201242709 六、發明說明： 相關申請 本申請案係爲主張2010年10月26日申請之日本特 願2010-239452之優先權者，藉由參照其整體並且引用其 作爲本案的一部份。 【發明所屬之技術領域】 本發明係關於一種適用於工作母機的裝載機、或者物 流機械、產業機械中的物品搬運之搬運系統，尤其是關於 使用線性馬達作爲行走驅動源之搬運系統。 【先前技術】 線性馬達係在物流裝置之搬運台車或是成爲工作母機 的裝載機之搬運裝置等中，有被用於其之行走驅動等（例 如專利文獻1 )。雖然線性馬達中有線性感應馬達（LIM )、線性同步馬達（LSM )、線性直流馬達等，但是作爲 長距離之行走系統主要使用者爲線性感應馬達。線性同步 馬達係以在地上側配置磁鐵並且移動線圈側的方式佔有大 部份。又在線性同步馬達中，雖然有在地上側部份性離散 配置1次線圈的例子（例如專利文獻2)，但是線性同步 馬達係爲在曲線路線部份或開始終端部份的輔助使用，基 本上是使用線性感應馬達。 先前技術文獻 -5- 201242709 專利文獻 專利文獻1 :日本特開昭6 3 - 1 1 4 8 8 7號公報 專利文獻2:日本特開2007-82307號公報 【發明內容】 (發明槪要） (發明所欲解決之課題） 線性感應馬達的推力低而使行走性能的提升困難。因 此，在對於成爲工作母機之裝載機的搬運裝置等的適用中 ，嘗試線性同步馬達的採用。習知之線性同步馬達係以在 地上側配置磁鐵並且移動線圏側的方式佔有大部份。但是 ，在使線圈側移動方面，必須對於可動子進行給電，在對 於可動子之配線的狀況下，無法達到利用循環路線的行走 等，限制行走路線、或是使給電系複雜化。因此，在線性 同步馬達中，嘗試在地上側配置1次線圈。但是，在地上 側配置1次線圈的情況下，如習知之線性馬達所示，對於 跨越移動路線的全長並且連續配置線圏方面，會增加線圈 的使用量造成成本增大。 作爲用以解決這樣的課題之同步形線性馬達，考量將 具有可各自成爲獨立的1台線性馬達之一次側電樞機能之 由電樞構成的複數個個別馬達在可動子的移動方向隔著間 隔予以配列之離散配置的線性同步馬達。各個別馬達係爲 個別控制。當根據該構成時，由於個別馬達爲離散配置’ 可以削減線圈的使用量，圖謀成本降低。。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a loader suitable for use in a work machine, or a transport system for moving articles in a flow machine or an industrial machine, and more particularly to a transfer system using a linear motor as a travel drive source. [Prior Art] The linear motor is used for the traveling drive of the transport device of the transport device or the transport device of the loader that serves as the work machine (for example, Patent Document 1). Although linear motors include linear induction motors (LIMs), linear synchronous motors (LSMs), linear DC motors, etc., the main users of long-distance travel systems are linear induction motors. The linear synchronous motor occupies most of the way in which the magnet is disposed on the ground side and the side of the coil is moved. Further, in the linear synchronous motor, although there is an example in which the primary coil is discretely arranged on the ground side (for example, Patent Document 2), the linear synchronous motor is used in the curved route portion or the start terminal portion, and is basically used. The top is the use of a linear induction motor. PRIOR ART DOCUMENT 5 - 201242709 Patent Document Patent Document 1: Japanese Laid-Open Patent Publication No. Hei. No. Hei. No. Hei. No. Hei. No. 2007-82307. Problem to be Solved by the Invention) The linear induction motor has a low thrust and it is difficult to improve the running performance. Therefore, in the application to a conveying device or the like of a loader that is a working machine, the use of a linear synchronous motor is attempted. The conventional linear synchronous motor occupies most of the way in which the magnet is disposed on the ground side and the side of the wire is moved. However, in order to move the coil side, it is necessary to supply power to the movable member, and in the case of wiring to the movable member, it is not possible to achieve travel by the circulation route, etc., and the traveling route is restricted or the power feeding system is complicated. Therefore, in the linear synchronous motor, an attempt is made to arrange the primary coil on the ground side. However, in the case where the primary coil is disposed on the ground side, as shown by the conventional linear motor, the amount of use of the coil is increased to increase the cost in terms of the entire length of the moving path and the continuous arrangement of the turns. As a synchronous linear motor for solving such a problem, it is considered that a plurality of individual motors each having an armature function of a primary side armature function that can be independent of one linear motor are spaced apart in the moving direction of the movable member. A discretely arranged linear synchronous motor that is arranged. Each individual motor is individually controlled. According to this configuration, since the individual motors are arranged in a discrete arrangement, the amount of use of the coil can be reduced, and the cost of the drawing can be reduced.
