JP2562080B2 - Control method of charging and charging device for magnetic levitation vehicle - Google Patents
Control method of charging and charging device for magnetic levitation vehicleInfo
- Publication number
- JP2562080B2 JP2562080B2 JP2337914A JP33791490A JP2562080B2 JP 2562080 B2 JP2562080 B2 JP 2562080B2 JP 2337914 A JP2337914 A JP 2337914A JP 33791490 A JP33791490 A JP 33791490A JP 2562080 B2 JP2562080 B2 JP 2562080B2
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- charging
- stopped
- linear motor
- magnetic levitation
- Prior art date
- Legal status (The legal status 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 status listed.)
- Expired - Fee Related
Links
- 238000005339 levitation Methods 0.000 title claims description 14
- 238000000034 method Methods 0.000 title claims description 8
- 238000013459 approach Methods 0.000 claims description 2
- 230000000694 effects Effects 0.000 description 3
- 239000000696 magnetic material Substances 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Landscapes
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
- Current-Collector Devices For Electrically Propelled Vehicles (AREA)
Description
【発明の詳細な説明】 〔産業上の利用分野〕 本発明は磁気浮上式ビークルの制御方法に係り、特に
ステーションにおいてビークルを所定位置に停止させ、
しかも地上側からビークル側に給電する磁気浮上式ビー
クルの位置決め兼用充電装置の制御方法に関するもので
ある。Description: TECHNICAL FIELD The present invention relates to a method for controlling a magnetic levitation vehicle, and more particularly to stopping a vehicle at a predetermined position in a station,
Moreover, the present invention relates to a method of controlling a charging / positioning charging device for a magnetic levitation vehicle that supplies power from the ground side to the vehicle side.
搬送台車ビークルを磁気で浮上させ、各種物品を搬送
ルートに沿って搬送する装置が提案されている。An apparatus has been proposed in which a carrier vehicle is magnetically levitated and various articles are transported along a transportation route.
このような装置に例えば特開昭60−17040号公報、同6
1−102105号公報に開示されたものがある。Such an apparatus is disclosed in, for example, JP-A-60-17040 and JP-A-60-17040.
There is one disclosed in Japanese Patent Laid-Open No. 1-102105.
これらの装置において、ビークルには磁気浮上電磁石
の電源が必要であり、通常はバッテリーまたは乾電池が
ビークルに搭載されこれに充てられている。そして、バ
ッテリーまたは乾電池が消耗すると充電または予備との
取替を行うが、充電端子の接触の際、取替移動の際に発
塵があり、クリーンルーム等発塵をきらう用途では、発
塵の処理と取替の工程が問題である。In these devices, the vehicle requires a magnetic levitation electromagnet to power it, and usually a battery or dry cell is mounted in the vehicle and used for it. When the battery or dry cell is exhausted, it will be charged or replaced with a spare, but dust will be generated when the charging terminal comes into contact with the battery or when the battery is exchanged. And the replacement process is a problem.
また、全く別の問題としてビークルはステーション毎
に設けたリニアモータによって走行駆動と停止を行う
が、磁気浮上式ビークルは走行抵抗が小さい分だけリニ
アモータの電磁力の影響がより強く働くため、位置決め
が難しい。In addition, as a completely different problem, the vehicle is driven and stopped by a linear motor provided for each station, but the magnetic levitation vehicle has a smaller running resistance, so the electromagnetic force of the linear motor exerts a stronger effect, so positioning Is difficult.
本発明は上記事情に鑑みてなされたものでビークルが
ステーションに停止する際、非接触で正確に停止させ、
さらにビークル停止後にはビークルに搭載したバッテリ
ーに非接触で給電する装置の制御方法を提供することを
目的とする。The present invention has been made in view of the above circumstances, when the vehicle stops at the station, the vehicle is accurately stopped without contact,
Another object of the present invention is to provide a control method for a device that supplies power to a battery mounted on a vehicle in a contactless manner after the vehicle is stopped.
本発明は上記目的を達成するためになしたもので、浮
上用電磁石並びにその制御装置及び電源をビークルに搭
載し、かつ地上側に設けたリニアモータにて走行するビ
ークルを、ステーションで停止させるとき位置決めし、
かつ非接触式にて充電する装置の制御方法であって、リ
ニアモータにより減速されてビークルが所定位置に近付
いた時に地上側に設けた一次コイルを起磁して、ビーク
ル側の二次コイルを吸引して所定位置に停止させ、ビー
クルが停止している間一次コイルの起磁を行い二次コイ
ルを励磁して誘導電流を発生させてビークル搭載バッテ
リーへの充電を行い、しかる後、リニアモータによる走
行を開始するまでの間に起磁を停止することを要旨とす
る。The present invention has been made to achieve the above object, and when a vehicle equipped with a levitation electromagnet, a control device for the levitation magnet, and a power source, and traveling by a linear motor provided on the ground side is stopped at a station. Positioning,
A non-contact charging device control method, in which the primary coil provided on the ground side is excited when the vehicle is decelerated by the linear motor and the vehicle approaches a predetermined position, and the secondary coil on the vehicle side is It attracts and stops at a predetermined position, and while the vehicle is stopped, the primary coil is magnetized and the secondary coil is excited to generate an induced current to charge the vehicle-mounted battery and then the linear motor. The main point is to stop the magnetomotive force before starting to run.
