JP2012019618A - Magnetic levitation mobile device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable a mobile body to move in parallel or/and rotate on a fixed surface, in an apparatus to move the mobile body using a magnetic repulsive force between magnets and an eddy current generated in nonmagnetic materials.SOLUTION: The magnetic levitation mobile device comprises a levitation unit including magnets where N poles and S poles are alternately disposed on a circumference and more than 3 rotating means to rotate the magnets; and a fixed part composed of nonmagnetic conducting surface. The rotations by the rotating means of the levitation unit generate an eddy current in the nonmagnetic conducting surface of the fixed part. The apparatus levitates the levitation unit by a magnetic repulsive force between the magnets and the eddy current and has inclination control means to control the inclination of a rotational axis of the rotating means of magnets against the surface of the fixed side so that the levitation unit can move in parallel and rotates on the surface of the fixed side.

Description

  The present invention relates to a device for levitating and moving a levitation unit including a magnet by a rotating magnet and a magnetic repulsive force of an eddy current.

As a transport measure that uses the magnetic repulsive force, electromagnets are arranged in the longitudinal direction to form a track, equipped with a nonmagnetic good conductor transport base that can move in a noncontact manner on the track, and multiple alternating currents are assigned to the electromagnet in order. In some cases, the magnetic field generated by the electromagnet coil and the magnetic field generated by the eddy current induced in the transfer table are repelled to move the transfer table while floating. (Japanese Patent Laid-Open No. 6-48568)
A rotating body having a plurality of magnetic poles is rotated so as to face an electrically conductive plate arranged continuously in a plane in the longitudinal direction, and an induced current generated in the electrically conductive plate and a magnetic pole of the rotating body are A magnetic levitation mechanism that uses an electromagnetic repulsive force to be generated, wherein an electrically conductive plate is laid and divided into three or more so as to be asymmetrically arranged with respect to the rotation center of a pair of rotating bodies. , Propulsion utilizing the difference in magnetic drag of the rotating body generated in the longitudinal direction, and when the moving body is displaced in the direction perpendicular to the traveling direction, return to the center of the three or more electrically conductive plates laid Some are configured to generate force. (Japanese Patent No. 3050761)
As a device that moves the moving body placed on the plane of the base in the horizontal direction, by rotating the rotating magnet, multiple magnetic paths extending on the base plane from the periphery of the rotating magnet through the inside of the drive head are sequentially There is a type in which a moving magnetic field is generated by magnetizing, and a thrust generated by a magnetic action between a magnetic pole and a drive head due to an eddy current generated in a base is used as a driving force. (Japanese Patent Laid-Open No. 2007-215264)

JP-A-6-48568 Japanese Patent No. 3050761 JP 2007-215264 A

However, the transport device described in Patent Document 1 uses electromagnets, which are arranged in the longitudinal direction as a track, and sequentially assigns a multi-layer alternating current to the electromagnet, but moves the transport table on the track. . According to this apparatus, it is not possible to realize free movement such as vertical and horizontal rotation and rotation of the carrier table on a plane.
The technique described in Patent Document 2 rotates a rotating body having a plurality of magnetic poles, and uses an electromagnetic repulsive force generated between an induced current generated in an electrically conductive plate and a magnetic pole of the rotating body. The longitudinal electric conductive plate is laid and divided into three or more, and propelled. When the moving body is displaced in the direction perpendicular to the traveling direction, the three or more electric conductive plates laid are provided. It generates a force to return to the center of the plate. According to this mechanism, the moving body is only moved on the line using the electrically conductive plate as a guide, and the moving body cannot be freely moved vertically and horizontally on the plane and cannot be rotated.
The technique described in Patent Document 3 uses a thrust generated by a magnetic action between a magnetic pole and a drive head due to an eddy current generated in a base by rotating a rotating magnet to generate a moving magnetic field as a driving force. This drive head is provided in four directions and moved in the horizontal direction. According to this apparatus, a rotating magnet is provided in the drive head, and a magnetic field is generated by sequentially magnetizing a plurality of magnetic paths extending on the base plane through the inside of the drive head in order to generate a moving magnetic field in the base. These are generated discretely by magnetic paths arranged at regular intervals.

  The problem to be solved is that in a device that moves the moving body by the magnetic repulsive force between the magnet and the eddy current generated in the nonmagnetic material, the moving body translates or rotates on the fixed surface, or translates and rotates. Is to be able to do it.

  The magnetic levitation moving apparatus according to claim 1 is a levitation unit comprising three or more sets of means for rotating magnets and magnets in which N poles and S poles are alternately arranged on the circumference, and a nonmagnetic good conductor surface. An apparatus for causing the levitation unit to float by the magnetic repulsive force of the magnet and the eddy current by generating an eddy current on the nonmagnetic good conductor surface by rotation of the means for rotating the levitation unit. Inclination control means for controlling the rotation axis of the magnet rotation means with respect to the fixed side surface is provided, and the floating unit can be translated and rotated on the fixed side surface.

