JPS637112A - Linear motor type conveyor - Google Patents

Abstract

PURPOSE:To facilitate noncontact transmission electric energy to a movable unit by partly receiving the energy from a linear motor stator side by electromagnetic coupling means provided at the movable unit side. CONSTITUTION:When a conveying pallet is stopped, a linear motor stator 1A and a linear motor stator 1B are so energized as to generate a reverse thrust. Since the alternating magnetic field in the cores of the motors passes a magnetic plate 22, an electromagnetic coupling coil 10C generates an alternating current of the same frequency as that of an exciting power source. This alternating voltage is rectified by a rectifier 11 to a DC voltage to charge a storage battery 12. When the linear motor is accelerated or decelerated, the coil 10C obtains the energy in response to the traveling speed.

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Field of Application] The present invention relates to a linear motor-driven transport device, and particularly to a non-contact power supply system for a moving body.

[Conventional technology]

FIG. 3 briefly shows the configuration of a conventional induction type linear motor-driven conveying device. In the figure (1a) to (
1c) is a linear motor installed at appropriate intervals along the running track (10), (2) is a conveyance bar which runs with the object to be conveyed (25) loaded, and (3) is a power source for driving the linear motor. , (4a) to (4C) are linear motors (1a)
- (1c) are changeover switches that sequentially supply driving power, (5a) to (5C) are entry sensors that detect the approach of the transport pallet (2), and (6a) to (6C) are positioning sensors.

Next, the operation will be explained with reference to FIG.

In addition, Fig. 4 corresponds to Fig. 3, and shows the transport pallet (2).
This represents the running speed of the vehicle.

Now point (a) is the starting position of transport pallet 7 (2), (C
) point as the target position. First of all! , 77 exchange switch (4
When a) is closed, a driving voltage is applied to the linear motor (1a) from the driving power source (3), and the conveying pallet (2) receives a thrust to the right and starts moving. The conveyance pallet (2) is accelerated while receiving thrust from the linear motor (1a), but when it leaves the acceleration zone, the changeover switch (4a) is opened and it enters the coasting section, where the speed gradually increases. approaches point (b) while decreasing. When the entry sensor (5b) detects the entry of the transport pallet (2), the changeover switch (4t+) is closed, and then the transport pallet (2) is closed.
) enters the area of the linear motor (1b), it is accelerated again, and goes through the same process as above to point (c).

Therefore, the approach sensor (5c) at point (C) which is the target position
) detects the approach of the transport pallet (2), at point (c), the changeover switch (4c) reverses the phase of the drive power source (3) and closes, causing the linear motor (lc) to apply thrust in the opposite direction. In addition to the transport pallet (2), it is decelerated. Further, when the conveyance pallet (2) reaches the positioning sensor (6c), the switching switch (6c) is opened, and the conveyance pallet (2) can be stopped at the target position (C).

Next, in order to facilitate understanding of the subsequent conveyance operation, the induction type linear motor used for conveyance will be described.

FIGS. 5(a), (b), and (c) are propulsive force movement curves, magnetic flux density distribution curves, eddy current distribution curves, and cross-sectional views of the linear motor for explaining the propulsion principle of the linear motor,
(1) is the iron core on the stator side of the linear motor, (12) is the multiphase excitation winding, (21) is the non-magnetic metal plate on the mover side,
(22) is a magnetic metal plate forming a magnetic circuit on the movable element side. Usually, a copper or aluminum plate is used as the non-magnetic metal plate (21), and an iron plate is used as the magnetic metal plate (22).

Now, when a multiphase (or two-phase) AC voltage is applied to the excitation winding (12), the stator core (1) and the magnetic metal plate (
22), a magnetic circuit as shown by the broken line (13) in the figure is formed.

Now, if the pole pitch of the excitation winding is τ and the frequency of the multiphase AC power source is f, then the magnetic flux density distribution B moves at a synchronous speed Vs shown by the following equation.

Vs = 2φ and f And the eddy current (
14) occurs in the direction (cross section) shown in the figure, and its distribution is as shown by curve 1e. At this time, the force generated in the movable element is proportional to the product of the magnetic flux density B and the eddy current Ie along the entire length of the movable element, and is represented by a curve F. That is, in the case of this figure, the propulsive force to the right is greater, and the mover moves to the right.

FIG. 6(a) shows an example of a conveyance pallet of a linear motor type conveyance device. Here, (10) is a running track, (21) is a non-magnetic metal plate, (22) is a magnetic metal plate, (23) is a transport platform, (24) is a running wheel, (25) is a
) is the object to be transported.

Next, the method for positioning the transport pallet will be described. Normally, a linear motor is used for one destination point as shown in Figure 6 (
Install two units as shown in b). These two linear motors are
By switching the excitation phase of the excitation power supply, Fig. 7(a)
As shown in , (b) and (c), acceleration, deceleration and φ stopping can be performed.

FIG. 8 is an explanatory diagram of the stopped state. If the thrust forces are different in opposite directions, the position will gradually shift, but from the detection signals of the positioning sensors (131) and (82), the thrust force Fl,
By adjusting F2, the robot can be stopped at the target position. Furthermore, if highly accurate positioning is required, as shown in Figure 9, a positioning electromagnet (91) is installed on the target point side and a positioning iron piece (92) is placed on the mover side.
There is also a method in which the positioning switch (8) is turned on to stop the suction while the linear motor is de-energized. Additionally, mechanical holding methods (such as taper pins) are being considered when external forces are applied to the mover, such as during transfer.

