JP5556896B2 - Transport system - Google Patents

Description

Related applications

  This application claims the priority of Japanese Patent Application No. 2010-239453 filed on Oct. 26, 2010, which is incorporated herein by reference in its entirety.

  The present invention relates to a transfer system applied to transfer of articles in a machine tool loader, an industrial machine, and a physical distribution machine, and more particularly to a transfer system including a curved portion in a travel path.

  Linear motors are widely 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. In a linear synchronous motor, there is an example in which primary coils are partially arranged on the ground side partially (for example, Patent Document 2). However, the linear synchronous motor is an auxiliary use in a curved portion, and is mainly a straight line. Used in drive systems. When the travel route is a curved portion, a linear induction motor is used.

JP-A-63-114887 JP 2007-82307 A

  Since the linear induction motor has a low thrust, it is difficult to obtain sufficient traveling performance. Most conventional linear synchronous motors have a magnet moving on the ground side and moving on the coil side. However, to move the coil side, power must be supplied to the mover, and due to the wiring to the mover, traveling on an endless route is not possible, for example, the travel route is limited or the power supply system becomes complicated. Or

As 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. However, in this discretely arranged linear synchronous motor, the mover moves by moving over the individual motors arranged at intervals. For this reason, it is difficult to generate a cogging force and a pulling force on the mover to move the mover stably and to increase the positioning accuracy of the mover. Specifically, there are the following problems.
・ If the individual motor is fixed, the mover is pulled by the reaction of the pulling force.
-The pull-in force is a force generated by the positional relationship between the individual motor and the mover, and it becomes a disturbance like the goking force.
If there are two motors that are not completely opposed to the mover, the pulling force acting on the mover is the difference between the pulling forces.

  The cogging force refers to a force due to a change in magnetic attractive force acting between an individual motor and a mover that is completely opposed. The mover that is completely opposed to the individual motor is the mover when the mover is completely opposed to the individual motor or when the individual motor is completely opposed to the mover. This refers to the relative positional relationship with the individual motor. The pull-in force refers to a force that pulls the individual motor in an attempt to increase the facing area when the mover is not completely facing the individual motor. This pulling force is considerably larger than the cogging force (may be several tens of times).

  The object of the present invention is to use a linear motor with a discrete arrangement of individual motors, which is advantageous in terms of reduction in coil usage and power supply as a drive source, while reducing the pulling force acting on the mover, It is an object of the present invention to provide a transport system that can suppress variations in thrust.

  The transport system according to the present invention is a transport system in which a traveling body that transports articles is installed so as to be able to travel along a traveling guide, and a drive source that travels the traveling body is a linear motor, and the linear motor is A plurality of primary side armatures arranged along the traveling guide and independent from each other, and a secondary side armature installed on the traveling body, and arranged continuously between adjacent armatures. A ferromagnetic material is provided as a path through which the armature magnetic flux passes.

  According to this configuration, since a so-called synchronous linear motor is used, it is easy to obtain a large thrust as compared with the induction linear motor, and the traveling performance of the traveling body is improved. Although it is a synchronous linear motor, the primary side armature is arranged on the fixed side, and the secondary side mover is installed on the traveling body, so there is no need to supply the traveling body with current for traveling driving. 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. Therefore, a highly versatile conveyance system can be obtained.

  Also, a ferromagnetic material is provided that is continuously arranged between adjacent armatures and serves as a path through which the magnetic flux of the individual motor passes, so that the facing area between the armature and the mover is constant or the change of the facing area is small. By disposing in, the pulling force when the mover moves between the armatures becomes small, and variation in thrust of the traveling body can be suppressed. Therefore, the traveling of the traveling body is stabilized.

  In the present invention, the ferromagnetic material may be the travel guide. In this case, the parts of the existing traveling guide and the ferromagnetic material can be shared, and the configuration of the transport system can be simplified. Thereby, the manufacturing cost can be reduced.

