JP2001112119A - Linear motor type conveyor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a linear motor type conveyor, which can secure high stop positional accuracy and simplify the construction of the conveyor as a whole. SOLUTION: An LRM stator 5 for a linear reluctance motor is laid at the prescribed section of a conveyance route 1 near a loading/unloading station 4 and LIM stators 6 for a linear induction motor are laid in the other sections. A carrier 3 has a primary core, on which a coil is wound with distributed winding which is the winding type of a linear induction motor driven by a 3-phase AC and a universal inverter which controls 3-phase sine wave currents. A current is applied to the primary core by a general-purpose inverter and a magnetic field is induced in the primary core to drive the carrier 3. The command value of the inverter is changed, so as to have the primary core function as a linear reluctance motor when the carrier 3 is in the section, where the LRM stator 5 is laid and function as a linear induction motor, when the carrier 3 is in the sections where the LIM stators 6 are laid.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a linear motor type transfer device.

[0002]

2. Description of the Related Art In a transfer of a load performed by a transfer device, a transfer vehicle constituting the transfer device travels from another location to a load transfer station, stops at the transfer station, and a device at the transfer station. The operation is performed in the order of transfer of the load. In order to smoothly and surely transfer the load by the transport device, it is essential to improve the positioning accuracy when the transport vehicle stops.

[0003] The linear induction motor has a simple structure, is inexpensive, and can be operated at a high speed as compared with other types of linear motors. However, since the induction motor has low responsiveness, it is difficult to improve stop positioning accuracy. Therefore, in a transfer device that requires high stop positioning accuracy, sufficient stop positioning accuracy may not be obtained when the linear induction motor is used as power. Further, a linear pulse motor that can obtain a higher stop positioning accuracy than a linear induction motor is more expensive and more difficult to realize high-speed operation than a linear induction motor, and therefore is not suitable for transportation at a distant place.

[0004] Therefore, a configuration is adopted in which a primary core is provided as a movable element in a transport vehicle, and a secondary stator formed by arranging permanent magnets along the traveling direction of the transport vehicle is provided in the entire section of the transport path. 2. Description of the Related Art A linear motor type transfer device that drives a transfer vehicle by an operation is known.

[0005] Further, the transport vehicle is provided with a secondary movable element, and the transport path is provided with a primary core as a stator. In the section near the load transfer station which is the stop position of the transport vehicle, high stop positioning accuracy is provided. A linear motor-type transfer device that drives a carrier by the action of a linear induction motor that drives the carrier by the action of a linear pulse motor that obtains, and that is inexpensive in other sections of the transport path and that operates by a linear induction motor capable of high-speed operation, for example, ,
It is disclosed in JP-A-59-31216.

In the linear motor type transfer apparatus, FIG.
As shown in (a), the transport path 52 on which the transport vehicle 51 travels
, Primary cores are provided at predetermined intervals. In the transport path 52, before the transfer station 53 where the transport vehicle 51 is stopped, the primary core 5 of the linear pulse motor is provided.
4 is provided, and a primary core 55 of a linear induction motor is provided in a section of the transport path 52 other than the vicinity of the transfer station 53.

[0007] The primary core 54 of the linear pulse motor includes:
A control device 56 for the linear pulse motor is connected, and a control device 57 for the linear induction motor is connected to the primary core 55 of the linear induction motor.

The carrier 51 has a back yoke 58 and a secondary conductor 59 laminated thereon, and the salient poles 58 a of the back yoke 58 are provided on the surface of the secondary conductor 59 at predetermined intervals from both ends in the width direction of the secondary conductor 59. And a secondary mover 60 having a structure formed to be exposed at a predetermined pitch so as to extend in a direction perpendicular to the traveling direction.

When the transport vehicle 51 travels in a section near the transfer station 53 on the transport path 52, the excitation circuit of the control device 56 for the linear pulse motor supplies a pulse current to the primary core 54. The salient poles 58a of the back yoke 58 of the transport vehicle 51 are attracted in the traveling direction by the magnetic field generated in the primary core 54 to generate thrust, and the transport vehicle 51 runs.