ビークルの停止直前から、荷扱い後の走行開始までの
ビークルが停止している間一次コイルの起磁を続けるこ
とにより、二次コイルを吸着し励磁して、所定位置での
停止力付与並びにビークル側の充電回路への電力供給を
いずれも非接触で行うことができる。By continuing to magnetize the primary coil while the vehicle is stopped from immediately before the vehicle stops until the start of traveling after handling the load, the secondary coil is attracted and excited to give a stopping force at a predetermined position and the vehicle. Power can be supplied to the charging circuit on the side without contact.
以下本発明を図示の実施例にもとづいて説明する。 The present invention will be described below with reference to the illustrated embodiments.
図において１は建屋内の複数地点間に物品を搬送する
システムにおける走行路（ランウェイ）で、これらは非
磁性体例えばアルミニウム、アルミ合金等にて走行路本
体フレーム1aを構成するとともに、この走行路本体フレ
ーム1aに２本の平行した案内レール2,2を配設指示せし
める。この案内レール２は鉄、その他磁性体にてフラッ
トバー状、その他少なくとも内側端面と下底面が平坦と
なる形状に製作され、これを非磁性体の走行路本体フレ
ーム1aにその内側面に互いに対向するようにして突設支
持される。In the figure, reference numeral 1 is a runway in a system for transporting articles between a plurality of points in a building. These runways form a runway body frame 1a made of a non-magnetic material such as aluminum or aluminum alloy. Two parallel guide rails 2, 2 are arranged on the body frame 1a. The guide rail 2 is made of iron or other magnetic material into a flat bar shape and other shapes such that at least the inner end surface and the lower bottom surface are flat. The guide rail 2 is opposed to the inner surface of the non-magnetic material body frame 1a. It is supported so as to project.
この走行路１に沿って走行するビークル（搬送台車）
３はフレーム31上に所要の大きさと形状をしたパレット
32を備え、下面にはリニアモータのリアクションプレー
ト33を垂設し、ビークル３が走行する際、走行路１側に
所要間隔で、かつ互いに対設された駆動用リニアモータ
４間を該リアクションプレート33が通過し、所要の推力
をビークルに与えるようになすとともに、フレーム31の
両側を低くし、このフレーム端低部位置に浮上用の電磁
石34を設置し、この電磁石34の起磁力面を前記案内レー
ル２の下底面と対向するようになし、またビークルには
案内用の電磁石35をも設ける。Vehicle that travels along this road 1 (transportation vehicle)
3 is a pallet with the required size and shape on the frame 31
A reaction plate 33 of a linear motor is provided vertically on the lower surface of the reaction plate 33. When the vehicle 3 travels, the reaction plate 33 is provided on the side of the traveling path 1 at a required interval and between the driving linear motors 4 that are opposed to each other. 33 passes through, while applying a required thrust to the vehicle, lowers both sides of the frame 31, installs a levitation electromagnet 34 at a lower position of this frame end, and the magnetomotive surface of this electromagnet 34 is A guide electromagnet 35 is provided on the vehicle so as to face the lower bottom surface of the guide rail 2.
浮上用電磁石34はビークル３がほぼ水平に浮上するよ
う複数個例えば図示のように左右前後に各１個ずつ配設
し、案内レール２の下底面と電磁石34の起磁力面とのギ
ャップを設定された値に保持されるようビークルに搭載
された制御装置５及び電源（バッテリー）６と電気的に
接続され、ビークルのパレット上に搬送物品を搭載して
走行する際、その荷重その他に応じて励磁電流を制御し
てその起磁力を調整し、常に所定ギャップを保持するよ
うになす。A plurality of levitation electromagnets 34 are arranged, for example, one each on the left, right, front, and rear, so that the vehicle 3 levitates almost horizontally, and a gap between the lower bottom surface of the guide rail 2 and the magnetomotive force surface of the electromagnet 34 is set. It is electrically connected to the control device 5 and the power source (battery) 6 mounted on the vehicle so as to be kept at the specified value. The exciting current is controlled to adjust its magnetomotive force so that a predetermined gap is always maintained.
