WO2012056840A1 - 搬送システム - Google Patents

搬送システム Download PDF

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Publication number
WO2012056840A1
WO2012056840A1 PCT/JP2011/072001 JP2011072001W WO2012056840A1 WO 2012056840 A1 WO2012056840 A1 WO 2012056840A1 JP 2011072001 W JP2011072001 W JP 2011072001W WO 2012056840 A1 WO2012056840 A1 WO 2012056840A1
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WO
WIPO (PCT)
Prior art keywords
length
individual
motor
mover
traveling direction
Prior art date
Application number
PCT/JP2011/072001
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
渡部昇
角口謙治
Original Assignee
村田機械株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 村田機械株式会社 filed Critical 村田機械株式会社
Priority to JP2012540743A priority Critical patent/JP5423901B2/ja
Publication of WO2012056840A1 publication Critical patent/WO2012056840A1/ja

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L13/00—Electric propulsion for monorail vehicles, suspension vehicles or rack railways; Magnetic suspension or levitation for vehicles
    • B60L13/03—Electric propulsion by linear motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
    • H02K41/02—Linear motors; Sectional motors
    • H02K41/03—Synchronous motors; Motors moving step by step; Reluctance motors
    • H02K41/031—Synchronous motors; Motors moving step by step; Reluctance motors of the permanent magnet type
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K2213/00—Specific aspects, not otherwise provided for and not covered by codes H02K2201/00 - H02K2211/00
    • H02K2213/12—Machines characterised by the modularity of some components