When the transport vehicle 51 travels in a section other than the vicinity of the transfer station 53 on the transport path 52, the excitation circuit of the control device 57 for the linear induction motor supplies an alternating current to the primary core 55. Due to the magnetic field generated in the primary core 55,
An eddy current is generated in the secondary conductor 59 of the transport vehicle 51 to generate a thrust in the traveling direction, and the transport vehicle 51 runs.

[0011]

Among the above two configurations, in the former configuration in which the secondary stator formed by arranging the permanent magnets is provided in the entire section of the transport path, the secondary stator in the entire section of the transport path is provided. Since the permanent magnets are arranged side by side, the manufacturing cost of the secondary stator is high, and the polarities of the permanent magnets must be properly arranged. is necessary.

In the latter configuration in which the operation of the linear pulse motor and the operation of the linear induction motor are combined, the excitation circuit of the control device 56 for the linear pulse motor includes a primary core 54.
, And the excitation circuit of the control unit 57 for the linear induction motor supplies an alternating current to the primary core 55. Since the current waveforms to be passed are different, the excitation circuits of the two control devices 56 and 57 cannot be configured in common, and the entire transport device is complicated.

Further, in the linear pulse motor, the interval between the magnetic poles of the primary core needs to be formed narrower than in the linear induction motor, and the salient poles of the secondary stator must also be formed narrower in correspondence with the primary core. , A lot of labor of production is required.

Further, it is difficult for the linear pulse motor to operate at a high speed, and it is difficult to improve the traveling speed of the transport vehicle near the transfer station, and consequently, the transport capability. The present invention has been made in view of the above problems,
An object of the present invention is to provide a linear motor-type transfer device that ensures high stop positioning accuracy and has a simple configuration of the entire device.

[0015]

In order to achieve the above object, according to the first aspect of the present invention, a transport vehicle traveling along a transport path includes a primary movable element, and a secondary side fixed to the transport path. In a linear motor type transfer device provided with a child, as a secondary-side stator arranged at least at a predetermined stop position of the transfer vehicle in the transfer path, a thrust larger than a thrust in a transfer path other than the range can be generated. A stator having a structure is arranged, and the carrier is provided with control means for switching and controlling the drive current to the coil of the primary mover in accordance with the traveling position.

According to a second aspect of the present invention, in the first aspect of the invention, the coil of the primary mover is wound in a winding manner of a three-phase linear induction motor to generate the large thrust. The possible secondary side stator has salient poles made of ferromagnetic material or salient poles made of permanent magnet protruding at a predetermined pitch corresponding to the pitch of the magnetic poles of the primary side mover, and arranged at other locations. The secondary stator includes the secondary conductor of the linear induction motor.

According to a third aspect of the present invention, in the first aspect of the present invention, the coil of the primary mover is wound in a winding manner of a switched reluctance linear motor capable of driving a sine wave. The secondary stator capable of generating a large thrust has permanent magnets protruding at a predetermined pitch corresponding to the magnetic pole pitch of the primary movable element over a wider range than the stop position, and is disposed at other locations. The secondary stator has a salient pole made of a ferromagnetic material.

According to a fourth aspect of the present invention, a back yoke and a secondary conductor are provided on a transporting vehicle that runs along a transporting path with primary stators of a linear motor arranged at predetermined intervals along the transporting path. The back yoke is formed on the surface of the secondary conductor so as to be exposed at a predetermined pitch so as to extend in a direction intersecting with the propulsion direction at a predetermined interval from both ends in the width direction of the secondary conductor. In a linear motor type transfer device provided with a secondary mover, a switched reluctance linear motor capable of sine-wave driving a coil of the primary stator disposed at least at a predetermined stop position of the transfer vehicle in the transfer path. (Hereinafter referred to as an SR linear motor), and the other primary-side stator coil is wound around a three-phase linear induction motor, and a sine wave current is applied to each of the primary-side stator coils. Energizing Provided a common excitation circuit that.

Therefore, according to the first aspect of the present invention,
By disposing the stator capable of generating a large thrust at the predetermined stop position, the stop positioning accuracy at the predetermined stop position and the thrust acting on the carrier are improved.