-6- S 201242709 但是，在上述之離散配置線性馬達中，由於可動子成 爲附屬隔著間隔予以配置之各個別馬達予以移動，因此對 於穩定移動或是推力確保造成問題。 本發明之目的係爲提供一種雖然採用在線圏使用量削 減或者給電形式上成爲有利之個別馬達的離散配置形式的 線性馬達作爲驅動源，但是可以進行行走體的穩定行走及 推力確保之搬運系統。 (解決課題之手段） 本發明之搬運系統，其係對於以自由行走的方式在軌 道上設置搬運被搬運物的行走體之搬運系統，設置行走驅 動前述行走體之同步形線性馬達，該線性馬達係將具有可 各自成爲獨立的1台線性馬達之一次側電樞機能之複數個 個別馬達跨越前述行走體之行走區域的整個區域，順著前 述軌道隔著間隔予以配列，將由永久磁鐵構成的可動子設 置在前述行走體，並且將前述可動子之行走方向的長度形 成爲即使可動子位於行走方向的任何位置都是跨越複數個 個別馬達並且與其對向的長度。 當根據該構成時，由於使用同步形線性馬達，與感應 形線性馬達相比易於得到大的推力，，提升行走性能。是同 步形線性馬達，由於在固定側配置一次側電樞，在行走體 中係使用永久磁鐵的可動子，因此不必將用以行走驅動之 電流供給到行走體，在行走驅動用的給電狀況下不會限制 行走路線，可以將行走路線配置爲環狀、或是形成具有彎 201242709 道部份的路線等，形成複雜的路線形狀。 又，一次側電樞之個別馬達係由於隔著間隔予以配列 •，因此不會造成過剩的線圈配置，對於削減線圈使用量是 有效率的。雖然個別馬達爲隔著間隔予以配列，但是由於. 將可動子之行走方向的長度成爲即使可動子位於行走方向 的任何位置都是跨越複數個個別馬達並且與其對向的長度 ，因此不會發生所謂因爲可動子位於行走方向的偏離位置 而只與1個個別馬達對向的狀態，可以得到穩定的推力。 在同步形線性馬達中，在一次側電樞之個別馬達與可動子 之間使磁吸附力或磁排斥力作用，雖然此等磁吸附力或排 斥力係除了推力以外，也成爲行走的不穩定化要因，但是 根據這樣的磁力之影響也藉由成爲跨越複數個個別馬達並 且與其對向的長度加以穩定，穩定行走體的行走。 在該發明中，前述各個個別馬達係使其前述行走方向 的長度互相相等，並且使前述可動子之前述行走方向的長 度相對於個別馬達的部份的長度總和爲1個個別馬達的長 度以上者爲佳，藉由將與個別馬達對向部份的長度總和成 爲1個個別馬達的長度以上，可以得到更確實的行走穩定 、確保推力。又電樞之各個別馬達形成爲個別控制的形態 而言，雖然在控制的簡易化方面爲佳，但是當將可動子的 長度爲1個個別馬達的長度以上時，即使是個別控制各個 別馬達，也可以進行穩定的控制。 在該發明中，前述各個別馬達係使其前述行走方向的 長度爲互相相等，而且使相鄰的前述個別馬達之間的間隔 -8 - 201242709 爲互相相等，並且將前述可動子之前述行走方向的長度經 常設定爲比個別馬達長度與2倍前述間隔之總和更大爲佳 ，藉此，可以簡單構成上述構造。 在本發明中，前述各個別馬達係使其前述行走方向的 長度爲互相相等，而且使相鄰的前述個別馬達之間的間隔 爲互相相等，並且將前述可動子之前述行走方向的長度設 定爲個別馬達設置間隔的整數倍爲佳。當將可動子的長度 設定成個別馬達設置間隔的整數倍時，即使可動子位於行 走路線的任何位置，與個別馬達之對向面積之總和皆爲相 同。因此，即使行走體位於任何位置都可以得到穩定的推 力。 將申請專利範圍及/或說明書及/或圖面所揭示的至少 2個構成之任何組合也都包含在本發明。尤其是將申請專 利範圍的各請求項的2個以上之任何組合也都包含在本發 明。 【實施方式】 連同第1至7圖說明本發明之第1實施形態。第1圖 係爲利用該搬運系統1及工作母機2所構成之加工設備的 正面圖。工作母機2係在圖示的例子中由車床構成，在床 台51上設置由主軸構成之支撐工件支撐手段52之主軸台 53、及加工手段之轉台型切刀台54。 搬運系統1係爲以自由行走的方式在軌道4上設置搬 運成爲加工素材之被搬運物W的行走體3，並且設置行走 -9- 201242709 驅動行走體3之同步形線性馬達5者，對於工作母機2的 工件支撐手段52進行被搬運物W的收授。軌道4係在利 用支柱11架設的水平框架12順著長度方向予以設置。 在行走體3中’搭載朝向與行走方向（X方向）垂直 交叉的前後方向（Z方向）進退之前後移動台16，並且在 以自由昇降的方式設置在前後移動台16之棒狀昇降體17 的下端設置工件保持頭18。在工件保持頭18設置複數個 被搬運物保持手段之夾頭19。前後移動台16係利用設置 在行走體3之馬達等驅動源（未圖示）使其前後移動，昇 降體17係利用設置在前後移動台16之馬達等驅動源予以 昇降驅動。夾頭19係利用汽缸裝置或螺旋管等驅動源予 以開關驅動並且具有保持被搬運物W的夾頭爪（未圖示 )° 線性馬達5係利用設置在框架1 2之複數個個別馬達 6、及1個可動子7構成。各個別馬達6係爲具有可各自 成爲獨立的1台線性馬達之一次側電樞的機能者，並且跨 越行走體3之行走區域的整個區域，順著軌道4隔著間隔 予以配列。可動子7係由永久磁鐵構成，並且設置在行走 體3上。驅動線性馬達5之馬達驅動裝置係利用各自驅動 各個別馬達5之複數個個別馬達驅動裝置8、及將位置指 令等施予到此等複數個個別馬達驅動裝置8之統括控制手 段（未圖示）構成。各個別馬達驅動裝置8係以每2台滙 集一起形成爲一個馬達驅動電路部9，並且將各馬達驅動 電路部9設置在框架12上》 -10 - 201242709 如第2圖所示，行走體3係在設置於框架〗2之一對 對向軌道4、4上，透過在上下方向銜接之車輪等滾輪21 、及在寬幅方向銜接之滾輪22 (第3圖）而設置爲自由 行走》在框架1 2中係除此之外設置檢測行走體3的位置 之位置感測器、或是檢測行走體3之由永久磁鐵構成的可 動子7的磁極之磁極感測器（任何一個皆未圖示）。位置 感測器及磁極感測器係以一個感測器兼具兩者亦可。 第3圖係爲顯示將比個別馬達6更上方的構成零件刪 除而使個別馬達6露出之圖面。如同圖所示，根據軌道4 之行走體3的行走路徑23係具有彎道部23a亦可。又， 對於一個搬運系統1設置複數台工作母機2亦可。又第3 圖係對於行走體3而言，以圖面易於觀看的方式也圖示將 行走體3從軌道4脫離的位置。 如第4圖所示，各個別馬達6係爲利用3相交流電流 予以驅動者，形成在每個各相（U、V、W相）設置一個 電極6U、6V、6W之3極電樞。此等電極6U、6V、6W 的並列方向係成爲可動子7的移動方向X。各電極6U、 6V、6W係各自利用鐵芯6Ua、6Va、6Wa及線圏6Ub、 6Vb、6Wb構成。鐵芯6Ua、6Va、6Wa係爲從共通的鐵 芯基台部6d呈梳齒狀突出者。呈現複數配列之各個別馬 達6係爲互相相同的構成者，因此使可動子行走方向的長 度A成爲任何一個都相等的長度。在該例子中，雖然使 個別馬達6的極數爲3，但是不限於3，3的整倍數，例 如成爲9極亦可。可動子7係爲將由永久磁鐵構成之N、 -11 - 201242709 S磁極在移動方向X複數個並列設置在可動子基體7a上 者。N、S磁極對的數目係爲任意設計即可。