Definitions

  • the present invention relates to a transport system applied to transport of articles in machine tool loaders, logistics machines, and industrial machines, and more particularly to a transport system using a linear motor as a travel drive source.
  • Linear motors are sometimes used for driving and the like in transport carts for physical distribution devices and transport devices serving as loaders for machine tools (for example, Patent Document 1).
  • the linear motor includes a linear induction motor (LIM), a linear synchronous motor (LSM), a linear direct current motor, and the like, but the linear induction motor is mainly used as a long-distance traveling system.
  • Most of the linear synchronous motors have a system in which a magnet is arranged on the ground side and moves on the coil side.
  • the linear synchronous motor is an auxiliary use at the curved road portion and the start end portion. Basically, a linear induction motor is used.
  • the linear induction motor has a low thrust and it is difficult to improve the running performance. For this reason, a linear synchronous motor has been tried to be applied to a transfer device that becomes a loader of a machine tool.
  • Most conventional linear synchronous motors have a magnet moving on the ground side and moving on the coil side.
  • power must be supplied to the mover. Due to the wiring to the mover, the travel route is limited and the power supply system is complicated.
  • in the linear synchronous motor it tried to arrange
  • a synchronous linear motor that solves such problems, a plurality of individual motors each composed of an armature that can function as the primary armature of one independent linear motor are spaced apart in the moving direction of the mover.
  • a linear synchronous motor with discrete arrangement arranged open was considered.
  • Each individual motor is controlled individually. According to this configuration, since the individual motors are discretely arranged, the amount of coil used can be reduced, and the cost can be reduced.
  • An object of the present invention is to provide a transport system capable of stably traveling and securing thrust while adopting a linear motor of a discrete arrangement type of individual motors that is advantageous in terms of reduction of coil usage and power supply as a drive source. Is to provide.
  • the transport system according to the present invention is a transport system in which a traveling body that transports an object to be transported is movably installed on a rail, and is provided with a synchronous linear motor that travels and drives the traveling body.
  • a plurality of individual motors that can function as an armature on the primary side of one linear motor are arranged across the entire travel region of the traveling body at intervals along the rails, and are made of permanent magnets.
  • a child is installed on the traveling body, and the length of the movable element in the traveling direction is set to a length that faces the plurality of individual motors regardless of the position of the movable element in the traveling direction.
  • a synchronous linear motor since a synchronous linear motor is used, it is easy to obtain a large thrust as compared with the induction linear motor, and the running performance is improved.
  • the primary side armature is arranged on the fixed side, and a permanent magnet mover is used for the traveling body, so there is no need to supply current for traveling driving to the traveling body.
  • the travel route is not limited due to the power supply for the travel drive, and it is possible to form a complex travel route such as arranging the travel route in a ring shape or a route having a curved portion. is there.
  • the individual motors that are the armatures on the primary side are arranged at intervals, the coil arrangement is not excessive, and the coil usage is reduced, which is efficient.
  • the individual motors are arranged at intervals, but the length of the mover in the traveling direction is such that the mover faces the plurality of individual motors regardless of the position in the traveling direction. Therefore, a state in which only one individual motor is opposed at a position where the traveling direction is biased does not occur, and a stable thrust can be obtained.
  • magnetic attractive force and magnetic repulsive force act between the individual motor, which is the armature on the primary side, and the mover. These attractive force and repulsive force are unstable in running other than thrust. However, the influence of such a magnetic force is also stabilized by setting the length to be opposed across a plurality of individual motors, and the traveling of the traveling body is stabilized.
  • each individual motor has the same length in the travel direction, and the length of the mover in the travel direction is equal to the sum of the lengths of the portions facing the individual motor. It should be longer than the length of the individual motor. By making the sum of the lengths of the portions facing the individual motors equal to or greater than the sum of the lengths of one individual motor, more reliable traveling stability and securing of thrust can be obtained.
  • each individual motor that is an armature is individually controlled, which is preferable in terms of simplification of control, but when the length of the mover is equal to or longer than the length of one individual motor, Even when each individual motor is individually controlled, stable control can be performed.
  • the individual motors have the same length in the running direction, and the intervals between the adjacent individual motors are the same, and the length of the mover in the running direction is set to the length of the individual motor. It is preferable that the length is always set larger than the sum of twice the interval. Thereby, the said structure can be comprised easily.
  • the individual motors have the same length in the traveling direction, and the intervals between the adjacent individual motors are the same, and the length of the movable element in the traveling direction is determined by the individual motor. It may be an integer multiple of the installation interval. Assuming that the length of the mover is an integral multiple of the interval between the individual motors, the sum of the areas facing the individual motors is the same regardless of the position of the mover on the travel path. Therefore, a stable thrust can be obtained regardless of the position of the traveling body.
  • FIG. 1 is a partially omitted front view showing an example of processing equipment that combines a transport system and a machine tool according to a first embodiment of the present invention. It is a side view of the conveyance system. It is a top view which shows the arrangement
  • FIG. 1 is a front view of processing equipment including the transport system 1 and the machine tool 2.
  • the machine tool 2 is composed of a lathe in the illustrated example, and a spindle base 53 that supports a work support means 52 that is a spindle and a turret type tool post 54 that is a processing means are installed on a bed 51.
  • the transport system 1 is configured such that a traveling body 3 that transports a workpiece W that is a material for processing is installed on a rail 4 so as to travel freely, and a synchronous linear motor 5 that drives the traveling body 3 is provided. Then, the transferred object W is delivered to the workpiece support means 52 of the machine tool 2.
  • the rail 4 is provided along a longitudinal direction on a horizontal frame 12 constructed by a column 11.
  • the traveling body 3 is mounted with a front / rear moving table 16 that moves back and forth in the front-rear direction (Z direction) orthogonal to the traveling direction (X direction), and the lower end of a rod-shaped lifting body 17 that is installed on the front / rear moving table 16 so as to be movable up and down.