  According to the magnetic levitation moving apparatus according to claim 1, each of the levitation units is generated because a component force parallel to the opposing surface is generated by controlling the rotation axis of the rotating means of the magnet with respect to the surface on the fixed side. Due to the resultant force of the component force, it can be translated and rotated quickly and easily.

It is a figure explaining the structure of one Example of the magnetic levitation moving apparatus by this invention. It is a block diagram which controls the magnetic levitation moving apparatus of this invention. It is a figure explaining the magnetization of a magnet. It is a figure explaining advance, retreat, and turning.

FIG. 1 is a configuration diagram of one embodiment of a magnetic levitation moving apparatus according to the present invention, in which FIG. 1 (a) is a plan view and FIG. 1 (b) is a bottom view. In FIG. 1, 11 is a movable body base, 12a, 12b, 12c and 12d are levitation units, 13a, 13b, 13c and 13d are magnets constituting the levitation unit 12, and 14a, 14b, 14c and 14d are levitation units 12. The motors 15a, 15b, 15c and 15d are elastic bodies for mounting and supporting the motor 14 on the movable body base 11, 16a and 16b are tilt control means for controlling the tilt of the motor 14 in the rotation axis direction, and 17 is fixed. It is a side surface.
FIG. 2 is a block diagram for controlling the magnetic levitation moving apparatus of the present invention.
FIG. 3 is a diagram for explaining magnetization of a magnet.

The movable body base 11 is formed of a substantially rectangular plate-like member, and is circular so that the motors 14a, 14b, 14c, and 14d are positioned at the vertices of appropriate rectangles formed by sides parallel to the sides of the rectangle. Holes 11a, 11b, 11c, and 11d are formed and arranged. For convenience, the upper side of FIG. 1 is the front of the moving body and the lower side is the rear. Each motor 14a, 14b, 14c, 14d has a fastening member wound around its outer periphery. The elastic bodies 15a, 15b, 15c, and 15d are arranged so as to pass through the respective diameters of the motors 14 by being coupled to the fastening members. At this time, the elastic body 15 is arranged around each hole so as to face in the front-rear direction of the movable body base 11. In this way, the motor 14 is accommodated in each hole 11a, 11b, 11c, 11d. The elastic bodies 15a, 15b, 15c, and 15d are effectively elastic to displacement against axial twist.
Magnets 13a, 13b, 13c, and 13d are attached to the shaft ends of the motors 14a, 14b, 14c, and 14d. Each magnet 13 is obtained by alternately magnetizing two pairs of NS magnetic poles on a flat disk, and is composed of, for example, a neodymium magnet (see FIG. 3).
Each motor 14 is connected to the rods 161a, 161b, 161c, 161d of the inclination control means 16a, 16b, and is a mechanism that changes the movement of the inclination control means 16 into the movement of the elastic body 15 of each motor 14 in the torsional direction. The inclination control means 16a controls the rods 161a and 161b simultaneously. The rods 161a and 161b are arranged such that the rotation shafts of the motor 14a and the motor 14b connected to each other are inclined in the same direction. At this time, the motors 14a and 14b twist the elastic bodies 15a and 15b in the same direction. The inclination control means 16b controls the rods 161c and 161d simultaneously. The rods 161c and 161d are arranged such that the rotation shafts of the motor 14c and the motor 14d connected to each other are inclined in opposite directions. At this time, the motors 14c and 14d twist the elastic bodies 15c and 15d in opposite directions.
The fixed surface 17 is formed of a non-magnetic good conductor such as an aluminum plate.
The inclination control means 16 may be provided for each of the motors 14 on a one-to-one basis.

  The motor 14a of the left front wheel levitation unit 12a rotates counterclockwise, the motor 14b of the right front wheel levitation unit 12b rotates clockwise, and the motor 14c of the left rear wheel levitation unit 12c rotates clockwise. The motor 14d of the right rear wheel levitation unit 12d rotates counterclockwise.

  When the magnets 13a, 13b, 13c, and 13d are rotated together with the motors 14, eddy currents are generated on the fixed-side surface 17 below the surface 17 where the floating units 12a, 12b, 12c, and 12d are located, A magnetic repulsive force is generated between the eddy current and the magnets 13a, 13b, 13c, and 13d, and the movable body base 11 floats on the surface 17 on the fixed side and balances.

