JPH06136701A - Coil unit mounting device for linear motor car path - Google Patents

Abstract

PURPOSE:To mount a coil unit promptly by one operator by using an articulated arm mounted on a frame travelling on a side wall along a linear motor car path. CONSTITUTION:A coil unit mounting device 20 and a bolting device are transferred and carried in to a mounting position by using the upper face of a side wall 2 along a linear motor car path. At the same time, a carriage on which a coil unit 3 is loaded is carried in by using a path 10. An articulated arm 23 is operated to attract one coil unit 3 from the carriage to an attracting means 24 provided at the end and to carry it to a mounting position on the side wall 2. After the coil unit 3 is temporarily fixed with a bolt, the attracting means 24 is released from attraction and the coil unit mounting device 20 is set off. In this way, efficient, prompt and safe mounting work can be done by one operator without interrupting other working carriages from moving.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for mounting a coil unit on the inner surfaces of a pair of left and right side walls in a traveling path of a linear motor car.

[0002]

2. Description of the Related Art A railway using a linear motor car has been developed as a high-speed and large-volume transportation means. As shown in FIG. 7, a traveling path for this linear motor car has a lower surface traveling path 1 made of concrete and left and right side walls 2, and an inner surface of the side wall 2 has an elongated propulsion coil unit 3 and a side wall. A square levitation guide coil unit 4 is attached. Further, in order to make the propulsion coil unit 3 have a uniform propulsive force, the propulsion coil units 3 are usually stacked in two layers so as to overlap each other by a half pitch as shown in FIG. Attached and their lower terminals are connected to a cable 5 laid along the inner surface of the side wall 2.

The levitation guide coil unit 4 is attached to the front surface of the propulsion coil unit 3 and is bolted using, for example, a bolt hole 6 penetrating the side wall 2. Then, those terminals are connected to the cable 7 buried in the lower traveling path 1. Each of the coil units 3 and 4 is inserted into a molded body of synthetic resin to be formed into a plate shape with a smooth surface, and a plurality of through holes 8 for attachment are formed in advance. Next, a strip-shaped guide travel path 9 is formed on the inner wall surface above each side wall 2, and the upper surface of the side wall 2 is made flat. In addition, a pair of concrete tracks 10 are formed on the lower traveling path 1 in parallel at predetermined intervals. The conventional method of mounting the coil unit on the inner surface of the side wall 2 is to move the carrier carrying the coil unit to the mounting position by using the lower surface traveling path 1, and the operator lifts it to carry out positioning. It was attached.

[0004]

However, in such a conventional coil unit mounting method, it is necessary to raise and lower the coil unit, which is a heavy object, and to align the coil unit. It requires a certain number of people, work efficiency is poor, and there are problems of worker fatigue and back pain. Furthermore, there is a possibility that a fall accident may occur during work. Therefore, in view of the problems in the conventional coil unit mounting method, it is an object of the present invention to provide a coil unit mounting device that allows a single worker to mount the coil unit quickly, efficiently and safely. It is a thing.

[0005]

In a linear motor car traveling road coil unit mounting device of the present invention which solves the above problems, a pair of leg lower ends are guided along a pair of opposing side walls in a linear motor car traveling road. A gate-shaped traveling platform that is capable of traveling on the upper surface of the side wall, a multi-joint arm that is connected to the upper end of the traveling platform through a balancer mechanism, and a suction cup means provided at the tip of the multi-joint arm. It is characterized by having. This balancer mechanism incorporates a mechanism such as a pneumatic cylinder, can move the multi-joint arm up and down with a small force, and supports the weight of the coil unit supported by the suction cup means. That is, it is configured to support the final posture of the articulated arm.

[0006]

The coil unit mounting device for a linear motor car traveling road according to the present invention uses a gate-shaped traveling frame which travels on the upper surfaces of a pair of left and right side walls in the linear motor car traveling road. It is possible to easily perform the movement and mounting work along the traveling path without hindering the movement of the dolly and other work dolly. Further, since the articulated arm is connected to the traveling base through the balancer mechanism, and the suction unit for adsorbing the coil unit is provided at the tip end thereof, even a single worker can efficiently and quickly and safely, with a large weight. The coil unit can be removed from the carrier and positioned and installed in place.