第5圖係爲 以平面圖顯示一個個別馬達6者。 在上述構成之線性馬達5中，如第6圖所示，將可動 子7的行走方向之長度B成爲即使可動子7在行走方向的 任何位置都是跨越複數個個別馬達6並且與其對向的長度 。具體而言，將可動子7之行走方向的長度B經常設定爲 比個別馬達6的長度A與2倍的相鄰個別馬達6、6之間 的間隔C之總和（A + 2C )更大（B>A + 2C )。在本實施形 態中，相鄰的個別馬達6、6之間的間隔C爲一定，間隔 C係對於個別馬達6的長度A而言，不論是相同、或是更 長更短皆可。又如第7圖所示，將可動子7的行走方向之 長度B形成爲使與個別馬達6對向部份之長度Ba之總和 (與2個對向的情況爲Ba + Ba)爲1個個別馬達6的長度 A以上之長度。 當根據上述構成之搬運系統1時，由於使用同步形線 性馬達1，與感應形線性馬達相比易於得到大的推力，提 升行走性能》雖然是同步形線性馬達1，但是由於在固定 側配置一次側電樞之個別馬達6，在行走體3中係使用永 久磁鐵的可動子7，因此不必將用以行走驅動之電流供給 到行走體3，在行走驅動用的給電狀況下不會限制行走路 線，可以將行走路線2 3配置爲環狀、或是形成具有彎道 部份2 3 a的路線等，形成複雜的路線形狀。又雖然在搭載 於行走體3之各驅動源中必須進行給電’但是藉由使用非 -12- 201242709 接觸給電裝置或者吊運車裝置（未圖示）進行給電，可以 節省在固定側及靜止側物理性連繫的配線。搭載在行走體 3之各驅動源係與行走用驅動源相比由於是輸出爲小者就 足夠，因此如上述所示之非接觸給電裝置等的採用較爲容 易。 又一次側電樞之個別馬達6係由於隔著間隔予以配列 ，因此不會造成過剩的線圈配置，對於削減線圈使用量是 有效率的。雖然個別馬達6爲隔著間隔予以配列，但是由 於將可動子7的行走方向長度B設成爲即使可動子7位於 行走方向的任何位置都是跨越複數個個別馬達6並且與其 對向的長度，因此不會發生所謂因爲可動子7位於行走方 向的偏離位置而只與1個個別馬達6對向的狀態，可以得 到穩定的推力。在同步形線性馬達1中，在一次側電樞之 個別馬達6與可動子7之間使磁吸附力或磁排斥力作用， 雖然此等磁吸附力或排斥力係除了推力以外，也成爲行走 的不穩定化要因，但是根據這樣的磁力之影響也藉由成爲 跨越複數個個別馬達6並且與其對向的長度加以穩定，穩 定行走體的行走。 又在本實施形態中，將可動子7之行走方向的長度B 設成爲使與個別馬達6對向部份之長度B a之總和爲1個 個別馬達6的長度A以上之長度。因此，可以得到更確 實的穩定行走、確保推力。又電樞之各個別馬達6形成爲 個別控制的形態而言，雖然在控制的簡易化方面爲佳，但 是當可動子7的長度爲1個個別馬達6的長度A以上時 -13- 201242709 ，即使是採用個別控制各個別馬達6的形態，也可以進行 穩定的控制。 第8圖係顯示本發明之第2實施形態。本實施形態係 對於第1〜7圖所示之第1實施形態，將可動子7之行走 方向的長度B設成爲個別馬達設置間隔（A + C )的整數倍 者。在圖示的例子中，相鄰的個別馬達6、6之間的間隔 C爲一定，而且B = 2x ( A + C )。如此一來，當將可動子7 的長度形成爲個別馬達設置間隔（A + C )的整數倍時，即 使可動子7位於走行路線的任何位置，都會使與個別馬達 6的對向面積的總和爲相同。因此，即使行走體3位於任 何位置都可以得到穩定的推力。又，在本實施形態亦是， 連同第6圖如前述所示，將可動子7之行走方向的長度B 設成爲即使可動子7位於行走方向的任何位置都是跨越複 數個個別馬達6並且與其對向的長度。連同第7圖如前述 之構成，也就是使可動子7之行走方向的長度B相對於個 別馬達6的部份之長度B a的總和（在與2個對向的情況 下爲2xBa)爲1個個別馬達6的長度A以上之長度的條 件，不論使其滿足、或是使其不滿足皆可。 又在上述各實施形態中，雖然是針對適用於成爲工作 母機2的裝載機之搬運系統1予以說明，但是也適用於物 流用或各種產業機械中的搬運系統。 如以上所示，雖然是一邊參照圖面一邊說明本發明之 適合的實施形態，但是在不脫離本發明的宗旨之範圍內， 可以進行各種追加、變更或是削除。因此，該等也包含在 -14- 201242709 本發明的範圍內。 【圖式簡單說明】 本發明係從參考添附的圖面進行以下合適的實施形態 之說明更易於明白理解。然而，實施形態及圖面係爲用以 單純圖示及說明者，因此不該被利用爲用以限定本發明的 範圍者。本發明的範圍係根據添附的申請專利範圍予以限 定。在添附的圖面中，在複數個圖面中之相同的元件符號 係表示相同的部份。 第1圖係爲顯示關於本發明之第1實施形態之組裝搬 運系統及工作母機的加工設備之一例的一部份省略正面圖 〇 第2圖係爲該搬運系統的側面圖。 第3圖係爲顯示該搬運系統之個別馬達的配列之平面 圖。 第4圖係爲顯示線性馬達長度方向的一部份之擴大剖 面圖。 第5圖係爲其中一個個別馬達的平面圖。 第6圖係爲利用平面圖顯示線性馬達中之可動子的長 度之說明圖。 第7圖係爲利用平面圖顯示線性馬達中之可動子的長 度之其他說明圖。 第8圖係爲利用平面圖顯示關於本發明之第2實施形 態之搬運系統的線性馬達中之可動子的長度之說明圖。 -15- 201242709 【主要元件符號說明】 1 :搬運系統 2 :工作母機 3 :行走體 4 :軌道 5 :線性馬達 6 :個別馬達 7 :可動子 21 、 22 :滾輪 A :個別馬達長度 B :可動子長度 Ba:對向部份的長度 W :被搬運物 -16--6- S 201242709 However, in the above-described discretely arranged linear motor, since the movable members are moved by the respective motors arranged with the intervals therebetween, problems are caused for stable movement or thrust compensation. SUMMARY OF THE INVENTION An object of the present invention is to provide a linear motor which is a discrete arrangement of individual motors which are used in the form of online cymbal reduction or power supply, and which can be used as a driving source for stable traveling and thrust securing of a traveling body. (Means for Solving the Problem) The transport system of the present invention is a transport system in which a traveling body that transports a transported object is provided on a rail in a free-running manner, and a synchronous linear motor that travels and drives the traveling body is provided. A plurality of individual motors having a primary side armature function that can be independent of one linear motor straddle the entire area of the traveling region of the traveling body, and are arranged along the track at intervals, and are movable by permanent magnets. The sub-machine is disposed on