また、案内用電磁石35の起磁力面を案内レール２の内
側面と所要の隙間を開けるように対設させ、この電磁石
35に励磁電流を可調整的に流し、その起磁力を調整し、
対向する二つの案内用電磁石のレール吸着力により平衡
を保ってレールと非接触で、かつ案内レールに導かれて
規定の走行路を走行するようになす。In addition, the magnetomotive force surface of the guide electromagnet 35 is placed opposite to the inner surface of the guide rail 2 so as to open a required gap.
Adjustable flow of exciting current to 35 to adjust its magnetomotive force,
The two guide electromagnets facing each other are allowed to travel on a specified traveling path in a non-contact state with the rail while being balanced by the attraction force of the rail, and guided by the guide rail.
また、走行路本体フレーム1aにはスイッチ39を介して
交流電源38と接続した一次コイル40が設けられる。ま
た、ビークル３にはこれと対極する位置に二次コイル41
が設けられる。この電気回路を第５図に示す。A primary coil 40 connected to an AC power source 38 via a switch 39 is provided on the traveling path main body frame 1a. Further, the secondary coil 41 is provided on the vehicle 3 at a position opposite to this.
Is provided. This electric circuit is shown in FIG.
図はステーションの停止位置にきた状態を示してお
り、位置センサーからビークル到着の指令を受けてスイ
ッチ駆動機37がスイッチ39を閉じると一次コイル40には
交流電源38が投入される。その結果一次コイル40には機
磁力が働き、この起磁力により二次コイル41が吸引され
る。その結果ビークル３は停止定位置に保持される。吸
引によるビークル３の偏倚を防ぐため、一次、二次コイ
ル40,41は夫々ビークル３の両側に各１個設け、これに
よって吸引力の左右均衡を図る。The figure shows a state in which the station has come to a stop position. When the switch driver 37 closes the switch 39 in response to a vehicle arrival command from the position sensor, the AC power supply 38 is turned on to the primary coil 40. As a result, a magnetic force acts on the primary coil 40, and the magnetomotive force attracts the secondary coil 41. As a result, the vehicle 3 is held at the fixed stop position. In order to prevent the vehicle 3 from being biased due to suction, one primary coil and one secondary coil 40 are provided on each side of the vehicle 3, so that the suction force is balanced left and right.
この状態で二次コイル41が励磁され、二次コイル41に
は誘導電流が発生する。こうして充電のために必要な電
力が一次、二次コイルを経て非接触で給電される。給電
された電力は充電回路42を経てバッテリー６に充電が行
われる。ステーションでは待機または荷扱いが行われる
時間があり、このビークル３が停止している間が充電時
間となる。In this state, the secondary coil 41 is excited and an induced current is generated in the secondary coil 41. In this way, the electric power required for charging is contactlessly supplied through the primary and secondary coils. The battery 6 is charged with the supplied electric power through the charging circuit 42. At the station, there is a time for waiting or handling the cargo, and the charging time is when the vehicle 3 is stopped.
標準的なビークル３の動きを第６図に示す。一次コイ
ル41への通電は位置決めから始まり着地後再び浮上する
までの間継続することができ、充電については一次コイ
ル41への通電時間中継続して行われる。The movement of the standard vehicle 3 is shown in FIG. The power supply to the primary coil 41 can be continued from the positioning to the time of landing again after the landing, and the charging is continuously performed during the power supply time to the primary coil 41.
本発明によれば、ビークルの停止直前から、荷扱い後
の走行開始までのビークルが停止している間一次コイル
の起磁を設けることにより、二次コイルを吸着し励磁し
て、所定位置での停止力付与を非接触で行うことができ
るとともに、ビークル側の充電回路への電力供給を非接
触で、かつ短時間で行うことができる。また、ビークル
の位置決め並びに充電を一つの装置によって夫々非接触
で行うことができ、特に磁気浮上式搬送装置のメリット
である低発塵性能を一層顕著にする効果があり、しかも
位置決めあるいはバッテリーの取替に要する作業時間の
短縮あるいは省略を行うことにより操作性を向上させる
メリットがある。According to the present invention, the secondary coil is attracted and excited by providing the primary coil with the magnetomotive force while the vehicle is stopped from immediately before the vehicle is stopped until the vehicle starts traveling after handling the load. The stopping force can be applied in a non-contact manner, and power can be supplied to the vehicle-side charging circuit in a non-contact manner in a short time. In addition, the positioning and charging of the vehicle can be performed in a non-contact manner by one device, which has the effect of further enhancing the low dust generation performance, which is an advantage of the magnetic levitation transfer device. There is an advantage of improving operability by shortening or omitting the work time required for replacement.