According to the invention described in claim 2, according to claim 1,
In addition to the operation of the invention described in the above, the primary core and the excitation circuit for the same linear induction motor act as a linear synchronous motor or a linear reluctance motor at a predetermined stop position of the transport path, and a linear induction motor in other sections of the transport path. Act as

According to the invention described in claim 3, according to claim 1 of the present invention,
In addition to the operation of the invention described in (1), the primary core and the excitation circuit for the same SR linear motor function as a linear synchronous motor at a predetermined stop position of the transport path, and as an SR linear motor in other sections of the transport path.

According to the fourth aspect of the present invention, the transport vehicle is driven by the SR linear motor at a location corresponding to the predetermined stop position, and is driven by the linear induction motor at other locations on the transport path. Then, control is performed such that a sinusoidal current is supplied to the coils of the primary stators of different types by a common excitation circuit.

[0023]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS (First Embodiment) A first embodiment of the present invention will be described below with reference to FIGS.

FIG. 1A is a plan view of a part of the transfer device. A rail 2 is laid on a transport path 1 (only part of which is shown), and a transport vehicle 3 can run on the rail 2. A transfer station 4 is provided beside a predetermined position of the transfer path 1, and a load can be transferred between the transfer vehicle 3 and the transfer station 4.

In a predetermined section near the transfer station 4, a stator (hereinafter simply referred to as LRM stator) 5 for a linear reluctance motor as a secondary stator is laid. In a section other than the predetermined section near the transfer station 4, a stator (hereinafter, simply referred to as an LIM stator) 6 for a linear induction motor as a secondary-side stator is laid.

As shown in FIG. 1B, the LIM stator 6
Has a back yoke 7 and a secondary conductor 8, both of which are plate materials, formed in a laminated structure. In the present embodiment, the back yoke 7 is formed of iron, and the secondary conductor 8 is formed of aluminum.

As shown in FIG. 1C, the LRM stator 5
Are formed of ferromagnetic materials, and salient poles 5a having a shape extending in a direction perpendicular to the traveling road surface of the carrier 3 are arranged at equal intervals along the traveling direction of the carrier 3. In the present embodiment, LRM stator 5 is formed of iron.

FIG. 2 is a schematic side view of the transport vehicle 3 constituting the transport device. The carrier 3 has a body 10 supported by a pair of front and rear bogies 9, and each bogie 9 is provided with a pair of left and right wheels 11. The wheels 11 can roll on the rail 2. The transport vehicle 3 includes a control device 12 as a control unit and a rotary encoder (not shown), and includes a primary core 13 as a primary movable element on a lower surface of one of the two bogies 9. Control device 1
2 includes a general-purpose inverter that controls a three-phase sine wave current supplied to the primary core 13.

As shown in FIG. 3 and FIG.
Is a yoke 14 having a magnetic pole 14a extending downward and a coil 1 wound around the magnetic pole 14a by distributed winding which is a winding method of a linear induction motor driven by three-phase alternating current.
5 is provided. LRM stator 5 and LIM stator 6
Are arranged so that the salient poles 5a and the secondary conductors 8 and the magnetic poles 14a of the primary core 13 can face each other. In the present embodiment, the magnetic poles 14 of the primary core 13 are used.
The ratio of the number of poles a to the number of salient poles 5a of the LRM stator 5 is 3:
4 is set.

Next, the operation of the linear motor-type transfer device configured as described above will be described. The control device 12 detects the distance from the origin with the rotary encoder, and detects the traveling position of the carrier 3. The control device 12 switches the command value of the general-purpose inverter so that a predetermined thrust is obtained according to the type of the secondary stator (LRM stator 5 or LIM stator 6) corresponding to the position of the transport vehicle 3.

When the carrier 3 is on the section where the LIM stator 6 is laid, when the control device 12 energizes the coil 15 of the primary core 13, a traveling magnetic field is generated in the primary core 13 and the LIM fixed When an eddy current is generated at a corresponding portion of the secondary conductor 8 of the child 6, the eddy current acts as a linear induction motor, and a thrust acts on the carrier 3.

When the carrier 3 is on the section where the LRM stator 5 is laid, when the control device 12 energizes the coil 15 of the primary core 13, the magnetic pole 14 a of the primary core 13 transmits the corresponding LRM stator 5. The magnetic flux that changes sequentially passes through the salient poles 5a, and the generated suction force changes sequentially, so that it acts as a linear reluctance motor, and thrust acts on the carrier 3.

