KR102416447B1 - Coreless linear motor for moving vehicle - Google Patents

Abstract

The present invention relates to a coreless linear motor for a transfer bogie, and by arranging an armature winding in a stator installed on a traveling rail and placing a magnet on a mover of the transfer bogie running on the traveling rail, a separate method for supplying current to the transfer bogie It is possible to simplify the overall structure and control method because the current supply device of , minimizes the concentration of magnetic force on the back iron of the mover magnet at the end of the back iron while the mover passes through the stator, thereby minimizing the change in electromagnetic driving force between the mover and the transfer cart. We provide a coreless linear motor for the transfer bogie that can prevent vibration from driving and exhibit stable driving performance.

Description

Coreless linear motor for transfer bogie {CORELESS LINEAR MOTOR FOR MOVING VEHICLE}

The present invention relates to a coreless linear motor for a transfer bogie. More specifically, by arranging the armature winding on the stator installed on the traveling rail and placing a magnet on the mover of the transfer bogie running on the running rail, a separate current supply device for supplying current to the transfer bogie is unnecessary, so the overall structure and The control method can be simplified and the front and rear end lines of the back iron of the stator in which a plurality of armature windings are arranged are formed non-parallel to the reference line of the mover in at least some sections, so that when the mover passes through the stator, the Minimizes the concentration of magnetic force on the back iron of the mover magnet at the tip of the iron, thereby minimizing the change in electromagnetic driving force between the mover and the mover, thereby preventing the running vibration of the transfer bogie and improving stable running performance. It relates to a coreless linear motor for a transfer bogie that can be exhibited.

The term logistics is an abbreviation for physical distribution, and is a generic term for functions or activities that effectively move products and goods from producers to consumers. Generally refers to several activities such as packing, unloading, transport, storage and information.

In general, to transport products and goods, various processes such as packaging, storage, collection/loading, transportation, unloading/delivery, and storage are performed. It is impossible to move goods and goods without going through this process no matter which means of transport is used. Comprehensively looking at the whole of this movement is physical distribution (logistics).

In recent years, mass production, mass sales, and mass consumption have become the trend of the times, and the importance of logistics is gradually increasing because the need to streamline the flow of goods between them has increased.

Logistics warehouse refers to a storage warehouse for temporarily or long-term loading and storage of all items used in daily life, such as various foodstuffs, beverages, clothing, home appliances, miscellaneous goods, and industrial goods, which are generally mass-produced in factories or production areas. Due to the recent rapid development of the logistics industry, these warehouses are designed and constructed so that they can create new businesses such as inventory management as well as efficient warehousing, from arranging items in storage stock in the logistics warehouse beyond the simple logistics management dimension. .

These warehouses are equipped with mechanized or automated cargo loading and unloading means most of them are equipped with automated equipment such as stacker cranes, shuttles, and lifts. Various devices are being used, such as a transport system in which a transport truck moves along a rail installed on the ceiling to transport goods.

In the case of a system that transports goods by moving the transport cart, a drive device is required to move the transport cart along the rail. Recently, the use of a linear motor capable of high-speed operation or precise control as a driving device is increasing. to be.

In general, linear motors do not require a separate mechanical converter because they can generate a linear driving force, and because they are linearly driven in a non-contact motion method, high-speed operation and constant-speed operation can be performed, and precise operation is possible. For this reason, it is widely used in various industrial fields.

Such a linear motor is configured to include a stator installed along the traveling rail, and a mover installed to face the stator on the conveyance bogie moving along the traveling rail. In general, the stator includes magnets having different polarities to drive the conveyance bogie. It is configured to be alternately arranged along the direction, and the mover is configured to have a plurality of armature windings in which a coil is wound around the mover core along the traveling direction of the transfer bogie. By applying a current to the armature winding, a linear thrust is generated by the interaction between the magnetic force generated in the armature winding and the magnetic force generated in the magnet of the stator.

On the other hand, by injection molding a separate molding body to surround the armature winding and the armature winding without using a mover core, the coil winding state of the armature winding is stably maintained and structural rigidity is improved. Motors are also known.

In such a linear motor, since the mover installed on the transfer bogie is composed of an armature winding, current must be supplied to the transfer bogie in order to apply a current to the armature winding. Since the transfer cart is a moving body moving at high speed along the traveling rail, a relatively complex current supply configuration is required to continuously supply current to the moving body, and the control method is also more complicated.