[0007]

Embodiments of the present invention will now be described with reference to the drawings.
FIG. 1 is a front view showing a state in which a propulsion coil unit is attached to a side wall of a linear motor car traveling path using the coil unit attachment device of the present invention, and FIG. 2 is a side view thereof. In these drawings, the linear motor car traveling path is similar to that of FIG. 7 described above, and the side walls 2 are provided on both sides of the lower surface traveling path 1 provided with the pair of tracks 10.
The coil unit mounting device 20 includes a gate-shaped traveling base 21 and
The multi-joint arm 23 connected to the traveling base 21 via the balancer mechanism 22 and the suction cup means 24 provided at the tip of the multi-joint arm 23 are provided.

The traveling base 21 has a horizontal portion 25 and a pair of leg portions 26 provided at both ends thereof. As shown in FIG. 2, the horizontal portion 25 is composed of a rectangular frame body, and an automatic vertical adjustment mechanism 27 is attached to the center thereof. The automatic vertical adjustment mechanism 27 uses a mechanism such as a ball joint and is configured to always maintain the output shaft 28 in the vertical direction when the traveling platform 21 is tilted to the front, rear, left and right. The automatic vertical adjustment mechanism 27 is provided for the purpose of allowing the coil unit mounting device of the present invention to act more smoothly, and may be omitted in some cases. Each leg portion 26 is composed of a pair of legs that are vertically erected from both corners of the end of the horizontal portion 25, and a plurality of horizontal members that connect the legs in parallel,
A traveling device 29 is provided at the lower end thereof.

The traveling device 29 includes a base body 30, drive means 31 such as a reversible motor with a speed reducer attached to the base body 30, a pair of wheels 32 which are connected to an output shaft of the drive means 31 and are rotationally driven, and a guide. It has means 33. The guide means 33 is provided to guide the base body 30 along the side wall 2 so that the wheel 32 can be stably run so that the wheel 32 does not fall off the upper surface of the side wall 2, and the outer side surface of the upper end of the side wall 2 is guided. It is composed of a roller that comes into contact with. The roller may be in contact with the inner surface of the upper end of the side wall 2. The multi-joint arm 23 is an arm that can be swung up and down, left and right, or at various angles, which is usually used as an arm of a robot, and can be manually operated. The starting end side thereof is connected to the output shaft 28 of the automatic vertical adjustment mechanism 27 via the balancer mechanism 22.

That is, one link of the first arm 34 of the parallel link mechanism is connected to the output part of the balancer mechanism 22, and the second arm 35 is connected from the other link of the first arm 34 via the connecting part 34a. The third arm 36 and the fourth arm 37 are sequentially connected to the other end of the second arm 35. The first arm 34 is rotatable in the vertical direction around the connecting portion with the balancer mechanism 22, and the second arm 35 is rotatable around the shaft of the connecting portion 34a. Each of the 36 and the fourth arm 37 can freely rotate about its own axis. An operation panel 38 having operation switches for the motor of the drive means 31 is provided on the lower end side of the third arm 36. With this operation switch, the motor of the drive means 31 can be driven forward, backward, or stopped. The operation panel 38 and the drive means 31 are connected by a cable (not shown), and power for the motor is supplied by a cable (not shown) from a power supply vehicle such as a diesel generator, which is separately provided.