Before SL running guide has a curved portion which travel path of the running body is curved, a plurality of armatures, while arranged at an interval along the curved portion, the movable element is in the curved portion When moving across a plurality of adjacent armatures among a plurality of armatures and moving in an opposing manner, at the front end in the moving direction of the mover, the facing area that increases between each armature and the mover The difference between the increase amount and the decrease amount of the facing area that decreases between each armature and the mover at the rear end in the moving direction of the mover is defined to be a predetermined value or less . The determined value, the difference between the increase and decrease of the opposing area when the traveling body has progressed 10mm is Ru can and 180 mm ^2.

  For example, when each armature is driven by a three-phase alternating current, a plurality of armatures are arranged at equal intervals in the curved portion, and the arrangement direction of the cores (that is, iron cores) of each armature is changed to the curved portion. It is generally considered that the armatures are arranged so as to be parallel to the tangential direction at each armature position. In this case, when the traveling body travels along the curved portion, the mover generates cogging force and pull-in force on the armature when it moves across the armatures arranged at equal intervals. .

  In this configuration, when the mover moves oppositely across a plurality of adjacent armatures among the plurality of armatures in the curved portion, each armature is moved at the front end in the moving direction of the mover. The difference between the amount of increase in the facing area between the armature and the mover and the amount of decrease in the facing area that decreases between each armature and the mover at the rear end in the moving direction of the mover. Stipulated below the prescribed value. As a result, when the mover moves across the armatures arranged at an interval so as to face each other, the change in magnetic resistance with respect to the mover can be further reduced.

  Specifically, in order to make the difference between the increase amount and the decrease amount of the facing area equal to or less than a predetermined value, the interval between the plurality of armatures and the angle of the arrangement direction of the cores of each armature are optimized. To do. Thereby, the change of the magnetic resistance with respect to a needle | mover can be made smaller, and the drawing force to a needle | mover can be made smaller than the said case. In other words, the influence of the pulling force on the mover can be reduced. Therefore, it is possible to suppress variation in thrust of the traveling body in the curved portion, so that the mover can be stably moved and the positioning accuracy of the mover can be increased.

When the difference between the increase amount and the decrease amount of the facing area is defined to be equal to or less than a predetermined value, the travel guide further includes a straight portion in which a travel route of the traveling body is a straight line, and along the curved portion The arrangement direction of the cores of the arranged armatures and the arrangement direction of the cores of the armatures in the vicinity of the curved portion of the linear portion are the tangent at the armature position in the traveling direction in the linear portion and the curved portion. with respect to the direction it shall be the position is varied at an angle in the arrangement of the respective armature. Thereby, the angle of the arrangement direction of the cores of each armature is optimized.

  In this case, the angle of the core arrangement direction in the upstream armature in the curved portion and the angle of the core arrangement direction in the downstream armature in the curved portion are relative to the tangential direction at each armature position. It should be changed in the opposite direction. Thereby, the angle of the arrangement direction of the cores of each armature can be further optimized.

  Further, for the two armatures on both sides in the vicinity of the curved portion of the straight portion, the alignment direction of the cores may be changed with an angle with respect to the traveling direction in the straight portion. Thereby, the angle of the arrangement direction of each core of each armature is further optimized.

  In addition to this, the angle of the core alignment direction in the armature of the straight line portion on the upstream side and the angle of the core alignment direction in the armature of the straight line portion on the downstream side are relative to the traveling direction in the linear portion. They may change in the opposite directions. Thereby, the angle of the arrangement direction of each core of each armature can be further optimized.

  In the present invention, the travel guide has a straight portion in which a travel route of the traveling body is a straight line, and a plurality of armatures are arranged at intervals along the straight portion, and a plurality of armatures in the direct portion are arranged. The armature installation interval SP and the length B in the moving direction of the mover may be in a relationship of B = SP · n (where n is an integer). Since the relationship of B = SP · n is thus established, the facing area between the armature and the mover can be made constant in the straight line portion. Thereby, the pulling-in force which acts on a needle | mover can be made small, and the dispersion | variation in the thrust of a traveling body can be suppressed. Therefore, the mover can be moved stably and the positioning accuracy of the mover can be increased.