  • a work holding head 18 is provided.
  • the workpiece holding head 18 is provided with a plurality of chucks 19 serving as conveyance object holding means.
  • the front / rear moving table 16 is moved back and forth by a drive source (not shown) such as a motor installed on the traveling body 3, and the lifting / lowering body 17 is driven up and down by a drive source such as a motor installed on the front / rear moving table 16.
  • the chuck 19 has a chuck claw (not shown) that is driven to open and close by a drive source such as a cylinder device or a solenoid and holds the conveyed object W.
  • the linear motor 5 includes a plurality of individual motors 6 installed on the frame 12 and one movable element 7. Each individual motor 6 can function as an armature on the primary side of one independent linear motor, and is spaced along the rail 4 over the entire travel region of the traveling body 3. It is arranged.
  • the mover 7 is made of a permanent magnet and is installed on the traveling body 3.
  • the motor drive device that drives the linear motor 5 includes a plurality of individual motor drive devices 8 that respectively drive the individual motors 5 and general control means (not shown) that gives position commands and the like to the plurality of individual motor drive devices 8. And become. Each of the individual motor drive devices 8 is grouped into a single motor drive circuit unit 9, and each motor drive circuit unit 9 is installed on a frame 12.
  • the traveling body 3 is connected to a pair of opposed rails 4, 4 provided on the frame 12 via a roller 21 such as a wheel that contacts the vertical direction and a roller 22 (FIG. 3) that contacts the width direction. It is installed so that it can run freely.
  • the frame 12 is provided with a position sensor for detecting the position of the traveling body 3 and a magnetic pole sensor (none of which is shown) for detecting the magnetic pole of the mover 7 made of a permanent magnet of the traveling body 3. Yes.
  • the position sensor and the magnetic pole sensor may be combined with one sensor.
  • FIG. 3 is a diagram showing the individual motor 6 exposed by deleting the components above the individual motor 6.
  • the traveling route 23 of the traveling body 3 by the rail 4 may have a curved portion 23a.
  • a plurality of machine tools 2 may be installed for one transport system 1.
  • FIG. 3 also illustrates the traveling body 3 at a position off the rail 4 so that the traveling body 3 can be easily seen.
  • each individual motor 6 is driven by a three-phase alternating current, and is provided with one electrode 6U, 6V, 6W for each phase (U, V, W phase).
  • the arrangement direction of these electrodes 6U, 6V, 6W is the moving direction X of the mover 7.
  • Each of the electrodes 6U, 6V, 6W includes a core 6Ua, 6Va, 6Wa and a coil 6Ub, 6Vb, 6Wb, respectively.
  • the cores 6Ua, 6Va, 6Wa protrude from the common core base portion 6d in a comb shape.
  • the plurality of individual motors 6 arranged in the same manner have the same configuration, and therefore the length A in the moving direction of the mover is the same.
  • the number of poles of the individual motor 6 is 3.
  • the number is not limited to 3, and may be an integer multiple of 3, for example, 9 poles.
  • the mover 7 has a plurality of N and S magnetic poles made of permanent magnets arranged in the moving direction X on the mover base 7a.
  • the number of N and S magnetic pole pairs may be designed arbitrarily.
  • FIG. 5 shows one individual motor 6 in a plan view.
  • the length B in the traveling direction of the movable element 7 is opposed across the plurality of individual motors 6 regardless of the position of the movable element 7 in the traveling direction. It is a length. Specifically, the length B in the traveling direction of the mover 7 is always set larger than the length A of the individual motor 6 and the sum (A + 2C) of twice the distance C between the adjacent individual motors 6 and 6. (B> A + 2C). In this embodiment, the interval C between the adjacent individual motors 6 and 6 is constant, and the interval C may be the same as the length A of the individual motor 6 or may be longer or shorter. . Further, as shown in FIG. 7, the length B in the traveling direction of the mover 7 is equal to the sum of the length Ba of the portion facing the individual motor 6 (Ba + Ba when facing the two) is one. The length is equal to or greater than the length A of the individual motor 6.
  • 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 induction linear motor, and the traveling performance is improved.
  • the traveling body 3 since the individual motor 6 which is an armature of the primary side is arrange
  • each drive source mounted on the traveling body 3 needs to be supplied with power, but by supplying power using a non-contact power supply device or a trolley device (not shown), the physical side is fixed and stationary. Wiring connected to can be omitted. Since each drive source mounted on the traveling body 3 is smaller in output than the traveling drive source, it is easy to employ a non-contact power feeding device as described above.
  • the individual motors 6 as the primary armature are arranged at intervals, the coil arrangement is not excessive, and the amount of coil usage is reduced, which is efficient.
  • the individual motors 6 are arranged at intervals, but the length B of the movable element 7 in the traveling direction is the length of the movable element 7 facing the plurality of individual motors 6 regardless of the position of the movable element 7 in the traveling direction. Therefore, a state in which the movable element 7 faces only one individual motor 6 at a position where the traveling direction is biased does not occur, and a stable thrust can be obtained.
  • a magnetic attractive force or a magnetic repulsive force acts between the individual motor 6, which is the primary armature, and the mover 7.
  • the influence of such a magnetic force is also stabilized by setting the lengths facing each other across the plurality of individual motors 6, and the traveling of the traveling body is stabilized.
  • the length B in the traveling direction of the mover 7 is set such that the sum of the length Ba of the portion facing the individual motor 6 is equal to or longer than the length A of one individual motor 6. Yes. Therefore, more reliable running stability and securing of thrust can be obtained.
  • the individual motors 6 that are armatures are preferably controlled individually in terms of simplification of control, but the length of the mover 7 is equal to or longer than the length A of one individual motor 6. In this case, stable control can be performed even if the individual motors 6 are individually controlled.
  • FIG. 8 shows a second embodiment of the present invention.
  • the length B in the traveling direction of the mover 7 is an integral multiple of the individual motor installation interval (A + C).
  • the length B in the traveling direction of the movable element 7 is opposed across the plurality of individual motors 6 regardless of the position of the movable element 7 in the traveling direction.
  • the length is to be.
  • the configuration described above with reference to FIG. 7, that is, the length B in the traveling direction of the mover 7 is the sum of the lengths Ba of the portions facing the individual motor 6 (2 ⁇ Ba when facing two) is 1
  • the condition that the length is equal to or longer than the length A of each individual motor 6 may be satisfied or may not be satisfied.
  • the present invention is applied to the transfer system 1 serving as the loader of the machine tool 2 .
  • the present invention may be applied to a transfer system for physical distribution or various industrial machines.
PCT/JP2011/072001 2010-10-26 2011-09-27 搬送システム WO2012056840A1 (ja)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2012540743A JP5423901B2 (ja) 2010-10-26 2011-09-27 搬送システム