In addition, in the case of a coreless linear motor, a plurality of armature windings are arranged in a line on a flat plate-shaped back iron to which a mover core is not applied, and in this state, a molding body is formed to surround the armature winding, and the back iron is formed of a magnetic material. Therefore, the magnetic force between the magnet of the stator and the armature winding of the mover is affected by the back iron, so that the electromagnetic driving force on the transfer bogie does not occur uniformly, but its size changes and vibration occurs while driving. have.

Domestic Registered Patent No. 10-1437258

The present invention was invented to solve the problems of the prior art, and an object of the present invention is to arrange an armature winding on a stator installed on a running rail and a magnet on a mover of a transfer bogie running on the running rail, thereby providing a transfer bogie. It is to provide a coreless linear motor for a transfer bogie that can simplify the overall structure and control method by eliminating the need for a separate current supply device for supplying current to the motor.

Another object of the present invention is to form front and rear end lines non-parallel to the reference line of the mover in at least some sections with respect to the back iron of the stator in which a plurality of armature windings are disposed, thereby preventing the back iron in the process of the mover passing through the stator. Minimizes the concentration of magnetic force on the back iron of the mover magnet at the tip, thereby minimizing the change in electromagnetic driving force between the mover and the mover. It is to provide a coreless linear motor for the transfer bogie.

The present invention relates to a coreless linear motor for a transfer bogie comprising a plurality of stators spaced apart from each other along a running rail and a mover installed to face the stator on a transfer bogie moving along the running rail, Magnets having different polarities are alternately disposed on one surface of the mover along the traveling direction of the transfer cart, and the stator includes a flat plate-shaped back iron and a coil wound on one surface of the back iron facing the mover. and an armature winding mounted in a form, wherein a plurality of the armature windings are arranged in a line along a traveling direction of the transfer bogie, and the armature winding is arranged in an intermediate region except for front and rear end portions of the back iron, and the back iron End lines constituting the front and rear ends of may be formed to be non-parallel to a reference line in a horizontal orthogonal direction with respect to the traveling direction of the transport cart in at least some sections.

In addition, a separate molding part for enclosing and fixing the armature winding may be formed on one surface of the back iron.

In addition, the front and rear end lines of the back iron may be formed to intersect the reference line at a point other than the line.

In addition, assuming that the reference line moves together with the transfer cart, the front and rear end lines of the back iron may be formed such that an intersection point with the reference line continuously changes.

In addition, the front and rear end lines of the back iron may be formed in a straight line in a direction obliquely crossing the reference line.

In addition, the back iron is formed in a form in which a plurality of unit back irons having the same shape are arranged in parallel to each other, and the unit back iron has a rectangular flat plate shape and is parallel to the running direction of the conveyance cart so that both sides of the unit back iron are in contact with each other in the width direction. Each of the unit back irons may be disposed at different positions in the front-rear direction that is the traveling direction of the transfer cart.

In addition, the front and rear end lines of the back iron may be formed parallel to each other.

Further, the armature winding may be disposed in a region between a rearmost point of the front end line of the back iron and a frontmost point of the rear end line of the back iron.

In addition, the first stator and the second stator adjacent to each other have a gap between the armature winding closest to the second stator among the armature windings of the first stator and the armature winding closest to the first stator among the armature windings of the second stator. It may be arranged to be formed smaller than the entire length of the magnet arrangement area of the mover.

According to the present invention, by arranging the armature winding on the stator installed on the traveling rail and placing the magnet on the mover of the transfer bogie running on the running rail, a separate current supply device for supplying current to the transfer bogie is unnecessary, so the overall structure And there is an effect that can simplify the control method.

In addition, the armature winding is arranged on one side of the stator on the traveling rail and the magnet is arranged on the lower surface of the mover opposite to this, so that the conveyance vehicle can be propelled by a one-sided linear motor method, so that the traveling path such as various branch lines can be set in various ways. It works.

In addition, the front and rear end lines of the back iron of the stator in which a plurality of armature windings are disposed are formed to be non-parallel to the reference line of the mover in at least some sections, so that the mover at the end of the back iron while the mover passes through the stator Minimizes the concentration of magnetic force on the back iron of the magnet, thereby minimizing the change in electromagnetic driving force between the mover and the mover. .