  Any combination of at least two configurations disclosed in the claims and / or the specification and / or drawings is included in the present invention. In particular, any combination of two or more of each claim in the claims is included in the present invention.

The present invention will be more clearly understood from the following description of preferred embodiments with reference to the accompanying drawings. However, the embodiments and drawings are for illustration and description only and should not be used to define the scope of the present invention. The scope of the invention is defined by the appended claims. In the accompanying drawings, the same part number in a plurality of drawings indicates the same part.
It is a perspective view of the processing equipment which combined the conveyance system and machine tool concerning a 1st embodiment of this invention. It is a perspective view of each unit which constitutes a run guide of the conveyance system. It is a partial abbreviation front view of the processing equipment. It is a fracture | rupture side view of the conveyance system in the processing equipment. It is a top view which shows the relationship between the driving | running | working guide and traveling body of the conveyance system. It is a side view which shows the traveling guide and traveling body main body of the conveyance system. It is sectional drawing which expands and shows a part of FIG. It is a top view which shows the relationship between the traveling guide of the conveyance system, a linear motor, and a traveling body. It is a fragmentary sectional view of the linear motor which is a drive source of the traveling body. It is a top view of the individual motor of the linear motor. It is a top view which shows roughly the relationship between each individual motor and a traveling body. It is a top view at the time of moving a traveling body from the state of FIG. It is a top view at the time of moving a traveling body from the state of FIG. It is a top view which shows roughly the relationship between each individual motor and a traveling body as a reference proposal example. It is a top view at the time of moving a traveling body from the state of FIG. It is a top view at the time of moving a traveling body from the state of FIG.

  A first embodiment of the present invention will be described with reference to FIGS. FIG. 1 is a front view of processing equipment including a transfer device 1, a machine tool 2, and transfer tables 71 and 72 that are the main components of the transfer system. In this example, two machine tools 2 are installed with respect to the loader system 1. The conveying device 1 is configured such that a traveling body 3 that conveys an article is installed so as to be able to travel along a traveling guide 4, and the traveling guide 4 includes a straight portion 4 </ b> A and a curved portion 4 </ b> B. One transfer table 71 is located at the curved portion 4B. The transfer table 71 is, for example, a table that delivers a workpiece W that is a material or a product to the outside of the transfer system, and the traveling body 3 carries the workpiece W in or out.

  As shown in FIG. 2, the conveyance device main body, which is a portion excluding the traveling body 3 of the conveyance device 1, includes a straight portion traveling guide unit 1A and a curved portion traveling guide unit each including a straight portion 4A and a curved portion 4B of the traveling guide 4. The unit is divided into 1B and divided, and arbitrary units are sequentially connected.

  As shown in FIG. 3, the machine tool 2 is composed of a lathe in the illustrated example, and a headstock 53 for supporting a work support means 52 comprising a main spindle on a bed 51 and a turret-type tool rest 54 as a processing means. And are installed. The machine tool 2 is a main spindle moving type lathe in which a main spindle 53 is movably installed in the front and rear (Z direction) and the left and right (X direction). Note that a tool post moving type in which the head stock 53 is fixed to the bed 51 and the tool post 54 is moved back and forth and right and left may be used.

  As shown in the figure, the conveying device 1 is configured such that a traveling body 3 that conveys a workpiece W is installed on a traveling guide 4 so as to be able to travel freely, and the workpiece W is delivered to the workpiece support means 52 of the machine tool 2. I do. The travel guide 4 is provided along a longitudinal direction on a horizontal frame 12 constructed by a support column 11.

  The traveling body 3 is provided with a chuck 19 that is a gripping means that grips a workpiece W that is an article to be conveyed, and a moving mechanism 20 that moves the chuck 19. The moving mechanism 20 is mounted on the traveling body 3 and moves back and forth in the front-rear direction (Z direction) orthogonal to the traveling direction (X direction). The lift 17 has a work holding head 18 provided at the lower end of the lift 17. Two chucks 19 are provided on the work holding head 18. The two chucks 19 can be exchanged between a downward direction and a front direction by a chuck direction changing mechanism (not shown) in the work holding head 18.

