JPS5810922B2 - Guide force control device for traveling body - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION This invention provides guidance for the traveling body when the traveling body is traveling under a continuous load in a certain direction, such as when traveling in the presence of a crosswind or when passing through a curved section. This invention relates to a guiding force control device for a running body that is configured to be displaced from the center of the track to the side that receives stress.

There have been various conventional guidance control methods that utilize magnetic attraction, and one of the most typical structures is shown in FIG. 1.

In the figure, 1°2 indicates levitation tracks laid in parallel, and guide tracks 3 and 4 are formed at right angles to the levitation tracks 1 and 2 along their lengths. A running body 7 is slidably placed on the guide tracks 3 and 4 via sliding shoes 5 and 6.

Reference numerals 8 and 9 denote L-shaped support members attached to the lower surface of the traveling body 7, and the vertical portions of each support member 8 and 9 are opposed to the inner wall of the guide track 3.4 through gaps A and B. Separate guide electromagnets 10, 11 and guide gap sensors 12, 13 are attached to the horizontal parts of the support members 8, 9, and separate guide electromagnets 10, 11 and guide gap sensors 12, 13 are attached to the horizontal parts of the support members 8, 9, respectively, which face the horizontal lower surfaces of the levitation tracks 1, 2. A levitation electromagnet 14.15 and a levitation gap sensor 16,17 are attached.

Reference numeral 18 denotes a reaction plate located between the guide tracks 3 and 4 and placed under the lower surface of the traveling body 7, and the lower surface of the traveling body 7 facing the reaction plate 18 is used to impart propulsive force to the traveling body 7. A linear motor 19 is attached.

FIG. 2 shows an example of a conventional guide control circuit in a magnetic attraction traveling mechanism configured as described above, in which the gap A between the guide electromagnets 10 and 11 and the guide tracks 3 and 4 facing them is shown. . Input terminal T1 of the circuit. The calculation outputs inputted to T2 and from the operational amplifiers 21 and 23 are added to the average value calculation unit 24, and the average value output is sent to the output side of the average value calculation unit 24. The average value output is determined by the measured values G1 . G2, and the difference between the average value and the measured value obtained as a result is amplified as an operating signal by separate amplifiers 27 and 28, and then applied to DC control power supplies 29 and 30, and the amplified output of each The current flowing from the control power supplies 29 and 30 to the excitation windings of the guide electromagnets 10 and 11 is controlled.

Therefore, for example, if the measured value G1 of the gap A is larger than the average value of the measured values Gl and G2, the guiding electromagnet 10
Increase the excitation current to strengthen the attractive force and narrow the gap A.

In this way, the gap A between the guiding track and the guiding electromagnet,
B is constantly measured and the excitation currents of the guiding electromagnets 10 and 11 are controlled so that the gaps A and B are always equal.

However, with this conventional method, even when stress is applied continuously in a certain direction to the traveling body as it passes through a curved part of the track, and an attractive force is required on one guiding electromagnet,
Since the running body is controlled to always be kept at the center between the guide tracks, in order to make the left and right gaps A and B equal when stress is applied to the running body in a certain direction, the guiding electromagnet must be A magnet with a large electromagnetic force must be used, which has the drawback of increasing the size of the guide electromagnet and also requiring a large DC control power source.

This invention was made in view of the above points, and when a traveling body is continuously subjected to stress and centrifugal force in a certain direction, a guiding electromagnet and a guiding electromagnet are provided on the side that needs to overcome these stresses and centrifugal force. To provide a guiding force control device for a traveling body, which increases the guiding force by narrowing the gap between tracks, and makes it possible to reduce the size and weight of a guiding electromagnet and its control power supply device.

Hereinafter, an example of the apparatus of this invention will be explained based on the drawings shown in FIG. 3 and subsequent figures.

FIG. 3 shows a block diagram of a control circuit according to the present invention, in which operational amplifiers 40 and 41 and 42 and 43 each having an input resistance R1 and a feedback resistance Rf are connected in series. 11, respectively, and the guide electromagnets 10, 11 and the guide tracks 3, 4.
a gap sensor 12 that detects the gaps A and B between;
The measured value signal G1.13 from G1. G2 is the input terminal T1.G2 in the arithmetic circuit. It is configured to be input to T2,
Furthermore, bias terminals 44 and 45 are connected to the input ends connected to the input resistor R of the operational amplifiers 40 and 42 via resistors R1 and R2, respectively, and bias voltages are applied to each of the terminals 44 and 45 as necessary. Apply V1 or ■2,
The left and right gap between the guide track and the guide electromagnet is A>B
, A=B, and A<B.