the traveling body, and the length of the traveling direction of the movable member is formed to be a length that spans a plurality of individual motors and is opposed thereto even if the movable member is located at any position in the traveling direction. According to this configuration, since the synchronous linear motor is used, it is easy to obtain a large thrust as compared with the inductive linear motor, and the running performance is improved. It is a synchronous linear motor. Since the primary side armature is disposed on the fixed side and the movable magnet is used in the traveling body, it is not necessary to supply the current for traveling to the traveling body, and the power supply for the traveling drive is not required. The walking route is not limited, and the walking route can be arranged in a ring shape or a route having a portion of the 201242709 curve can be formed to form a complicated route shape. Further, since the individual motors of the primary side armature are arranged at intervals, the excessive coil arrangement is not caused, and it is effective to reduce the amount of use of the coil. Although the individual motors are arranged at intervals, the length of the movable direction of the movable member is such that the length of the movable member is equal to the length of the individual motor even if it is located at any position in the traveling direction. Since the movable member is located at a position offset from the traveling direction and is opposed to only one individual motor, a stable thrust can be obtained. In the synchronous linear motor, a magnetic attraction force or a magnetic repulsion force is applied between the individual motors of the primary side armature and the movable member, although these magnetic adsorption forces or repulsive forces are unstable in walking in addition to the thrust. However, according to the influence of such a magnetic force, the walking of the traveling body is stabilized by stabilizing the length across the plurality of individual motors and opposing them. In the invention, each of the individual motors has the same length in the traveling direction, and the total length of the movable direction of the movable member with respect to the length of the individual motor portion is equal to or longer than the length of one individual motor. Preferably, the total length of the opposing portions of the individual motors is equal to or longer than the length of one individual motor, so that more reliable travel stability and thrust can be obtained. Further, in the case where the individual motors of the armature are individually controlled, it is preferable in terms of simplification of control, but when the length of the movable member is equal to or longer than the length of one individual motor, even individual motors are individually controlled. It is also possible to perform stable control. In the invention, each of the motors has the lengths of the traveling directions being equal to each other, and the intervals -8 - 201242709 between the adjacent individual motors are equal to each other, and the traveling direction of the movable member is the same. The length is often set to be larger than the sum of the individual motor lengths and two times the aforementioned intervals, whereby the above configuration can be simply configured. In the present invention, each of the motors has the lengths of the traveling directions being equal to each other, and the