[Problem that the invention seeks to solve]

Since the conventional Noriko motor type conveyance device is configured as described above, the conveyance pallet is only passively moved by the thrust from the linear motor installed along the travel track. That is, since the conveying valent moves over a long stroke, it is not possible to connect an electric wire for supplying electrical energy Y-, so it is not possible to detect or control various information, and therefore, it is not possible to operate independently. Furthermore, although it is possible to install a storage battery as an energy source, the stored charge is limited and there are problems in terms of operating life and capacity.

The present invention has been made in order to solve the above-mentioned problems, and provides power to the transport pallet itself or a storage battery mounted on the transport pallet in a non-contact manner. The purpose is to provide operational functions.

[Means for solving problems]

The linear motor type conveyance device according to the present invention is capable of receiving a part of the electric energy from the linear motor stator side that provides thrust in a non-contact manner by means of electromagnetic coupling means provided on the movable body side, that is, on the conveyance pallet side. be.

[Effect]

The electromagnetic coupling means in this invention is capable of transferring electrical energy not only when the transport pallet is stopped, but also during acceleration and deceleration, and therefore can transfer electrical energy to the storage battery mounted on the transport pallet in a non-contact manner. Since auxiliary charging can be performed, various detection controls can be performed on the pallet side, and for example, a magnetic levitation type conveyance device that moves the conveyance pallet without contact can be realized.

〔Example〕

An embodiment of the present invention will be described below.

FIG. 1 is a configuration diagram of a linear motor type conveyance device according to the present invention, (81) and (82) are positioning sensors, (10
c) is an electromagnetic coupling coil provided on a part of the magnetic metal plate, (11) is a rectifier, and (12) is a storage battery.

Next, the operation will be explained. First, when the conveyance pallet is stopped, it is assumed that the linear motor stator (IA) and the linear motor stator (IB) are excited so as to generate thrust forces in opposite directions. At this time, if there is a difference in thrust between the two linear motors, the conveying pallet will move in either direction, but as a result, positional deviation of the conveying pallet will be detected by either the positioning sensor (61) or (B2). can. Based on this detection result, the voltage of the excitation winding is automatically adjusted so that the thrust for movement and the thrust in the opposite direction of movement become larger. In this state, since the alternating magnetic flux in the iron core of each linear motor passes through the magnetic plate (22), an alternating current voltage having the same frequency as the excitation power source is generated in the electromagnetic coupling coil (80). The AC voltage is converted into DC voltage by a rectifier (11),
The storage battery (12) can be charged. Next, consider a case where the conveying pallet is traveling at high speed as described in FIG. 3 and is being accelerated or decelerated by the linear motor section. At this time, if the excitation frequency of the linear motor is f, the synchronous speed is Vs, and the traveling speed of the jfj pallet is Vm, then
Frequency fm of the voltage generated in the electromagnetic coupling coil (10c)
This allows you to obtain energy according to your driving speed.

In addition, in the above embodiment, the electromagnetic coupling coil (10c) is provided at the negative part of the magnetic plate (22), but a dedicated magnetic plate may also be provided, as shown in FIG. It may also be possible to detect what corresponds to eddy currents in the non-magnetic plate (21).

Furthermore, although the above embodiments have been described with reference to the case of an induction type linear motor, other types such as a moving magnet type direct current linear motor can also produce the same effects as those of the above embodiments.

〔Effect of the invention〕

As described above, according to the present invention, by providing an electromagnetic coupling coil on the movable body side, electric energy can be supplied from the driving body to the movable body side without contact.
The movable body is equipped with various measurement and control functions, and the built-in storage battery can be recharged without contact, extending its life.
Furthermore, it has many benefits, including the ability to achieve non-contact magnetic levitation.

[Brief explanation of drawings]

Fig. 1 is a block diagram showing the structure of a linear motor type conveyance device according to an embodiment of the present invention, Fig. 2 is a block diagram showing the structure of another embodiment of the present invention, and Fig. 3 is a propulsion control of the transport body. FIG. 4 is an explanatory diagram illustrating the mode of propulsion of the carrier, and FIG. (b) and (C) are explanatory diagrams explaining the operating principle of a conventional linear motor, (a) is a movement curve diagram of propulsive force, and (b)
) is a distribution curve diagram of eddy current (re) and magnetic flux density (B), (
C) is a cross-sectional view of the linear motor, and FIGS. 6(a) and (b) explain the propulsive force operation of the linear motor. (a)
7(b) is a configuration diagram of the carrier, FIG. 7(b) is a drive coil switching circuit diagram for controlling the propulsion direction, and FIG. 7(a). (b) and (c) are explanatory diagrams showing each propulsion direction generated based on the drive coil switching operation, Fig. 8 is an explanatory diagram showing each propulsion direction when the transport body is stopped, and Fig. 9 is a transport body stop mechanism. FIG. 2 is another configuration diagram showing the configuration. In the figure, (IA) and (IB) are linear motor stators, (loc) is an electromagnetic coupling coil, (11) is a rectifier, and (
12) is a storage battery, (21) is a non-magnetic plate, and (22) is a magnetic plate. In the drawings, the same reference numerals indicate the same or corresponding parts.

Claims (3)

[Claims] (1) In a drive mechanism using a linear motor, electromagnetic flux generated as thrust generation energy from a drive coil placed on the track side is induced to the movable body by an electromagnetic coupling means provided on the movable body side, and the induced A linear motor type conveyance device that uses electricity as a general power source. (2) The linear motor type conveyance device according to claim 1, wherein an electromagnetic coupling coil is provided as the electromagnetic coupling means on a magnetic metal portion on the movable body side. (3) The linear motor type conveyance device according to claim 1, wherein a part of the non-magnetic metal constituting the propulsion conductor on the movable body side is an electromagnetic coupling coil as the electromagnetic coupling means.