A And a power transmission coil 35 disposed opposite to each other to transmit power toward the power reception coil 49.
  • the upper surface 101A is disposed to face the carrier 13 in a direction (Z direction) orthogonal to the upper surface 101A.
  • the power transmission coil 35 is extended in a moving direction 97 (curved direction) in which the coil holding portion 33 bends, and then folded back and wound in a direction parallel to the upper surface 101A.
  • the coil holding portion 33 is curved in the direction in which the carrier 13 (moving body) bends and moves, that is, the moving direction 97 (curved direction).
  • the moving direction 97 curved direction
  • the upper surface 101A is disposed to face the carrier 13 in a direction (Z direction) orthogonal to the upper surface 101A. Then, the power transmission coil 35 is extended in the moving direction 97, then folded back and wound in a direction parallel to the upper surface 101A. Therefore, the power transmission coil 35 is wound on the upper surface 101A.
  • the means on the power receiving side (power receiving coil) is not interposed between the means on the power feeding side (power transmission coil) as in the conventional case, but the means on the power receiving side is disposed on one side in the orthogonal direction of the parallel plane.
  • the means on the power supply side are disposed on the other side, and are configured to face each other.
  • the transport conveyor 91 of the present embodiment includes the fixed unit 11 having the power transmission unit 60A, and the carrier 13 (mobile body) having the power receiving coil 49.
  • the fixing portion 11 has a plurality of magnets 26 (magnets) arranged in the moving direction 97 (curved direction) of the carrier 13.
  • the carrier 13 has a winding portion 53 (electromagnet) that is connected to the power receiving coil 49 and generates a propulsive force using the magnetic force generated by the plurality of magnets 26 of the fixed portion 11 and receives power from the power transmitting coil 35 to the power receiving coil 49.
  • the supplied power DC voltage Vdc2 is supplied to the winding unit 53 and moved.
  • the split core 99 (coil holding unit) of the present embodiment has the power receiving coil 49 and transmits power without contact to the carrier 13 (moving body) moving on the predetermined moving plane 106. And is formed of a magnetic material.
  • the split core 99 is a plane parallel to the moving plane 106, and has an upper surface 101A (parallel plane) on which the power transmission coil 35 is disposed, a front side edge 101B provided on the front side of the moving direction 97 of the carrier 13, and And a rear side edge 101C provided on the rear side in the direction 97 and provided at a position facing the front side edge 101B with the upper surface 101A interposed therebetween.
  • the front side edge 101B When viewed from one side in the direction (Z direction) orthogonal to the upper surface 101A, the front side edge 101B extends in a direction forming a predetermined angle with respect to the rear side edge 101C, and includes the upper surface 101A.
  • the upper surface (parallel surface) of the split core 99 has a trapezoidal shape.
  • the shape of the split core 99 is not limited to a trapezoidal shape, and may be, for example, a fan-like shape curved according to the shape of the traveling path of the carrier 13 as a curve 108 indicated by an alternate long and short dash line in FIG.
  • the curve 108 exemplifies a state in which, for example, the second side edge portion 101E which is the outside of the traveling path is projected outward.
  • the split core 99 (coil holding portion) has a trapezoidal or sector shape in which the front side edge 101B on the front side in the moving direction 97 of the carrier 13 and the rear side edge 101C on the rear side do not become parallel.
  • the power transmission coil 35 is formed on the curved traveling path (curved portion).
  • maintain can be comprised.
  • the means on the power receiving side can be disposed on one side, and the means on the power feeding side can be disposed on the other side so as to face each other.
  • the structure for supporting the power receiving coil 49 and the power transmitting coil 35 can be simplified.
  • the present application is not limited to the above embodiment, and can be carried out in various modes in which various changes and improvements are made based on the knowledge of those skilled in the art.
  • the power transmission unit 60A includes the control board 25, the power transmission coil unit 31, and the DC power supply 67 in the above embodiment, the present invention is not limited thereto.
  • the power transmission unit of the present application may be configured to have only the power transmission coil 35 and the coil holding portion 33 (power transmission coil portion 31).
  • the power transmission coil part 31 and the receiving coil part 47 were arrange
  • two sets of the power transmission coil unit 31 and the power reception coil unit 47 may be prepared, and may be arranged both above and below the carrier 13.
  • the split core 99 may be provided, for example, with a protrusion to be fitted into another split core 99 or a recess into which the protrusion is fitted in the front side edge portion 101B or the rear side edge portion 101C.
  • the split core 99 may be provided with an engagement portion that engages with another split core 99.
  • the coil holding part 33 of the curve part was divided
  • the protrusion 103 may not be formed along the Z direction.
  • the protrusion 103 may be protruded in a direction forming a predetermined angle with the direction perpendicular to the top surface 101A.
  • the coil holding part 33 (divided core 99) does not need to be a magnetic body.
  • an insulating member capable of holding the printed circuit board 93 may be used.
  • the power transmission control unit 63 does not have to feedback control the half bridge circuit 61 based on the common mode current Ic.