Applications Claiming Priority (2)

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JP2010-239452 2010-10-26
JP2010239452 2010-10-26

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WO2012056840A1 true WO2012056840A1 (ja) 2012-05-03

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JP (1) JP5423901B2 (zh)
TW (1) TWI527660B (zh)
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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104227484A (zh) * 2013-06-20 2014-12-24 太仓子午电气有限公司 一种多工位自动运输装置
JP2015033240A (ja) * 2013-08-02 2015-02-16 株式会社安川電機 リニアモータシステム
JP2022050918A (ja) * 2020-09-18 2022-03-31 株式会社Ｓｃｒｅｅｎホールディングス 真空処理装置

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114920015B (zh) * 2022-06-14 2024-03-01 江西理工大学 磁悬浮滑轨的导向结构

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000245128A (ja) * 1999-02-22 2000-09-08 Nkk Corp リニア同期モータ
JP2010130740A (ja) * 2008-11-26 2010-06-10 Toshiba Mach Co Ltd マグネット可動型リニアモータ

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000245128A (ja) * 1999-02-22 2000-09-08 Nkk Corp リニア同期モータ
JP2010130740A (ja) * 2008-11-26 2010-06-10 Toshiba Mach Co Ltd マグネット可動型リニアモータ

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104227484A (zh) * 2013-06-20 2014-12-24 太仓子午电气有限公司 一种多工位自动运输装置
JP2015033240A (ja) * 2013-08-02 2015-02-16 株式会社安川電機 リニアモータシステム
JP2022050918A (ja) * 2020-09-18 2022-03-31 株式会社Ｓｃｒｅｅｎホールディングス 真空処理装置

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Publication number Publication date
JPWO2012056840A1 (ja) 2014-03-20
TW201242709A (en) 2012-11-01
TWI527660B (zh) 2016-04-01
JP5423901B2 (ja) 2014-02-19

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