【図面の簡単な説明】 図面は本発明方法に用いる磁気浮上式ビークルの位置決
め兼用充電装置を示し、第１図は正面図、第２図は平面
図、第３図は側面図、第４図は説明図、第５図は電気回
路の説明図、第６図はフローチャートである。 １は走行路、２は案内レール、３はビークル、31はフレ
ーム、32はパレット、33はリアクションプレート、34は
浮上用電磁石、35は案内用電磁石、38は交流電源、39は
スイッチ、40は一次コイル、41は二次コイル、42は充電
回路、６はバッテリー。BRIEF DESCRIPTION OF THE DRAWINGS The drawings show a positioning and charging device for a magnetic levitation vehicle used in the method of the present invention. FIG. 1 is a front view, FIG. 2 is a plan view, FIG. 3 is a side view, and FIG. Is an explanatory diagram, FIG. 5 is an explanatory diagram of an electric circuit, and FIG. 6 is a flowchart. 1 is a traveling path, 2 is a guide rail, 3 is a vehicle, 31 is a frame, 32 is a pallet, 33 is a reaction plate, 34 is a floating electromagnet, 35 is a guiding electromagnet, 38 is an AC power supply, 39 is a switch, and 40 is Primary coil, 41 is secondary coil, 42 is charging circuit, 6 is battery.
Claims (1)
をビークルに搭載し、かつ地上側に設けたリニアモータ
にて走行するビークルを、ステーションで停止させると
き位置決めし、かつ非接触式にて充電する装置の制御方
法であって、リニアモータにより減速されてビークルが
所定位置に近付いた時に地上側に設けた一次コイルを起
磁して、ビークル側の二次コイルを吸引して所定位置に
停止させ、ビークルが停止している間一次コイルの起磁
を行い二次コイルを励磁して誘導電流を発生させてビー
クル搭載バッテリーへの充電を行い、しかる後、リニア
モータによる走行を開始するまでの間に起磁を停止する
ことを特徴とする磁気浮上式ビークルの位置決め兼用充
電装置の制御方法。1. A levitation electromagnet, a control device for the levitation magnet, and a power source are mounted on a vehicle, and a vehicle traveling by a linear motor provided on the ground side is positioned when stopped at a station and charged in a non-contact manner. When the vehicle approaches the predetermined position by being decelerated by the linear motor, the primary coil provided on the ground side is magnetized, the secondary coil on the vehicle side is attracted and stopped at the predetermined position. Then, while the vehicle is stopped, the primary coil is magnetized and the secondary coil is excited to generate an induced current to charge the vehicle-mounted battery.After that, until the traveling by the linear motor is started. A method of controlling a charging / positioning charging device for a magnetic levitation vehicle, characterized by stopping magnetomotive force between them.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2337914A JP2562080B2 (en) | 1990-11-30 | 1990-11-30 | Control method of charging and charging device for magnetic levitation vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2337914A JP2562080B2 (en) | 1990-11-30 | 1990-11-30 | Control method of charging and charging device for magnetic levitation vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH04208032A JPH04208032A (en) | 1992-07-29 |
| JP2562080B2 true JP2562080B2 (en) | 1996-12-11 |
Family
ID=18313183
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2337914A Expired - Fee Related JP2562080B2 (en) | 1990-11-30 | 1990-11-30 | Control method of charging and charging device for magnetic levitation vehicle |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2562080B2 (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3319063B2 (en) * | 1993-08-24 | 2002-08-26 | 松下電器産業株式会社 | Mobile robot |
| JP2671809B2 (en) * | 1994-06-30 | 1997-11-05 | 日本電気株式会社 | Non-contact charging device |
| JP5496718B2 (en) * | 2010-03-15 | 2014-05-21 | 日野自動車株式会社 | Coil positioning and holding device for non-contact power feeding device |
| JP4868093B2 (en) * | 2010-04-21 | 2012-02-01 | トヨタ自動車株式会社 | Vehicle parking assist device and electric vehicle including the same |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6053521A (en) * | 1983-09-02 | 1985-03-27 | Asahi Glass Co Ltd | Preparation of polyurethane elastomer |
| JPS63121404A (en) * | 1986-05-30 | 1988-05-25 | Shinko Electric Co Ltd | Charging equipment for linear motor carrier |
| JPH0514642Y2 (en) * | 1986-12-03 | 1993-04-19 | ||
| JPS63138805U (en) * | 1987-02-27 | 1988-09-13 |
-
1990
- 1990-11-30 JP JP2337914A patent/JP2562080B2/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| JPH04208032A (en) | 1992-07-29 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| LAPS | Cancellation because of no payment of annual fees |