intervals between the adjacent individual motors are equal to each other, and the length of the movable direction of the movable member is set to An integer multiple of the individual motor setting interval is preferred. When the length of the movable member is set to an integral multiple of the individual motor setting interval, even if the movable member is located at any position of the traveling path, the sum of the opposing areas with the individual motors is the same. Therefore, a stable pushing force can be obtained even if the traveling body is located at any position. Any combination of at least two components disclosed in the scope of the patent application and/or the specification and/or drawings is also included in the present invention. In particular, any combination of two or more of the claims of the patent application scope is also included in the present invention. [Embodiment] A first embodiment of the present invention will be described with reference to Figs. 1 to 7. Fig. 1 is a front view showing a processing apparatus including the transport system 1 and the work machine 2. The working machine 2 is constituted by a lathe in the illustrated example, and a bed table 53 that supports the workpiece supporting means 52 composed of a main shaft and a turntable type cutter table 54 that processes the means are provided on the bed 51. The transport system 1 is provided with a traveling body 3 that transports the object W to be processed as a processing material on the rail 4, and is provided with a synchronous linear motor 5 that drives the traveling body 3 by walking -9-201242709 for work. The workpiece supporting means 52 of the parent machine 2 carries out the conveyance of the object W. The rails 4 are disposed along the longitudinal direction of the horizontal frame 12 which is erected by the pillars 11. In the traveling body 3, the moving table 16 is moved forward and backward in the front-rear direction (Z direction) perpendicularly intersecting the traveling direction (X direction), and the rod-shaped lifting body 17 is provided on the front and rear moving table 16 in a freely movable manner. The workpiece holding head 18 is provided at the lower end. A plurality of chucks 19 for holding the object holding means are provided in the workpiece holding head 18. The front and rear moving table 16 is moved forward and backward by a driving source (not shown) such as a motor provided in the traveling body 3, and the lifting body 17 is driven up and down by a driving source such as a motor provided on the front and rear moving table 16. The chuck 19 is driven by a drive such as a cylinder device or a spiral tube, and has a chuck claw (not shown) for holding the object W. The linear motor 5 uses a plurality of individual motors 6 provided in the frame 12. And one movable member 7 is formed. Each of the individual motors 6 is a function of a primary side armature that can be independent of one linear motor, and is arranged along the track 4 across the entire area of the traveling area of the traveling body 3. The movable member 7 is composed of a permanent magnet and is disposed on the traveling body 3. The motor driving device that drives the linear motor 5 uses a plurality of individual motor driving devices 8 that drive the respective motors 5, and a general control device that applies a position command or the like to the plurality of individual motor driving devices 8 (not shown). ) constitutes. Each of the individual motor