1 is a front view conceptually showing the arrangement structure of a coreless linear motor for a transfer bogie according to an embodiment of the present invention;
2 is a plan view conceptually showing the arrangement structure of a coreless linear motor for a transfer bogie according to an embodiment of the present invention;
3 is a perspective view schematically showing the shape of a stator of a coreless linear motor for a transfer bogie according to an embodiment of the present invention;
4 is a view showing the shape of a stator according to an embodiment of the present invention compared to a general structure;
5 is a graph showing changes in propulsion and attractive force in a state in which the stator according to an embodiment of the present invention is applied and compared with a general stator;
6 is a view exemplarily showing various forms of a stator according to an embodiment of the present invention;
7 is a diagram illustrating another form of a stator according to an embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. First of all, in adding reference numerals to the components of each drawing, it should be noted that the same components are given the same reference numerals as much as possible even though they are indicated on different drawings. In addition, in describing the present invention, if it is determined that a detailed description of a related known configuration or function may obscure the gist of the present invention, the detailed description thereof will be omitted.

1 is a front view conceptually illustrating an arrangement structure of a coreless linear motor for a transfer bogie according to an embodiment of the present invention, and FIG. 2 is an arrangement structure of a coreless linear motor for a transfer bogie according to an embodiment of the present invention. 3 is a perspective view schematically illustrating a stator shape of a coreless linear motor for a transfer bogie according to an embodiment of the present invention, and FIG. 4 is a stator according to an embodiment of the present invention. It is a view showing the form in comparison with the general structure, and FIG. 5 is a view showing the change form of the propulsion force and the attractive force in a state in which the stator according to an embodiment of the present invention is applied and compared with the general stator by graphing the form.

A coreless linear motor for a transfer bogie according to an embodiment of the present invention includes a plurality of stators 100 installed to be spaced apart from each other by a predetermined interval along the running rail 10 and the transfer bogie 20 moving along the running rail 10 . ) is configured to include a mover 200 installed to face the stator 100 .

At this time, on one surface of the mover 200, magnets 210 having different polarities are alternately arranged along the traveling direction of the transfer bogie 20, and the stator 100 is an armature winding ( 120) is configured to be arranged in a plurality of lines along the traveling direction of the transfer bogie 20.

More specifically, the mover 200 has a back iron 220 mounted on the lower surface of the transfer bogie 20 along the running direction, and a magnet ( 210) are alternately arranged. The stator 100 is installed on the upper surface of the traveling rail 10 to face the mover 200 of the transfer bogie 20 , and a plurality of stators are installed to be spaced apart along the traveling direction of the transfer bogie 20 . Each stator 100 has a flat plate-shaped back iron 110 installed on the upper surface of the traveling rail 10 along the traveling direction, and a plurality of armatures are installed on one surface of the back iron 110 opposite to the mover 200 . The winding 120 is configured to be arranged in a line along the traveling direction of the transfer bogie 20 . A separate molding part 130 is formed on one surface of the back iron 110 to surround and fix the armature winding 120, and the armature winding 120 is not wound and fixed on a separate core, but rather a molding part without a core. The structure fixed by 130 constitutes a coreless linear motor structure.

In this case, the spacing between the plurality of stators 100 is arranged to be smaller than the overall length of the movers 200 . More specifically, as shown in FIG. 1 , two adjacent first stators 100 (located on the left with respect to the direction shown in the drawing) and a second stator 100 (based on the direction shown in the drawing) are shown in FIG. 1 . (located to the right), the armature winding 120 closest to the second stator 100 among the armature winding 120 of the first stator 100 and the second of the armature winding 120 of the second stator 100 1 The distance D1 between the armature windings 120 closest to the stator 100 is arranged to be smaller than the total length D2 of the magnet arrangement area of the mover 200 .

According to this structure, when the transfer bogie 20 passes the gap between the two stators 100 in the process of traveling, one mover 200 is positioned across both the two stators 100 adjacent to each other. Propulsion force is generated from the stator 100 at the same time, so that stable driving performance can be maintained at all times.

In particular, the armature winding 120 is disposed on the stator 100 installed on the traveling rail 10 , and the magnet 210 is disposed on the mover 200 installed on the transfer bogie 20 , so that the armature winding 120 is disposed. ) is fixedly arranged on the stator 100 rather than the transport body, so it is easy to supply current through the power supply unit 300, and it is not necessary to provide a separate complicated power supply device, so the overall system structure can be simplified. In addition, current control for the armature winding 120 through the control unit 400 may also be performed in a simpler manner.