This embodiment has the following effects. (1) In the section where the LRM stator 5 is laid near the stop position, the linear motor of the transfer device acts as a linear reluctance motor that is a synchronous motor, so that the operation accuracy can be improved as compared with the linear induction motor system. . Therefore, high positioning accuracy of the transport vehicle 3 can be obtained.

(2) In the section where the LRM stator 5 is laid near the stop position, the linear motor of the transfer device acts as a linear reluctance motor, so that a stronger thrust can be obtained as compared with the case where the linear motor acts as a linear induction motor. it can. Therefore, even if the current supplied to the coil 15 is the same, it is possible to operate the transport vehicle 3 at a steeper acceleration / deceleration and to transport a heavier load.

(3) In a section other than near the stop position, L
The IM stator 6 was laid on the transport path 1. Since the inexpensive LIM stator 6 is laid in the section occupying most of the transfer path 1, the cost of the entire transfer apparatus can be reduced.

(4) Two types of secondary-side stators are provided in the transport path 1, and the primary core 13 mounted on the transport vehicle 3 is of one type, and the current flowing through the coil 15 of the primary core 13 is the transport path. Since a single type of current is used throughout the entire section 1, the driving can be performed by an excitation circuit using the same inverter. Therefore, the transport vehicle 3 can be configured to include one primary core 13 and one excitation circuit, and the mounting space and the manufacturing cost can be reduced.

(5) No permanent magnet is used for the LRM stator 5 and the LIM stator 6 laid on the transport path 1.
Therefore, it is not necessary to consider the polarity of the magnetic pole at the time of laying, so that the laying operation is easy. Further, it is possible to avoid a failure caused by adsorption of a magnetic substance such as iron powder, iron scraps, and small iron articles, thereby improving maintainability.

(Second Embodiment) Next, a second embodiment of the present invention will be described with reference to FIG. In this embodiment, the transport device acts as a linear synchronous motor in the section near the stop position, and acts as an SR linear motor in other sections to drive the transport vehicle, which is significantly different from the previous embodiment. .

Regarding the configuration of this embodiment, a primary core and a secondary-side stator having a different configuration from the above-described embodiment will be described. The same parts as those in the above-described embodiment are denoted by the same reference numerals, and detailed description thereof will be omitted.

FIG. 5A is a schematic side view of the primary core and the stator of the carrier in a section other than near the stop position. FIG. 5B is a schematic side view of the primary core and the stator of the carrier in a section near the stop position.

As shown in FIGS. 5 (a) and 5 (b), the primary core 21 as a primary movable element included in the carrier 3 of the present embodiment has a magnetic pole 22a extending downward. A coil 23 is wound around the yoke 22 and the magnetic pole 22a by concentrated winding which is a winding method of the SR linear motor.

As shown in FIG. 5A, an LRM stator 5 is laid as a secondary side stator in a section other than the vicinity of the stop position. As shown in FIG. 5B, a permanent magnet stator (hereinafter, referred to as a secondary stator) laid in a section near the stop position
The PM stator 24 is formed of a permanent magnet having a shape extending in a direction orthogonal to the traveling road surface of the transport vehicle 3, and is provided with protrusions arranged at equal intervals along the traveling direction of the transport vehicle 3. A pole 24a is provided. At this time, the salient poles 24a of the permanent magnets are magnetic poles (S pole or N pole) in the order of arrangement.
Poles) are formed alternately.

The LRM stator 5 and the PM stator 24 are laid so that the salient poles 5a and 24a and the magnetic pole 22a of the primary core 21 can be opposed to each other. In the present embodiment, the number of magnetic poles 22a of the primary core 21 and L
The ratio of the numbers of the salient poles 5a and 24a of the RM stator 5 and the PM stator 24 is set to 3: 4. The control device 12 as control means provided in the transport vehicle 3 includes an inverter that energizes the coil 23 of the primary core 21 and sequentially excites the magnetic pole 22a.

Next, the operation of the linear motor-type transfer device configured as described above will be described. Transport vehicle control device 12
Controls the current supplied to the coil 23 by vector control.