  The back-and-forth moving table 16 is moved back and forth by an electric drive source 16a such as a motor installed on the traveling body 3, and the elevating body 17 is moved by an electric drive source 17a such as a motor installed on the front-and-back moving table 16. It is driven up and down. The chuck 19 has a chuck claw (not shown) that is driven to open and close by an electric drive source 19a such as a solenoid and holds the article W to be conveyed. The replacement operation of the two chucks 19, 19 is performed by a replacement drive source (not shown) such as a motor.

  As shown in FIG. 4, the traveling body 3 is provided with a traveling body main body 3A having traveling wheels 21 (21i, 21o) and a moving mechanism 20 such as a front / rear moving table 16 attached to the lower surface of the traveling body main body 3A. The moving mechanism mounting base 3B.

  As shown in a plan view in FIG. 5, the travel guide 4 includes two straight portions 4A and 4A arranged at right angles to each other, and an arcuate curved portion 4B connecting the two straight portions 4A. The inward and outward outer-diameter side guide surfaces 4o and the inner-diameter side that are parallel to each other and that are positioned on the outer-diameter side and the inner-diameter side of the curved-line part 4B continuously across the linear part 4A and the arc-shaped curved part 4B A guide surface 4i and a pair of wheel guide surfaces 4u facing in the vertical direction are provided. The wheel guide surfaces 4u are provided along the outer diameter side guide surface 4o and the inner diameter side guide surface 4i, respectively.

  As shown in the sectional view of FIG. 6, in the illustrated example, the outer diameter side guide surface 4o and the inner diameter side guide surface 4i are located above the traveling wheel 21 that rolls on the wheel guide surface 4u. The traveling body main body 3A of the traveling body 3 includes an outer diameter side roller 23 guided to the outer diameter side guide surface 4o and an inner diameter side roller 24 guided to the inner diameter side guide surface 4i in addition to the traveling wheel 21. It is installed so as to be rotatable around the vertical axis.

  As shown in FIG. 5, three or more outer diameter side rollers 23 and inner diameter side rollers 24 of the traveling body 3 are provided side by side in the traveling direction. The plurality of outer diameter side rollers 23 are arranged at appropriate intervals in an arc shape along the arc shape of the portion that becomes the curved portion 4B on the outer diameter side guide surface 4o. The plurality of inner diameter side rollers 24 are arranged at appropriate intervals along a straight line along a portion that becomes the straight portion 4A of the inner diameter side guide surface 4i.

  As shown in FIG. 6, the traveling wheels 21i and 21o in the traveling body main body 3A are provided on both sides in the width direction so as to roll on the two wheel guide surfaces 4u on both sides. The traveling wheel 21o on the outer diameter side is rotatably installed on a movable wheel support 28 that is supported so as to be capable of changing its direction around the vertical axis O with respect to the traveling body 3A. Each of these movable wheel supports 28 is provided with a lever-like direction operation element 25 projecting to the outer diameter side, and a cam follower 25a made of a roller rotatable around a vertical axis is provided at the tip of the direction operation element 25. Is provided. A cam surface 26 that guides the cam follower 25a at the tip of these direction operation elements 25 is provided on the travel guide 4 over the entire length in the travel direction. The cam surface 26 is provided so as to forcefully change the direction of the traveling wheel 21o at a location where the traveling body 3 enters the curved portion 4B (FIG. 5).

  In FIG. 3, the traveling drive of the traveling body 3 is performed by a synchronous linear motor 5. The linear motor 5 is a discrete linear motor including 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 an independent linear motor, and is spaced along the travel guide 4 over the entire travel region of the travel body 3. Are arranged. The mover 7 is made of a permanent magnet and is installed on the traveling body 3. Between the individual motors 6 adjacent to each other, a ferromagnetic body 4K that is a path through which the magnetic flux of the individual motor 6 passes is continuously arranged. The ferromagnetic body 4K is composed of the traveling guide 4. 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 6, and general control means (not shown) that gives position commands and the like to the plurality of individual motor drive devices 8. 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 general control unit gives a position command for driving each individual motor 6 to each individual motor driving device 8 in response to the position command given from the host control unit. In other words, the overall control means gives a position command coordinate-converted to the coordinate system of each individual motor 6 to the individual motor drive device 8 of the individual motor 6 to be driven. The overall control means includes a computer such as a microcomputer or a personal computer, a program thereof, a circuit element, and the like.