The tip of the multi-joint arm 23, that is, the fourth
A vacuum suction device 24 is provided at the tip of the arm 37. The suction cup device 24 has a horizontally elongated frame in conformity with the propulsion coil unit, and has a pair of upper and lower pipes 39 and a pair of left and right pipes 40 that communicate between the pipes 39, and each of the pipes 39 has four pipes 39. A suction cup 41 is attached to each. The pipe 39 is connected to a vacuum device (not shown) by a flexible pipe. Further, a switch 42 for turning on and off the suction of the suction cup device 24 is provided on one side of the pipe 40, and by operating the switch 42, for example, a solenoid valve for switching the suction cup 41 to a vacuum state or an atmospheric pressure state can be operated. This switch 4
2 may be provided on the operation panel 38 instead of the pipe 40. The suction cup device 24 is unitized and detachably attached to the tip end portion of the fourth arm 37 by, for example, bolt connection. Then, the suction coil device 24 attracts the propulsion coil unit 3. It is preferable that the suction cup device 24 has a shape adapted to the coil unit.
FIG. 3 (a) is a front view showing the suction cup device 24 adapted to the levitation guide coil unit 4 having a substantially square shape by a chain line, and FIG. 3 (b) is a side view thereof. In this example, two upper and lower suction cups 41 are provided.

FIG. 4 shows a coil unit mounting device 2 of the present invention.
0 is used, and the first layer propulsion coil unit 3, the second layer propulsion coil unit 3 and the levitation guide coil unit 4 are attached one after another along the side wall 2 of the linear motor car traveling path from the left. It is a figure shown, and Drawing 5 is the top view. The coil unit mounting device 20 on the far right in the figure is mounted by adsorbing the first layer propulsion coil unit 3 by the suction cup device from the carriage 50 in which a large number of first layer propulsion coil units 3 are vertically stacked. There is. The coil unit attaching device 20 on the left side similarly attaches the second layer propulsion coil unit 3 to the side wall 2 on which the first layer propulsion coil unit 3 has been attached. Further, the leftmost coil unit attachment device 20 similarly attaches the levitation guide coil unit 4 to the side wall 2 on which the second layer propulsion coil unit 3 has been attached.

Each of the carriages 50 is moved along the linear motor car traveling path by placing the left and right wheels on a track 10 provided in parallel with the lower surface traveling path 1. In order to tighten the bolts of the attached coil units, an appropriate number of bolt tightening devices 51 are provided so as to run along the side walls 2 on both sides. Figure 6 shows a curved tunnel 60
It is a front view which shows the state which has attached the coil unit using the coil unit attachment apparatus 20 shown in FIG.

Next, the operation of the coil unit mounting device will be described. First, as shown in FIG. 4 (FIG. 5), the coil unit mounting device 20 and the bolt tightening device are utilized by utilizing the upper surface of the side wall 2 of the linear motor car traveling path. 51 while traveling to the mounting position of the coil unit and carrying in, the propulsion coil unit 3 of the first layer, the propulsion coil unit 3 of the second layer,
Also, the carriage 50 carrying a large number of floating guide coil units 4 is carried in using the track 10. At that time, the coil unit mounting device 20 is guided by the side wall 2 by the guide means 33 provided at the lower end of the leg portion 26 of the traveling base 21 and can travel stably without being disengaged from the upper surface thereof. Next, the articulated arm 23 and the switch 42 of the coil unit attachment device 20 shown in FIG. 1 (FIG. 2) are operated, and the suction carriage means 24 provided at the tip of the articulated arm 23 is used to move the carriage 50 from the carriage 50. Adhere and lift one propelling coil unit 3 of the first layer,
Transport it to the mounting position. At that time, the weights of the multi-joint arm 23, the suction cup means 24, the coil unit and the like are reduced by the balancer mechanism 22 to the extent that it does not burden the operator. As the balancer mechanism, for example, a pressure adjusting balancer for adjusting pressure can be used.

After temporarily fixing the first layer propulsion coil unit 3 conveyed to a predetermined position on the side wall 2 with a fixing bolt,
The suction unit 24 releases the suction and the coil unit mounting device 2
Separate 0. Next, by bolting with the bolt fastening device 51, the first-layer propulsion coil unit 3
Is attached to the side wall 2. In this way, the second layer propulsion coil units 3 are similarly attached by the second coil unit attachment device 20 by shifting a half pitch from the first layer propulsion coil units 3 attached to the side wall 2 one after another. Go. Then, the levitation guide coil unit 4 is similarly mounted from above by the third coil unit mounting device 20. After attaching the coil unit to one side wall 2 by a predetermined distance, the coil unit is attached to the other side wall 2 in the same manner. At that time, the articulated arm 23 is connected to the output shaft 2
It is rotated about 8, and the suction cup device 24 is turned in the opposite direction. In the above description, the plurality of coil unit mounting devices 2
Although 0 was used, it is also possible to use only one unit in common for mounting work.