Reference numeral 46 denotes an average value calculator that averages the outputs from both of the above calculation circuits, and the average value output of this calculator 46 is sent to separate voltage comparators 47 and 48 each of which uses the output from the calculation circuit as one input.
The output side of each voltage comparator 47, 48 is connected to an amplifier 49, 50 for amplifying the difference voltage, and the voltage from each amplifier 49, 50 is connected to the output side of each voltage comparator 47, 48. The output is supplied as a control input to the DC controlled power supplies 51, 52 in the guide electromagnets 10, 11.

Note that the structural arrangement of the traveling body, guide track, guide electromagnet, etc. in this invention is the same as in FIG. 1.

Next, the operation of the inventive device configured as described above will be explained.

First, as shown in FIG. 4, the case where the traveling body 7 passes through a curved part of the track will be described.

At this time, it is assumed that the relationship between the output voltages of the gap sensors 12 and 13 and the gap is as shown by a straight line I in FIG.

Then, assuming a gap structure of A=B=10mm,
When a bias voltage (1=1) is applied to the bias terminal 44 in FIG. 3, the composite voltage of the measured value G1 and the voltage v1 becomes 2 (2) at the moment of application, as shown by the straight line (2) in FIG.

This 2■ and the output voltage 1■ of the measured value G2 are calculated by the average value calculator 4
6, an average value voltage of <1.5V is outputted to the output side as shown by the straight line (■) in FIG. 7, and when this average value voltage is applied to each voltage comparator 47, , the comparators 47 and 48 compare the average value and the measured value from the arithmetic circuit, and use the difference as a control signal to be sent to the respective DC control power supplies 51 and 52 via the respective amplifiers 49 and 50.
Add to.

As a result, the excitation current of the electromagnet 10 is increased to strengthen the attraction force, and the excitation current of the electromagnet 11 is decreased to weaken the attraction force, thereby narrowing the gap A as shown in FIG. 7, and A=5.
mm.

The traveling body 7 is displaced so that B=15 mm.

At this time, the electromagnet excitation current at the point where the gap is 5 mm may be about 1/2 of the excitation current required to generate the same attractive force at the point where the gap is 10 mm.

FIG. 5 shows a case where the traveling body 7 is receiving an external force from the W direction due to a crosswind, and in this case, the operation is similar to that shown in FIG. 4.

Further, FIG. 6 is an explanatory diagram when the traveling body is traveling while maintaining the relationship of gap A=B.

As described above, according to the device of the present invention, when a traveling body is continuously subjected to stress and centrifugal force in a certain direction, the gap between the guiding electromagnet and the guiding electromagnet on the side that needs to overcome these stresses and centrifugal force is reduced. Since the guide force is increased by making the guide electromagnet narrower, the guide electromagnet and its DC control power supply device can be made smaller and lighter than before.

[Brief explanation of the drawing]

FIG. 1 is a block diagram of a magnetic attraction type traveling body device, FIG. 2 is a block diagram of a conventional traveling body guiding force control device, and FIG. 3 is a block diagram of a traveling body guiding force side control value according to the present invention.
4 to 6 are explanatory views of the operation of the traveling body in this invention, and FIG. 7 is a characteristic diagram showing the relationship between the gap sensor output and the gap in this invention. 3.4...Guiding track, 7...Traveling body, 10°11...Guiding electromagnet, 12,13...
...Guidance gap sensor, 40-43...
...Operation amplifier, 44.45...Bias terminal, 46...Average value calculator, 47,48...
...Voltage comparator, 49,50...Amplifier, 5
1,52...DC control power supply.

Claims (1)

[Claims] 1. A device for controlling the guiding force of a traveling body using the attractive force of an electromagnet, which includes separate gap sensors for detecting the gap between the left and right guiding electromagnets of the traveling body and the opposing guiding tracks; Separate arithmetic circuits facing the left and right guiding electromagnets, which input the measured value signal of the gap sensor and input a bias voltage to arbitrarily change the gap, and each output of each arithmetic circuit. An average value calculation unit for averaging and separate voltage comparison units provided corresponding to the left and right guide electromagnets, and for comparing the output from the average value calculation unit and the output from each of the calculation circuits. A guiding force control device for a running body, which is controlled by a differential output from the voltage comparator and separate DC control power supplies that supply excitation current to the guiding electromagnet.