  As shown in FIGS. 9 and 10, each individual motor 6 is driven by a three-phase alternating current, and one electrode 6U, 6V, 6W is provided for each phase (U, V, W phase). A three-pole armature. 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. In this example, the number of poles of the individual motor 6 is 3. However, 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. The length B of the mover 7 in the moving direction X is a length extending over the plurality of individual motors 6. FIG. 8 shows the individual motor 6 and the mover 7 in a plan view.

  The installation interval SP of the plurality of individual motors 6 arranged in the linear portion 4A in FIG. 9 and the length B in the moving direction of the mover 7 have a relationship of B = SP · n (where n is an integer). ing. The installation interval SP refers to the interval between the center portion in the mover movement direction X of any individual motor 6 in the linear portion 4 </ b> A and the center portion in the mover movement direction X of the individual motor 6 adjacent to the individual motor 6. In this embodiment, B = 2 × SP (n = 2).

  Here, FIGS. 11 to 13 are plan views showing the relationship between each individual motor 6 and the traveling body 3. In the transport system according to the present embodiment, the amount of increase and decrease in the facing area between the movable element 7 and the individual motors 6 arranged in the curved portion 4B and the linear portion 4A in the vicinity of the curved portion 4B in the traveling guide 4 is described. The difference from the quantity is specified to be less than the specified value. That is, when the mover 7 moves across the plurality of individual motors 6 adjacent to each other in the circumferential direction among the plurality (four in this example) of individual motors 6 in the curved portion 4B, the movable element 7 moves. At the front end in the movement direction of the child 7, the amount of increase in the facing area between each individual motor 6 and the mover 7, and at the rear end in the movement direction of the mover 7, each individual motor 6 and the mover 7 The difference with the amount of reduction of the opposing area that decreases between the two was defined to be equal to or less than a predetermined value.

For example, in the movement position of the mover 7 shown in FIG. 11, the increase amount of the facing area at the front end in the movement direction of the mover 7 is 780 mm ² , and the decrease amount of the facing area at the rear end in the movement direction of the mover 7 is 900 mm ² . These differences, that is, the amount of change in the opposing area, is 120 mm ² . Note that the amount of increase in the facing area at the front end in the movement direction of the mover 7 and the amount of decrease in the facing area at the rear end in the movement direction of the mover 7 change from moment to moment as the mover 7 moves. The example of FIGS. 11-13 represents each variation | change_quantity of the opposing area in the arbitrary movement positions of the needle | mover 7. FIG. That is, in FIG. 12, the increase amount of the facing area at the front end of the mover 7 in the movement direction is 420 mm ² , the decrease amount of the facing area at the rear end of the mover 7 in the movement direction is 469 mm ² , and the change amount of the facing area is 49 mm. ^2, and FIG. 13, the amount of increase in the facing area in the moving direction front end of the movable element 7 in 486Mm ^2, reduction of the opposing area in the moving direction rear end of the movable element 7 in 511Mm ^2, the variation of the facing area 25 mm ² .

  Specifically, in order to make the difference between the increase amount and the decrease amount of the facing area equal to or less than a predetermined value, a plurality of (four in this example) individual motors are provided in the curved portion 4B as shown in FIG. 6 are arranged at predetermined intervals instead of equal intervals. That is, in the curved portion 4B, the angles between the individual motors 6 adjacent in the circumferential direction are sequentially set as α1, α2, and α3 along the traveling direction of the traveling body 3. For example, α1, α2, and α3 are set to 22.2 °, 21.4 °, and 22.2 °, respectively.