On the other hand, in the stator 100 according to an embodiment of the present invention, the armature winding 120 is disposed in an intermediate region excluding the front and rear ends of the back iron 110 , and the front and rear ends of the back iron 110 . The end line EL constituting the is configured to be formed non-parallel to the reference line NL in the horizontal orthogonal direction to the traveling direction of the transfer bogie 20 in at least some sections.

For example, as shown in FIGS. 2 and 3 , the front and rear end lines EL of the back iron 110 may be formed to intersect the reference line NL at a point other than the line. In addition, assuming that the reference line NL moves together with the transfer bogie 20 , the front and rear end lines EL of the back iron 110 may continuously change the intersection point with the reference line NL. can be formed.

More specifically, the front and rear end lines EL may be formed in a straight line in a direction obliquely crossing the reference line NL so that a skew is formed in the front and rear regions of the back iron 110 . At this time, the front and rear end lines EL are formed parallel to each other, and the armature winding 120 is between the rearmost point of the front end line EL of the back iron 110 and the frontmost point of the rear end line EL. placed in the area.

As described above, the front and rear end lines EL of the back iron 110 are formed not to be parallel to the reference line NL, so that the magnet 210 of the mover 200 is formed at the front and rear ends of the back iron 110 . Since the influence of the back iron 110 on the magnetic force is minimized, the driving vibration phenomenon in which the magnitude of the driving force is changed can be minimized.

For example, when the back iron 110 is formed in a general square plate shape, the front and rear end lines of the back iron 110 are formed parallel to the reference line NL as shown in FIG. 4A . In this case, when the mover 200 passes the end of the back iron 110 of the stator 100 while the mover 200 travels on the upper part of the stator 100, the The magnetic force is concentrated on the distal end of the back iron 110 of the stator 100 and the electromagnetic driving force due to the interaction with the armature winding 120 is changed. This change in driving force occurs whenever the plurality of magnets 210 of the mover 200 pass the end portion of the back iron 110, and at this time, the front and rear end lines of the back iron 110 are parallel to the reference line NL. Therefore, whenever the magnet 210 of the mover 200 passes the end portion of the back iron 110 of the stator 100, the magnetic force of the magnet 210 of the mover 200 is applied to the end line EL of the back iron 110. ) is concentrated in the entire area at the same time, and accordingly, the width of the change in driving force increases.

In one embodiment of the present invention, since the front and rear end lines EL of the back iron 110 are formed not to be parallel to the reference line NL, for example, as shown in FIG. Since it is formed in a straight line that obliquely intersects the line NL, when the magnet 210 of the mover 200 passes the end of the back iron 110 of the stator 100, the back iron 110 and the magnet 210 Since the crossing region is formed as a point region, a phenomenon in which the magnetic force of the magnet 210 of the mover 200 is simultaneously concentrated on the entire area of the end line EL of the back iron 110 is prevented (the back iron 110 and the magnet ( 210) can be finely concentrated only at the intersection point, but this is very insignificant), and accordingly, little change in driving force occurs.

In relation to this, FIG. 5 (a) shows a graph showing a change in driving force according to the displacement of the mover 200 while the mover 200 passes through the stator 100. As shown by a solid line, the back iron When the skew is not applied to the tip of 110, the driving force continues to change in the form of a wave, but as shown by the dotted line, when skew is applied to the tip of the back iron 110, the driving force is appears to remain constant. In addition, magnetic attraction is also generated between the stator 100 and the mover 200 in addition to the driving force, and the change in magnetic attraction is also graphically shown in FIG. If not, the magnetic attraction continues to change in the form of a wave, but as shown by the dotted line, when the skew is applied, the magnetic attraction also appears to be kept constant.

Accordingly, in the coreless linear motor according to an embodiment of the present invention, the end line EL of the back iron 110 of the stator 100 is formed not in parallel with the reference line NL of the mover 200 as described above, By minimizing the concentration of magnetic force of the mover 200 and the magnet 210 at the end of the back iron 110, the driving force is prevented from changing, thereby preventing driving vibration and exhibiting stable driving performance.