driving devices 8 is formed as one motor drive circuit portion 9 for each of the two sets, and each motor drive circuit portion 9 is provided on the frame 12" -10 - 201242709 As shown in Fig. 2, the traveling body 3 It is set on the pair of opposite rails 4, 4 provided in the frame 〖2, and is set to be free to travel by the roller 21 such as a wheel that is engaged in the up-and-down direction and the roller 22 (Fig. 3) that is engaged in the wide direction. In addition, the frame 12 is provided with a position sensor for detecting the position of the traveling body 3 or a magnetic pole sensor for detecting the magnetic pole of the movable body 7 of the traveling body 3 (any one is not shown). Show). The position sensor and the magnetic pole sensor are both possible with one sensor. Fig. 3 is a view showing a state in which the individual components are removed by removing the constituent members above the individual motors 6. As shown in the figure, the traveling path 23 of the traveling body 3 according to the rail 4 may have a curved portion 23a. Further, a plurality of working machines 2 may be provided for one transport system 1. Further, in the third figure, the traveling body 3 is also shown in a position where the traveling body 3 is detached from the rail 4 in a manner that the drawing surface is easy to see. As shown in Fig. 4, each of the motors 6 is driven by a three-phase alternating current, and a three-pole armature in which one electrode 6U, 6V, and 6W is provided for each phase (U, V, and W phases) is formed. The parallel direction of the electrodes 6U, 6V, and 6W is the moving direction X of the movable member 7. Each of the electrodes 6U, 6V, and 6W is composed of cores 6Ua, 6Va, and 6Wa, and turns 6Ub, 6Vb, and 6Wb. The iron cores 6Ua, 6Va, and 6Wa are formed in a comb-like shape from the common core base portion 6d. Since the individual modules 6 in which the plurality of pairs are arranged are the same as each other, the length A of the movable traveling direction is made equal to any one. In this example, although the number of poles of the individual motor 6 is three, it is not limited to an integral multiple of 3, 3, and may be, for example, nine poles. The movable member 7 is a plurality of N, -11 - 201242709 S magnetic poles composed of permanent magnets arranged in parallel in the moving direction X on the movable sub-base 7a. The number of N and S magnetic pole pairs can be any design. Figure 5 is a diagram showing an individual motor 6 in plan view. In the linear motor 5 having the above configuration, as shown in Fig. 6, the length B of the movable direction of the movable member 7 is such that the movable member 7 is aligned with and opposed to the plurality of individual motors 6 at any position in the traveling direction. length. Specifically, the length B of the traveling direction of the movable member 7 is often set to be larger than the sum (A + 2C ) of the interval C between the adjacent individual motors 6 and 6 of the length A and the double of the individual motor 6 (A + 2C ) ( B>A + 2C). In the present embodiment, the interval C between the adjacent individual motors 6, 6 is constant, and the interval C is the same as the length A of the individual motors 6, either longer or longer. Further, as shown in Fig. 7, the length B of the traveling direction of the movable member 7 is set such that the sum of the lengths Ba of the opposing portions of the individual motors 6 (Ba + Ba in the case of