Furthermore, the alignment direction L6 of the cores 6Ua, 6Va, 6Wa of each individual motor 6 and the alignment direction L6 of each core of each individual motor 6 in the vicinity of the curved portion of the linear portion 4A are the traveling direction and curve in each linear portion 4A. Positions changed by angles β ₁ , β ₂ , β ₃ , β ₄ , β ₅ , β ₆ minutes along the arrangement of the individual motors 6 with respect to the tangential direction L1 at each individual motor position in the section 4B. It is said. Among these angles β ₁ , β ₂ , β ₃ , β ₄ , β ₅ , β ₆ , two or more selected angles may be the same angle, or all the angles may be the same angle. These angles β ₁ , β ₂ , β ₃ , β ₄ , β ₅ , β ₆ may be different from each other.

In the example shown in FIG. 11, for the two individual motors 6 on the upstream side in the curved portion 4B, the angles β ₂ and β ₃ in the alignment direction L6 of the cores of the individual motors 6 are tangent to each individual motor position. The direction L1 is changed clockwise in the plan view of FIG. Conversely, for the two individual motors 6 on the downstream side in the curved portion 4B, the angles β ₄ and β ₅ in the alignment direction L6 of the cores of the individual motors 6 are the same as the tangential direction L1 at each individual motor position. It is changed counterclockwise in the plan view of the figure. In this way, the angles β _{2 to} β ₅ in the alignment direction L6 of the cores of the individual motors 6 are optimized. In this example, the angles β _{2 to} β ₅ are set to 5 °, for example. Note that the angles α1, α2, α3 and the angles β _{2 to} β ₅ are not limited to the aforementioned angles.

Regarding the two individual motors 6 on both sides in the vicinity of the curved portion 4B in the straight portion 4A, the alignment direction L6 of the cores is set to a position changed by angles β ₁ and β _{6 with} respect to the traveling direction in the straight portion 4A. . In the example shown in FIG. 11, the individual motor 6 on the upstream side of the straight portion 4A, the angle beta ₁ in the arrangement direction L6 of the core of the individual motor 6, the plan view of FIG respect traveling direction of the straight line portion 4A Is changed clockwise. In contrast, the individual motor 6 on the downstream side of the straight section 4A, anti angle beta ₆ arrangement direction L6 of the core of the individual motor 6, in a plan view in FIG respect traveling direction of the straight line portion 4A It is changing clockwise. In this way, the angles β ₁ and β ₆ in the alignment direction L6 of the cores of the individual motors ₆ are optimized. In this example, the difference between the increase amount and the decrease amount of the facing area when the traveling body 3 advances by 10 mm is determined to be 180 mm ² or less by simulation and experiment.

14 to 16 are plan views showing the relationship between each individual motor 6 and the traveling body 3 as a reference proposal example. In this example, in the curved portion 4B, the individual motors 6 adjacent to each other in the circumferential direction are arranged at equal intervals, and the alignment direction L6 of each core of each individual motor 6 is tangent to each individual motor position in the curved portion 4B. The individual motor 6 is arranged so as to be parallel to the direction L1. In this case, 230 mm ² amount of change in the facing area in FIG. 14, the change amount is 249mm ² opposing area 15, the amount of change is 210 mm ² next to opposing area 16, with each individual motor 6, the mover 7 The difference between the increase amount and the decrease amount of the opposing area exceeds 200 mm ² . Then, when the traveling body 3 travels along the curved portion 4B, when the mover 7 moves on the individual motors 6 arranged at equal intervals so as to face each other, the cogging force and the pulling force are applied to the mover 7. Can be produced.

  As shown in FIG. 4, the traveling body 3 includes, as described above, the chuck 19 serving as the gripping means for the workpiece W, and the front-rear direction and the vertical direction in which the chuck 19 is different from the traveling direction of the traveling body 3. It is equipped with a moving mechanism 20 for moving to. The drive mechanisms 16a, 17a, 19a (FIG. 3) of the moving mechanism 20 and the chuck 19 are electrically operated, and power supply to these drive sources is not as shown in FIG. This is performed by the contact power supply device 41.