The thrust in the section where the PM stator 24 is laid is expressed by the following equation. Thrust _{= K · i q · Λ 0} · sinφ ( Formula _{1) I d = 0 (K} : constant determined by the motor, lambda _0: constant determined by the PM stator of the permanent magnet, phi: current phase, i _q: torque current The thrust in the section where the LRM stator 5 is laid is expressed by the following equation.

The thrust _{= K '· i d' ·} i q '· sin 2φ ( Formula 2) (K': constant determined by the motor, i _d ': exciting current) controller 12 of the transport vehicle 3 with a rotary encoder In order to detect the position and obtain a predetermined thrust according to the type of the corresponding secondary stator (LRM stator 5 or PM stator 24), I _d ′ and I _q of the above equation of the inverter,
The command value related to I _q ′ is switched.

When the control unit 12 energizes the coil 23 of the primary core 21 when the carrier 3 is on the section where the LRM stator 5 is laid, the primary core 21 generates a sequentially changing magnetic field. Due to the generated magnetic field, the magnetic flux passing from the magnetic pole 22a of the primary core 21 to the corresponding salient pole 5a of the LRM stator 5 sequentially changes, and the generated attraction force changes sequentially, thereby acting as an SR linear motor. Thrust works on 3.

When the control unit 12 supplies power to the coil 23 of the primary core 21 when the carrier 3 is on the section where the PM stator 24 is laid, a magnetic field that sequentially changes is generated in the primary core 21. The generated magnetic field interacts with the magnetic field of the salient poles 24a of the PM stator 24, and the generated attractive force and repulsive force sequentially change, thereby acting as a linear synchronous motor and exerting a thrust on the transport vehicle 3.

This embodiment has the following effect in addition to the same effect as (4) of the above embodiment. (6) In a predetermined section near the stop position, a thrust is generated by an attractive force and a repulsive force due to the interaction between the magnetic field of the primary core 21 and the magnetic field of the salient poles 24a of the PM stator 24, which is a permanent magnet. In this embodiment, a stronger thrust can be obtained. Further, in a section other than the vicinity of the stop position, since the motor operates as an SR linear motor, a stronger thrust can be obtained as compared with the case where the motor operates as a linear induction motor as in the first embodiment. Therefore, even if the current supplied to the coil 23 is the same, it is possible to operate the transport vehicle 3 at a steeper acceleration / deceleration and to transport a heavier load.

(7) Since the section other than the vicinity of the stop position is operated as the SR linear motor which is a synchronous motor, control of the section other than the vicinity of the stop position can be performed more finely than in the first embodiment. . Therefore, traveling at a more appropriate acceleration / deceleration can be realized, so that the transport time can be reduced and the collapse of the load can be reduced.

(8) The transport vehicle 3 is a primary core 21 of one type.
Since the current flowing through the coil 23 of the primary core 21 is a single type of current throughout the entire section of the transport path 1, it can be driven by one type of excitation circuit. Therefore, the transport vehicle 3 can be configured to include one primary core 21 and one excitation circuit, and the mounting space and the manufacturing cost can be reduced.

(9) The salient poles 5a of the LRM stator 5 laid in sections other than near the stop position of the transport path 1 are formed of a non-magnetized magnetic material. Therefore, in a section other than the vicinity of the stop position which occupies most of the transport path 1, it is not necessary to take measures against a failure caused by adsorption of a magnetic substance such as iron powder, iron chips, and small iron articles. Laying work is easy because there is no need to be conscious.

(Third Embodiment) Next, a third embodiment of the present invention will be described with reference to FIGS. This embodiment is significantly different from the above-described embodiments in that the carrier has a secondary mover and the transport path has a primary core.

As shown in FIG. 7, a rail 32 is laid on a transport path 31 (only a part is shown), and a transport vehicle 33 can run on the rail 32. In a predetermined section near the transfer station 4 where the transport vehicle 33 is stopped, a primary core (hereinafter, simply referred to as an SRLM primary core) 34 for an SR linear motor is installed as a primary stator. In other sections, primary cores (hereinafter, simply referred to as LIM primary cores) 35 for a linear induction motor as primary stators are provided at predetermined intervals.