two opposing directions) is one. The length of the individual motor 6 is longer than A. According to the transport system 1 configured as described above, since the synchronous linear motor 1 is used, it is easy to obtain a large thrust as compared with the inductive linear motor, and the traveling performance is improved. Although it is the synchronous linear motor 1, it is disposed once on the fixed side. Since the individual motor 6 of the side armature uses the movable member 7 of the permanent magnet in the traveling body 3, it is not necessary to supply the current for traveling drive to the traveling body 3, and the traveling route is not restricted in the power supply state for the traveling drive. The travel route 2 3 may be arranged in a ring shape or a route having a curve portion 2 3 a or the like to form a complicated route shape. Further, although it is necessary to supply power to each of the driving sources mounted on the traveling body 3, it is possible to save power on the fixed side and the stationary side by using a non--12-201242709 contact power feeding device or a trolley device (not shown). Physically connected wiring. Since each of the driving sources mounted on the traveling body 3 is sufficient in output compared with the driving source for traveling, it is easy to use the non-contact power feeding device and the like as described above. Since the individual motors 6 of the side armature are arranged at intervals, the excess coil arrangement is not caused, and it is effective to reduce the amount of use of the coil. Although the individual motors 6 are arranged at intervals, the length B in the traveling direction of the movable member 7 is set to a length that spans a plurality of individual motors 6 and faces each other even if the movable member 7 is located at any position in the traveling direction. A state in which only the one individual motor 6 is opposed to the position where the movable member 7 is located in the traveling direction does not occur, and a stable thrust can be obtained. In the synchronous linear motor 1, a magnetic attraction force or a magnetic repulsion force is applied between the individual motor 6 of the primary side armature and the movable member 7, although these magnetic attraction forces or repulsive forces become walking in addition to the thrust. The cause of the instability is that the movement of the traveling body is stabilized by the influence of such a magnetic force by stabilizing the length of the plurality of individual motors 6 and opposing them. Further, in the present embodiment, the length B of the movable member 7 in the traveling direction is set such that the sum of the lengths B a of the portions facing the individual motors 6 is equal to or longer than the length A of the individual motors 6. Therefore, it is possible to obtain a more stable and stable walking and ensure the thrust. Further, in the form in which the individual motors 6 of the armature are individually controlled, it is preferable in terms of simplification of control, but when the length of the movable member 7 is equal to or longer than the length A of one individual motor 6, -13 to 201242709, Even if the form of the individual motors 6 is individually controlled, stable control can be performed. Fig. 8 is a view showing a second embodiment of the present invention. In the first embodiment shown in Figs. 1 to 7, the length B of the movable member 7 in the traveling direction is set to be an