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Transportation (AREA)
  • Current-Collector Devices For Electrically Propelled Vehicles (AREA)
  • Control Of Vehicles With Linear Motors And Vehicles That Are Magnetically Levitated (AREA)

Abstract

La présente invention concerne une unité de transmission de puissance qui permet une simplification structurale tout en transmettant une puissance sans contact dans une partie incurvée d'un trajet de déplacement. L'unité de transmission de puissance est pourvue : d'une partie de maintien de bobine ayant une surface parallèle à un plan de déplacement et incurvée dans une direction dans laquelle un corps mobile se déplace selon une forme incurvée ; et d'une bobine de transmission de puissance disposée sur la surface parallèle et faisant face à une bobine de réception de puissance et transmettant une puissance en direction de la bobine de réception de puissance. La surface parallèle est disposée face au corps mobile dans une direction perpendiculaire à la surface parallèle. La bobine de transmission de puissance est pliée après avoir été étendue dans une direction de courbure dans laquelle la partie de maintien de bobine est incurvée et enroulée dans une direction parallèle à la surface parallèle.
PCT/JP2017/030985 2017-08-29 2017-08-29 Unité de transmission de puissance, convoyeur de transport et partie de support de bobine WO2019043795A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2019538794A JP6823185B2 (ja) 2017-08-29 2017-08-29 送電ユニット、及び搬送コンベア
PCT/JP2017/030985 WO2019043795A1 (fr) 2017-08-29 2017-08-29 Unité de transmission de puissance, convoyeur de transport et partie de support de bobine

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2017/030985 WO2019043795A1 (fr) 2017-08-29 2017-08-29 Unité de transmission de puissance, convoyeur de transport et partie de support de bobine

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WO2019043795A1 true WO2019043795A1 (fr) 2019-03-07

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111016693A (zh) * 2019-11-27 2020-04-17 上海电机学院 一种适用于多角度弯道下电动汽无线充电系统
WO2021200534A1 (fr) * 2020-04-01 2021-10-07 株式会社京都製作所 Transporteur linéaire
WO2021200561A1 (fr) * 2020-04-01 2021-10-07 株式会社京都製作所 Dispositif de transport linéaire

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WO2012056838A1 (fr) * 2010-10-26 2012-05-03 村田機械株式会社 Système de transport
US20120261482A1 (en) * 2009-12-21 2012-10-18 Bombardier Transportation Gmbh Track for a track bound vehicle
WO2017051460A1 (fr) * 2015-09-24 2017-03-30 富士機械製造株式会社 Dispositif et système d'alimentation électrique sans contact

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20120261482A1 (en) * 2009-12-21 2012-10-18 Bombardier Transportation Gmbh Track for a track bound vehicle
WO2012056838A1 (fr) * 2010-10-26 2012-05-03 村田機械株式会社 Système de transport
WO2017051460A1 (fr) * 2015-09-24 2017-03-30 富士機械製造株式会社 Dispositif et système d'alimentation électrique sans contact

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111016693A (zh) * 2019-11-27 2020-04-17 上海电机学院 一种适用于多角度弯道下电动汽无线充电系统
CN111016693B (zh) * 2019-11-27 2021-03-09 上海电机学院 一种适用于多角度弯道下电动汽无线充电系统
WO2021200534A1 (fr) * 2020-04-01 2021-10-07 株式会社京都製作所 Transporteur linéaire
WO2021200561A1 (fr) * 2020-04-01 2021-10-07 株式会社京都製作所 Dispositif de transport linéaire
JP2021160909A (ja) * 2020-04-01 2021-10-11 株式会社京都製作所 リニア搬送装置
JP2021160910A (ja) * 2020-04-01 2021-10-11 株式会社京都製作所 リニア搬送装置
JP7369079B2 (ja) 2020-04-01 2023-10-25 株式会社京都製作所 リニア搬送装置
JP7369080B2 (ja) 2020-04-01 2023-10-25 株式会社京都製作所 リニア搬送装置

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