6 is a view exemplarily showing various forms of a stator according to an embodiment of the present invention, and FIG. 7 is a view exemplarily showing another form of a stator according to an embodiment of the present invention.

In the above description, the configuration in which the front and rear end lines EL of the back iron 110 of the stator 100 are formed in a straight line in a direction intersecting the reference line NL of the mover 200 has been described, but FIGS. 6 and FIG. 7 , the front and rear end lines EL of the back iron 110 can be changed into various shapes.

For example, as shown in (a) of FIG. 6, the front and rear end lines EL of the back iron 110 may be formed in a single straight line, and as shown in FIG. It may be formed in a shape that protrudes forward and backward in the form of two straight lines intersecting the reference line NL as shown in FIG. And it may be formed in the form of a curved curve protruding toward the rear. In the case shown in (b) and (c) of Figure 6, the front and rear end lines EL of the back iron 110 cross each other at two points with the reference line NL.

On the other hand, the back iron 110 is formed in a form in which a plurality of unit back irons 111 having the same shape are arranged in parallel to each other, and the unit back iron 111 is transported in a rectangular flat plate shape so that both sides in the width direction contact each other. It may be arranged parallel to the traveling direction of the bogie 20 , and each unit back iron 111 may be configured to be arranged at different positions in the front-rear direction that is the traveling direction of the conveying bogie 20 . For example, each of the unit back irons 111 may be disposed in a step shape in which the ends thereof sequentially protrude toward the front and rear. In this case, since the tip line EL of each unit back iron 111 is parallel to the reference line NL, it intersects the reference line NL in the entire area of the tip line EL of each unit back iron 111 . will do Accordingly, as the number of unit back irons 111 increases, the length of the end line EL decreases, thereby reducing the area of intersection with the reference line NL.

The above description is merely illustrative of the technical spirit of the present invention, and various modifications and variations will be possible without departing from the essential characteristics of the present invention by those skilled in the art to which the present invention pertains. Accordingly, the embodiments disclosed in the present invention are not intended to limit the technical spirit of the present invention, but to explain, and the scope of the technical spirit of the present invention is not limited by these embodiments. The protection scope of the present invention should be construed by the following claims, and all technical ideas within the scope equivalent thereto should be construed as being included in the scope of the present invention.

10: running rail
20: transfer cart
100: stator
110: back iron
120: armature winding
130: molding unit
200: mover
210: magnet
300: power supply
400: control unit

Claims (9)

In the coreless linear motor for a transfer bogie comprising a plurality of stators spaced apart from each other along a running rail and a mover installed to face the stator on a transfer bogie moving along the running rail,
On one surface of the mover, magnets having different polarities are alternately arranged along the traveling direction of the transfer cart,
the stator is
a flat plate-shaped back iron and an armature winding mounted in a form in which a coil is wound on one surface of the back iron facing the mover, wherein a plurality of the armature windings are arranged in a line along the traveling direction of the transfer bogie,
The armature winding is disposed in an intermediate region excluding the front and rear end portions of the back iron, and the end line forming the front and rear ends of the back iron is at least a part of a reference line in a horizontal perpendicular direction to the traveling direction of the transfer cart. Formed non-parallel in the section,
A separate molding part is formed on one surface of the back iron to surround and fix the armature winding,
The back iron is formed in a form in which a plurality of unit back irons having the same shape are disposed parallel to each other;
The unit back irons have a rectangular flat plate shape and are disposed parallel to the traveling direction of the conveying cart so that both sides of the width direction are in contact with each other, and each unit back iron is disposed at different positions in the forward and backward directions that are the traveling directions of the conveying cart A coreless linear motor for the transfer bogie, characterized in that.
delete delete delete delete delete The method of claim 1,
The coreless linear motor for the transfer bogie, characterized in that the front and rear end lines of the back iron are formed parallel to each other.
8. The method of claim 7,
and the armature winding is disposed in a region between the rearmost point of the front end line of the back iron and the most forward point of the rear end line of the back iron.
The method of claim 1,
The first stator and the second stator adjacent to each other are
A spacing between an armature winding of the first stator winding that is closest to the second stator and an armature winding of the second stator that is closest to the first stator is greater than the entire length of the magnet arrangement area of the mover A coreless linear motor for the transfer bogie, characterized in that it is arranged to be formed small.

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