integral multiple of the individual motor installation interval (A + C ). In the illustrated example, the spacing C between adjacent individual motors 6, 6 is constant and B = 2x (A + C). In this way, when the length of the movable member 7 is formed as an integral multiple of the individual motor setting interval (A + C ), even if the movable member 7 is located at any position of the traveling path, the sum of the opposing areas with the individual motors 6 is made. For the same. Therefore, a stable thrust can be obtained even if the traveling body 3 is at any position. Further, in the present embodiment, as described above, the length B of the movable direction of the movable member 7 is set so as to span the plurality of individual motors 6 and at any position even when the movable member 7 is in the traveling direction. The length of the opposite direction. As described above with reference to Fig. 7, that is, the sum of the length B of the traveling direction of the movable member 7 with respect to the length B a of the portion of the individual motor 6 (in the case of 2 opposite directions, 2xBa) is 1 The condition of the length A or more of the individual motors 6 may be satisfied or made unsatisfactory. Further, in the above embodiments, the transport system 1 applied to the loader serving as the work machine 2 has been described. However, the present invention is also applicable to a transport system for goods flow or various industrial machines. As described above, the preferred embodiments of the present invention are described with reference to the drawings, and various additions, modifications, and deletions are possible without departing from the scope of the invention. Therefore, these are also included in the scope of the present invention from -14 to 201242709. BRIEF DESCRIPTION OF THE DRAWINGS The present invention will be more readily understood and understood from the following description of the appended drawings. However, the embodiments and the drawings are intended to be illustrative and illustrative, and are not intended to limit the scope of the invention. The scope of the invention is defined by the scope of the appended claims. In the attached drawings, the same component symbols in the plurality of drawings represent the same parts. Fig. 1 is a partially omitted front view showing an example of a processing apparatus for an assembly transport system and a work machine according to a first embodiment of the present invention. Fig. 2 is a side view of the transport system. Figure 3 is a plan view showing the arrangement of individual motors of the transport system. Figure 4 is an enlarged cross-sectional view showing a portion of the linear motor in the longitudinal direction. Figure 5 is a plan view of one of the individual motors. Fig. 6 is an explanatory view showing the length of the movable member in the linear motor by a plan view. Fig. 7 is a view for explaining the length of the movable member in the linear motor by a plan view. Fig. 8 is an explanatory view showing the length of the movable member in the linear motor of the conveying system according to the second embodiment of the present invention in a plan view. -15- 201242709 [Description of main components] 1 : Handling system 2 : Working machine 3 : Traveling body 4 : Track 5 : Linear motor 6 : Individual motor 7 : Movable 21 , 22 : Roller A : Individual motor length B : Movable Sub-length Ba: length of the opposite part W: being carried - 16-