As described above, by connecting the articulated arm 23 to the traveling frame 21 via the automatic vertical adjustment mechanism 27, the lower traveling path 1 of the linear motor car traveling path can be moved forward or backward, left or right, or in both directions. Even when tilted, the posture of the multi-joint arm 23 can be maintained more stably. For example, as shown in FIG. 6, in the case of the linear motor car traveling path in the curved tunnel 60, the lower traveling path 1 and the side wall 2 are inclined to the right. Therefore, the traveling platform 21 traveling on the upper surface of the side wall 2 also leans to the right. However, since the traveling platform 21 is stably positioned on the upper surface of the side wall 2 by the guide means 33 of the traveling device 29 and the output shaft 28 of the automatic vertical adjustment mechanism 27 is always maintained in the vertical direction, the articulated arm 23 is provided. Posture is kept constant.

[0017]

The coil unit mounting device of the present invention having the above-described structure has the following effects. (1) Since a gate-shaped traveling base is used that travels on the pair of left and right upper surfaces of the linear motor car traveling path, there is no obstruction to the movement of the carrier truck on which the coil unit is mounted and other trucks for work. It is possible to perform movement and attachment work along the traveling path. (2) Since a multi-joint arm having a balancer mechanism is connected to the traveling platform and a sucker means for adsorbing the coil unit is provided at the tip end thereof, even a single operator can efficiently, quickly and safely use a large coil. The unit can be removed from the carriage and positioned in place for mounting work. Further, the coil unit mounting device can be used to load the coil unit on the carriage.

[Brief description of drawings]

FIG. 1 is a front view showing a state in which a propulsion coil unit is attached to a side wall of a linear motor car traveling path by using the coil unit attachment device of the present invention.

FIG. 2 is a side view of the state shown in FIG.

3A and 3B are a front view and a side view showing a levitation guide coil unit 4 and a suction cup device 24 having a shape suitable for it.

FIG. 4 is a diagram showing a configuration of three coil unit mounting devices 20 according to the present invention, and a first layer propulsion coil unit 3, a second layer propulsion coil unit 3 and a levitation guide coil unit 4 along a side wall 2 of a linear motor car traveling path. The figure which shows the state which is sequentially attaching.

FIG. 5 is a plan view of the state of FIG.

FIG. 6 is a front view showing a state where the coil unit mounting device 20 of the present invention is used in a curved tunnel.

FIG. 7 is a partial perspective view showing an example of a traveling path for a linear motor car.

[Explanation of symbols]

 1 Lower surface running path 2 Side wall 3 Propulsion coil unit 4 Levitating guide coil unit 5 Cable 6 Bolt hole 7 Cable 8 Through hole 9 Guide running path 10 Track 20 Coil unit mounting device 21 Traveling platform 22 Balancer mechanism 23 Articulated arm 24 Sucker means 25 Horizontal part 26 Leg part 27 Automatic vertical adjustment mechanism 28 Output shaft 29 Traveling device 30 Base body 31 Driving means 32 Wheels 33 Guide means 34 First arm 34a Connecting part 35 Second arm 36 Third arm 37 Fourth arm 38 Operation panel 39 Piping 40 Piping 41 Sucker 42 Switch 50 Carriage 51 Bolt Tightening Device 60 Tunnel

Claims (1)

[Claims] 1. A device for mounting a coil unit on a pair of side walls 2 facing each other in a traveling path of a linear motor car, wherein lower ends of a pair of legs 26 are guided along the side walls 2 respectively. A gate-shaped traveling base 21 that can travel on the upper surface, and an articulated arm 2 that is connected to the upper end of the traveling base 21 via a balancer mechanism 22.
3. A coil unit mounting device for a linear motor car traveling path, comprising: 3 and a suction cup means 24 provided at the tip of the articulated arm 23.