As shown in FIGS. 6 (a) and 6 (b), the carrier 33 has a pair of wheels 36.
The back side yoke 37 and the secondary conductor 38 are stacked, and the secondary side mover 39 formed in the same structure as the secondary side mover 60 of the related art is turned with the salient pole 37a of the back yoke 37 facing downward. Have. In the present embodiment, the back yoke 3
7 is formed of iron, and the secondary conductor 38 is formed of aluminum.

As shown in FIG. 8A, the SRLM primary core 34 has a yoke 40 on which a magnetic pole 40a extending upward is formed and a concentrated winding which is a winding method of an SR linear motor around the magnetic pole 40a. And a coil 41 wound therewith. In this embodiment, the ratio between the number of magnetic poles 40a of the SRLM primary core 34 and the number of salient poles 37a of the back yoke 37 of the secondary mover 39 of the carrier 33 is set to 3: 4. Have been.

As shown in FIG. 8B, the LIM primary core 35 is formed by a yoke 42 having a magnetic pole 42a extending upward and a winding of a linear induction motor driven by a three-phase alternating current around the magnetic pole 42a. And a coil 43 wound with a distributed winding.

The SRLM primary core 34 and the LIM primary core 35 are connected to a common excitation circuit of the controller 44. A light for detecting the position of the transport vehicle 33 by blocking the light of the wheels 36 of the transport vehicle 33 at a predetermined location of the transport path 31, at least in the vicinity of the transfer station and at the entry point of the transport vehicle 33 in each primary core installation section. A sensor (not shown) is provided, and a detected signal is input to the control device 44. The control device 44 includes a general-purpose inverter that controls a three-phase sinusoidal current.

Next, the operation of the linear motor-type transfer device configured as described above will be described. The control device 44 detects the position of the transport vehicle 33 with an optical sensor on the transport path 31, and according to the type of the primary stator (SRLM primary core 34 or LIM primary core 35) corresponding to the position of the transport vehicle 33, The command value of the general-purpose inverter that controls the current to be supplied is switched so as to obtain a predetermined thrust.

When the transport vehicle 33 is located at the position where the LIM primary core 35 is provided, the coil 4 of the corresponding LIM primary core 35
3, the LIM primary core 35 and the secondary mover 39 of the carrier 33 act as a linear induction motor,
Thrust acts on the transport vehicle 33.

When a current is supplied to the coil 41 of the corresponding SRLM primary core 34 when the carrier 33 is located at the place where the SRLM primary core 34 is provided, the SRLM primary core 34 and the back yoke 37 of the secondary movable element 39 are SR linear. Acting as a motor, a thrust acts on the transport vehicle 33.

This embodiment has the following effects in addition to the effects similar to (1) and (2) of the first embodiment. (10) SRLM primary core 34 and LIM primary core 35
Both are configured to pass a three-phase sine wave current,
Different types of primary cores can be driven by an excitation circuit using the same inverter. Therefore, a common excitation circuit can be used for installation on the ground, and the installation space and the cost of the entire transfer device can be reduced.

(11) Primary core (SRLM primary core 3
4 and the LIM primary core 35) are provided in the transport path 31, so that there is no need to supply power to the transport vehicle 33 to supply electricity to the primary core.

The embodiment is not limited to the above, and may be embodied as follows, for example. The configuration of the first embodiment may be such that the PM stator 24 of the second embodiment is laid in a predetermined section near the transfer station 4 where the transport vehicle 3 is stopped. In this case, since the salient poles are permanent magnets, a stronger thrust can be obtained than when the LRM stator 5 is laid.

The configuration of the first embodiment is such that the LIM stator 6 has a predetermined pitch so as to extend in a direction intersecting the propulsion direction at a predetermined interval from both ends in the width direction of the secondary conductor 8. A hole penetrating the secondary conductor 8 or the secondary conductor 8
May be configured such that a groove is formed on the surface thereof. in this case,
Since the secondary conductor 8 has a ladder structure, more eddy current components in the direction perpendicular to the thrust direction that greatly contribute to the thrust are generated in the secondary conductor 8.
Even though the current flowing through 5 is the same, a stronger thrust can be obtained.