In order to move the moving body base 11 forward, the rotating shaft of the left rear motor 14c is tilted by the rod 161c so as to rotate in the clockwise direction when viewed from the rear of the moving body base 11, and the right rear motor 14d. The tilt control means 16b controls the tilting means 16b so as to be tilted by the rod 161d so that the rotation axis of the moving body base 11 rotates in the counterclockwise direction when viewed from the rear of the movable body base 11. The discs on which the magnets 13c are formed and the discs on which the magnets 13d are formed have portions close to each other approaching the fixed-side surface 17, and these portions act greatly on the magnetic repulsive force. Since the magnetic repulsive force is received in a direction opposite to the rotation direction of the magnet, both the magnet 13c and the magnet 13d move forward by obtaining a propulsive force in front of the movable body base 11. Note that the rotation shafts of the right front motor 14a and the left front motor 14b are maintained perpendicular to the fixed-side surface 17. (Fig. 4 (a))
In order to move the movable body base 11 backward (reverse), the rotating shaft of the left rear motor 14c is tilted by the rod 161c so as to rotate counterclockwise as viewed from the rear of the movable body base 11, and The tilt control means 16b controls the tilt of the rotating shaft of the rear motor 14d by the rod 161d so as to rotate in the clockwise direction when viewed from the rear of the movable body base 11. The discs on which the magnet 13c is formed and the disc on which the magnet 13d is formed have portions far from each other approaching the fixed-side surface 17, and these portions act greatly on the magnetic repulsive force. Since the magnetic repulsive force is received in the direction opposite to the rotation direction of the magnet, both the magnet 13c and the magnet 13d obtain a propulsive force behind the movable body base 11 and move backward. Note that the rotation shafts of the right front motor 14a and the left front motor 14b are maintained perpendicular to the fixed-side surface 17. (Fig. 4 (a))

In order to turn the movable body base 11 to the right, the rod 161a is rotated so that the rotation shafts of the left front motor 14a and the right front motor 14b rotate counterclockwise when viewed from the rear of the movable body base 11. , 161b controls the tilt control means 16a. The left portion of the disk on which the magnet 13a is formed and the left portion of the disk on which the magnet 13d is formed approach the fixed surface 17, and these portions exert a large magnetic repulsive force. Since the magnetic repulsive force is received in the direction opposite to the rotation direction of the magnet, the magnet 13a and the magnet 13d generate a couple that generates a clockwise rotation when viewed from above the moving body base 11, and the moving body base Turn the table 11 to the right. Note that the rotation shafts of the right rear motor 14c and the left rear motor 14c remain perpendicular to the surface 17 on the fixed side. (Fig. 4 (b))
In order to turn the movable body base 11 to the left, the rods 161a and 161b are rotated so that the rotation shafts of the left front motor 14a and the right front motor 14b rotate in the clockwise direction when viewed from the rear of the movable body base 11. The tilt control means 16a controls so as to tilt. The rightward portion of the disk on which the magnet 13a is formed and the rightward portion of the disk on which the magnet 13d is formed approach the fixed surface 17, and these portions exert a large magnetic repulsive force. Since the magnetic repulsive force is received in a direction opposite to the direction of rotation of the magnet, the magnet 13a and the magnet 13d generate a couple that produces counterclockwise rotation when viewed from above the moving body base 11, and the moving body. The base 11 is turned to the left. Note that the rotation shafts of the right rear motor 14c and the left rear motor 14c remain perpendicular to the surface 17 on the fixed side. (Fig. 4 (b))

In the above embodiment, four floating units are used and arranged so as to be positioned at each vertex of the rectangle. However, the present invention is not limited to this. For example, three floating units are used, It is arranged so as to be located at the apex, and by adjusting the rotation and inclination of the motor constituting each levitation unit, it is possible to realize forward, reverse, and rotation by the combined force of those magnetic repulsive forces.
Further, the number of floating units is not limited to three and four, and the moving body can be levitated by a plurality of floating units as long as the number is three or more.

11 ... moving body base,
12a, 12b, 12c, 12d ... a levitation unit,
13a, 13b, 13c, 13d ... magnets,
14a, 14b, 14c, 14d ... motors,
15a, 15b, 15c, 15d ... elastic body,
16a, 16b ... inclination control means,
17 ... Fixed side surface

Claims (1)

The levitation unit comprises a levitation unit provided with three or more sets of means for rotating the magnet and magnets in which N and S poles are alternately arranged on the circumference, and a fixed side composed of a non-magnetic good conductor surface. An apparatus for generating an eddy current on a non-magnetic good conductor surface on the fixed side by rotation of the means, and levitating the levitation unit by the magnetic repulsive force of the magnet and the eddy current,
A magnetic levitation moving device comprising an inclination control means for controlling the rotation axis of the magnet rotation means to tilt with respect to the fixed side surface, wherein the levitation unit can be translated and rotated on the fixed side surface. .

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