  As shown in FIG. 4, the traveling body 3 is equipped with wireless communication means 47, and each of the electric drive sources 16 a and 16 a of the chuck 19 and the moving mechanism 20 according to signals communicated by the wireless communication means 47. A command transmission means 48 for controlling 17a and 19a is mounted on the traveling body 3. The command transmission unit 48 may be a wiring that simply transmits signals between the wireless communication unit 47 and the drive sources 16a, 17a, and 19a. Further, the command transmission means 48 includes wiring for sending signals of various sensors (not shown) provided in the traveling body 3 to the wireless communication means 47 in addition to the drive command. The wireless communication means 47 on the traveling body 3 communicates with the wireless communication means 49a provided in the control device 49 that controls the entire transport system. In addition, each drive source mounted in the traveling body 3 is all electrically driven, and all wiring and piping connecting each drive source and the ground side are eliminated.

  According to the conveyance system described above, since the so-called synchronous linear motor 5 is used, a large thrust can be easily obtained as compared with the induction linear motor, and the traveling performance of the traveling body 3 is improved. Although it is a synchronous linear motor 5, an individual motor 6 that can function as a primary armature is disposed on the fixed side, and a secondary side mover 7 is disposed on the traveling body. There is no need to supply a current. As described above, if the non-contact power feeding device 41 is used, a transport system can be realized even if the moving body has a motor. However, when the moving body is provided with a motor, there is a problem that the capacity of power supply is increased, and thus there is an advantage of arranging the individual motor 6 on the ground side.

  Further, a ferromagnetic body 4K is provided which is continuously arranged between the adjacent individual motors 6 and serves as a path through which the magnetic flux of the individual motor 6 passes, so that the change in the facing area between the individual motor 6 and the mover 7 is reduced. By disposing in this way, the pull-in force when the mover 7 moves between the individual motors 6 is reduced, and variation in thrust of the traveling body 3 can be suppressed. Therefore, the traveling of the traveling body 3 is stabilized. Since the ferromagnetic body 4K is composed of the traveling guide 4, it is not necessary to provide the ferromagnetic body 4K separately from other parts, and the parts of the existing traveling guide 4 and the ferromagnetic body 4K can be shared and transported. The system configuration can be simplified. Thereby, the manufacturing cost can be reduced.

  When the mover 7 moves across the plurality of individual motors 6 adjacent in the circumferential direction among the plurality (four in this example) of individual motors 6 in the curved portion 4B, the mover 7 moves. At the front end in the moving direction, the amount of increase in the facing area that increases between each individual motor 6 and the mover 7, and between each individual motor 6 and the mover 7 at the rear end in the moving direction of the mover 7. The difference from the amount of decrease in the facing area that decreases in step (b) is defined to be equal to or less than a predetermined value. Specifically, in the curved portion 4B, the angle between the individual motors 6 adjacent to each other in the circumferential direction is set to a predetermined angle, and the alignment direction L6 of the cores of each individual motor 6 is changed to each of the curved portions 4B. The position is changed by an angle β with respect to the tangential direction L1 at the individual motor position.

  In this case, when the mover 7 moves in an opposing manner to the individual motors 6 arranged at intervals, the change in magnetic resistance with respect to the mover 7 can be further reduced. Thereby, the pulling force to the needle | mover 7 can be made smaller than the case of FIG. 14 thru | or FIG. In other words, the influence of the pulling force on the mover 7 can be reduced. Therefore, in the curved portion 4B, variation in the thrust of the traveling body 3 can be suppressed, so that the mover 7 can be moved stably and the positioning accuracy of the mover 7 can be increased.

  As described above, when the relationship of B = SP · n is established in the linear portion 4A, the facing area between the individual motor 6 and the mover 7 can be made constant in the linear portion 4A. Thereby, the pulling-in force which acts on the needle | mover 7 can be made small, and the dispersion | variation in the thrust of the traveling body 3 can be suppressed. As described above, the ferromagnetic body 4K that is continuously disposed between the adjacent individual motors 6 and serves as a path through which the magnetic flux of the individual motor 6 passes is provided, and the facing area between the individual motor 6 and the mover 7 is made constant. As a result, the pulling force acting on the mover 7 can be reduced, so that the mover 7 can be moved stably and the positioning accuracy of the mover 7 can be increased.