In the configuration of the first embodiment, the LIM stator 6 may be formed to have the same structure as the secondary movable element 39 of the third embodiment. In this case, since the magnetic flux passing through the secondary stator increases, more eddy currents are generated in the secondary conductor 8 and even if the current flowing through the coil 15 of the primary core 13 is the same, a stronger thrust Can be obtained.

In the configuration of the first embodiment, the LRM stator 5 may be formed to have the same structure as the secondary movable element 39 of the third embodiment. In this case, when the transport vehicle 3 stops at the transfer station 4 on which the LRM stator 5 is laid, high stopping accuracy can be obtained by energizing the coil 15 of the primary core 13 so as to operate as a linear reluctance motor. it can. When the transport vehicle 3 passes through the transfer station 4 without stopping, the coil 15 of the primary core 13 may be energized so as to function as a linear induction motor, similarly to the section other than the vicinity of the stop position. It can be controlled by a simple procedure.

The structure of the first embodiment is different from that of the second embodiment in that the secondary stators (the LRM stator 5 and the LIM stator 6) are provided over the entire section of the transport path. 39
It may be formed in the same structure as described above. In this case, by switching the command value of the excitation circuit of the control device 12 at an arbitrary point in the entire section of the transport path 1, it operates as a linear reluctance motor to drive the transport vehicle 3 and obtain high stop positioning accuracy. Therefore, it is possible to easily cope with the addition and the change of the stop position of the carrier 3 due to the addition and the change of the position of the transfer station 4.

The ratio between the number of magnetic poles of the primary core and the number of salient poles of the LRM stator and the PM stator is not limited to 3: 4.
If the ratio does not result in the same number ratio, the ratio may be changed and set according to the transport pitch and the required stop positioning accuracy.

The back yoke 7 of the LRM stator 5, the LIM stator 6, and the back yoke 37 of the secondary mover 39
In addition to iron, for example, a magnetic metal such as nickel, ferrite, or stainless steel, a magnetic material, or an alloy may be used.

The secondary conductor 8 of the LIM stator 6 and the secondary conductor 38 of the secondary mover 39 may be made of a non-magnetic metal or alloy such as copper or brass other than aluminum. The secondary mover 39 is a salient pole 37 of the back yoke 37.
a is not limited to the shape extending in the direction perpendicular to the running direction,
7a may be formed in a shape extending at an angle of skew with respect to the direction perpendicular to the running direction.

The technical idea grasped from the embodiment and not described in the claims will be described below together with its effects. (1) In the invention described in claim 2, the secondary stator capable of generating a large thrust has a salient pole made of a ferromagnetic material. In this case, since there is no adsorption of magnetic dust such as iron powder and iron dust, failures can be reduced and maintainability can be improved. Also, it is suitable for a transport device installed in a clean room.

[0073]

As described in detail above, claims 1 to 4 are provided.
According to the invention described in (1), a high stop positioning accuracy and a strong thrust at the stop position of the carrier can be obtained.

According to the first to third aspects of the present invention, since the primary core is provided on the transport vehicle, the secondary side which does not require power supply is laid on the transport path. Laying work is easy, and it is possible to shorten the construction period and cost of the installation work of the transfer device.

According to the second and third aspects of the present invention, it is possible to use one type of primary core through different sections of the operating motor system, and it is possible to mount the primary core on a carrier and to manufacture the primary core. Cost can be reduced.

According to the second to fourth aspects of the present invention, it is possible to use one type of excitation circuit through different sections of the operating motor system, thereby reducing the installation space and manufacturing cost of the excitation circuit. .

According to the fourth aspect of the present invention, since the primary core is provided in the transport path, it is not necessary to supply power to the primary core to the transport vehicle, and the configuration of the transport vehicle can be simplified. It is.

[Brief description of the drawings]

FIG. 1A is a schematic partial plan view of a transfer device according to a first embodiment, FIG. 1B is a schematic cross-sectional view of a LIM stator,
(C) is a schematic sectional view of an LRM stator.

FIG. 2 is a schematic side view of a transport vehicle.

FIG. 3 is a schematic cross-sectional view of a primary core having distributed winding coils and a LIM stator.

FIG. 4 is a schematic cross-sectional view of a primary core having distributed winding coils and an LRM stator.

FIG. 5A is a schematic sectional view of a primary core having a concentrated winding coil and an LRM stator according to a second embodiment, and FIG. 5B is a schematic sectional view of a PM stator.

FIG. 6A is a schematic plan view of a secondary mover and wheels of a carrier according to a third embodiment, and FIG. 6B is a schematic sectional view of the same.

FIG. 7 is a schematic partial plan view of a transfer device according to a third embodiment.

8A is a schematic sectional view of an SRLM primary core and a secondary mover, and FIG. 8B is a schematic sectional view of an LIM primary core and a secondary mover.

FIG. 9A is a schematic partial plan view of a transfer device according to the related art, and FIG. 9B is a partially cutaway perspective view schematically illustrating a secondary movable element.

[Explanation of symbols]

1, 31: transport path, 3, 33: transport vehicle, 4: transfer station, 5: LRM stator as secondary stator, 5
a, 24a salient poles, 6 LIM stator as secondary stator, 8, 38 secondary conductor, 12, 44 control device as control means, 13, 21 primary as primary mover Cores, 14a, 22a ... magnetic poles of primary mover, 15, 2
2, 41, 43 ... coil, 24 ... PM stator as a secondary stator, 34 ... SRLM primary core as a primary stator, 35 ... LIM primary core as a primary stator, 3
7: Back yoke, 39: Secondary mover.

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Kimoto Minoshima 2-1-1 Toyota-cho, Kariya-shi, Aichi Prefecture Inside Toyota Industries Corporation (72) Inventor Hiroto Hayashi 2-1-1, Toyota-cho, Kariya-shi, Aichi Prefecture Shares In-house Toyota Industries Corporation (72) Inventor Taiji Taiichi 2-1-1, Toyota-machi, Kariya-shi, Aichi F-Terminator Co., Ltd. F-term (reference) 5H113 CC03 CC04 CC07 CC08 CD02 CD04 CD08 CD12 CD14 CD18 DD01 GG03 HH04 5H641 BB06 BB07 BB18 BB19 GG02 GG03 GG04 GG16 GG26 GG29 HH02 HH03 HH08 HH09 HH12 JA04

Claims (4)

[Claims] 1. A linear motor type transport apparatus comprising: a primary side movable element provided on a transport vehicle traveling along a transport path; and a secondary stator provided on the transport path. As a secondary-side stator arranged at the stop position, a stator having a structure capable of generating a thrust larger than a thrust in a conveyance path other than the range is arranged, and a coil of the primary-side mover is provided on the carrier. A linear motor type transfer device comprising control means for switching and controlling the driving current according to the traveling position. 2. The coil of the primary mover is wound in a winding manner of a three-phase linear induction motor, and the secondary stator capable of generating a large thrust is formed of a ferromagnetic salient pole or The salient poles made of permanent magnets are protruded at a predetermined pitch corresponding to the pitch of the magnetic poles of the primary-side mover, and the secondary-side stator disposed at other locations includes the secondary conductor of the linear induction motor. The linear motor-type transfer device according to claim 1. 3. The coil of the primary mover is wound in a winding manner of a switched reluctance linear motor capable of driving a sine wave, and the secondary stator capable of generating a large thrust is in the stop position. Permanent magnets are protruded over a wider range at a predetermined pitch corresponding to the pitch of the magnetic poles of the primary mover, and the secondary stators disposed at other locations are provided with salient magnetic poles. The linear motor-type transfer device according to claim 1. 4. A structure in which a primary stator of a linear motor is arranged at predetermined intervals along a transport path, and a back yoke and a secondary conductor are joined to a transport vehicle traveling along the transport path. A secondary yoke is formed on the surface of the secondary conductor such that the back yoke is exposed at a predetermined pitch so that the back yoke extends at a predetermined interval from both ends in the width direction of the secondary conductor in a direction intersecting the propulsion direction. In the linear motor type transfer device, winding the coil of the primary stator disposed at least at a predetermined stop position of the transfer vehicle in the transfer path, in a winding manner of a switched reluctance linear motor capable of sine wave drive, A linear motor-type transfer device, wherein another primary stator coil is wound in a winding manner of a three-phase linear induction motor, and a common excitation circuit for supplying a sine wave current to each of the primary stator coils is provided.