  Note that when the opposing area of the individual motor 6 and the mover 7 changes, the magnetic resistance changes and the magnetic energy fluctuates. Since the mover 7 tries to stay at a stable position in terms of magnetic energy, a large force is required to move the mover 7 from that position. As described above, when the opposing area between the individual motor 6 and the mover 7 is made constant and the magnetic path of the ferromagnetic body 4K is provided between the individual motors 6, the individual motor 6, the mover 7, and the adjacent individual The magnetic flux flows well over the motor 6 and the ferromagnetic body 4K. For this reason, the pulling force which acts on the needle | mover 7 becomes small. In the configuration in which the ferromagnetic body 4K is not provided between the individual motors 6, since there is no magnetic path flowing through the ferromagnetic body 4K, magnetic flux is released into the air. Since the magnetic resistance is large in the air, the magnetic resistance increases and the amount of magnetic flux decreases.

  As described above, the preferred embodiments of the present invention have been described with reference to the drawings, but various additions, modifications, or deletions can be made without departing from the spirit of the present invention. Therefore, such a thing is also included in the scope of the present invention.

3 traveling body 4 traveling guide 4A linear portion 4B curved portion 4K ferromagnetic body 5 linear motor 6 individual motor 7 mover

Claims (8)

A transport system in which a traveling body for transporting articles is installed so as to be able to travel along a travel guide,
The driving source for driving the traveling body is a linear motor, and the linear motor is arranged along a traveling guide and each has a plurality of primary armatures independent from each other, and a secondary installed on the traveling body. becomes at the side of the movable element, it sets the ferromagnetic material is disposed continuously between the armature a path through which the magnetic flux of the armature adjacent,
The travel guide has a curved portion where the travel route of the traveling body is a curve, and a plurality of armatures are arranged at intervals along the curved portion, and the mover includes a plurality of armatures in the curved portion. When the armature is moved across the plurality of adjacent armatures in an opposing manner and moved, the increase in the facing area that increases between each armature and the mover at the front end in the moving direction of the mover The difference between the amount and the amount of decrease in the facing area that decreases between each armature and the mover at the rear end in the moving direction of the mover is defined to be a predetermined value or less,
The travel guide further includes a straight portion in which the travel path of the traveling body is a straight line, and the direction in which the cores of the armatures arranged along the curved portion are arranged, and each electric machine in the vicinity of the curved portion of the straight portion. The direction in which the cores of the child are arranged is changed at an angle along the arrangement of the respective armatures with respect to the traveling direction in each straight line portion and the tangential direction at each armature position in the curved portion. conveyance system it is.   The transport system according to claim 1, wherein the opposed area between the armature and the mover of the linear motor is constant or the change of the opposed area is small.   The transport system according to claim 1, wherein the ferromagnetic material is the travel guide. 4. The transport system according to claim 1 , wherein the predetermined value is a difference of 180 mm ² between an increase amount and a decrease amount of the facing area when the traveling body advances by 10 mm. 5. . The angle of the core arrangement direction of the upstream armature in the curved portion and the angle of the core arrangement direction of the downstream armature in the curved portion are opposite to each other with respect to the tangential direction at each armature position. The conveyance system according to any one of claims 1 to 4, wherein the conveyance system is changed. The conveyance according to claim 5 , wherein two armatures on both sides in the vicinity of the curved portion of the straight portion have a position in which the alignment direction of the cores is changed at an angle with respect to the traveling direction in the straight portion. system. The angle of the core arrangement direction in the armature of the straight line portion on the upstream side and the angle of the core arrangement direction in the armature of the straight line portion on the downstream side change in opposite directions with respect to the traveling direction in the straight portion. The transport system according to claim 6 . The travel guide has a straight portion in which the travel path of the traveling body is a straight line, and a plurality of armatures are arranged at intervals along the straight portion, and the plurality of armatures are installed in the direct portion. 8. The transport system according to claim 1 , wherein the distance SP and the length B in the moving direction of the mover are in a relationship of B = SP · n (where n is an integer).

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