Linear motor module and linear transport system

Abstract

To provide a linear motor module and a linear transport system that has a small footprint and small height dimension.SOLUTION: A linear motor module 3 includes a drive substrate 50 and a base member 20. The base member 20 is provided with a pedestal portion 22, and a plurality of spaces 24 are formed on the side of the pedestal portion 22 at intervals in the longitudinal direction (X-axis direction). The drive substrate 50 is formed with a plurality of protrusions 52 to be inserted into the plurality of spaces 24.SELECTED DRAWING: Figure 7

Description

[Technical field]

[0001] The present invention relates to a linear motor module and a linear transport system. [Background technology]

[0002] The following Patent Document 1 discloses a linear transport device in which a linear motor is configured by arranging multiple stator units in series. The stator unit includes a stator fixed to a unit frame and a sensor board that controls the flow of electricity to the stator. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2013-176214 A Summary of the Invention [Problem to be solved by the invention]

[0004] In the linear motor module described above, a small footprint and small height are required in order to miniaturize the module and ensure surrounding work space. In the stator unit of Patent Document 1, as shown in Fig. 3, the sensor board is fixed vertically to the side of the unit frame, which makes it possible to reduce the footprint but increases the height.

[0005] The present invention has been made in consideration of the above circumstances, and has an object to provide a linear motor module and a linear transport system that have a small footprint and a small height dimension. [Means for solving the problem]

[0006] In order to solve the above problems, a linear motor module according to one embodiment of the present invention comprises a track body that guides a moving body, a plurality of coil units arranged along the track body, a drive board electrically connected to the plurality of coil units, and a base member that supports the track body, the plurality of coil units, and the drive board, wherein the base member is provided with a pedestal portion that supports the track body, and a plurality of spaces are formed on the side of the pedestal portion at intervals in the longitudinal direction of the track body, and the drive board is formed with a plurality of protrusions that are inserted into the plurality of spaces.

[0007] Moreover, a linear conveying system according to one embodiment of the present invention includes the linear motor module described above, and a moving body that is guided along the track body and has a magnet that can face the multiple coil units, and multiple linear motor modules can be connected so that the track body is continuous. Effect of the Invention

[0008] According to one aspect of the present invention, it is possible to reduce the footprint and height dimension. [Brief description of the drawings]

[0009] [Figure 1] 1 is an overall view of a linear transport system according to an embodiment; [Diagram 2] FIG. 2 is a perspective view of a moving body and a linear motor module according to an embodiment. [Diagram 3] 1 is a diagram showing a moving body and a linear motor module according to an embodiment as viewed from the X-axis direction. [Figure 4] FIG. 1 is a perspective view of a linear motor module according to one embodiment. [Diagram 5] FIG. 2 is a perspective view of a base member and a driving substrate according to an embodiment. [Figure 6] 6 is a plan view of the base member and the driving substrate shown in FIG. 5. [Figure 7] FIG. 11 is a perspective view showing an assembly state of a base member and a drive substrate according to an embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0011] FIG. 1 is an overall view of a linear transport system 1 according to an embodiment. As shown in Fig. 1, the linear transport system 1 includes a moving body 2 and a linear motor module 3. The moving body 2 is also called a mover unit. The linear motor module 3 is also called a stator unit. The linear motor module 3 includes a track body 30 that guides the moving body 2, and a linear encoder 60 arranged along the track body 30.

[0012] A plurality of linear motor modules 3 can be connected together so that the track bodies 30 are continuous. In the example of Fig. 1, three linear motor modules 3 are connected together. Connecting rails 31 are provided between the track bodies 30 of each linear motor module 3. The moving body 2 can move along the track bodies 30 connected together by the connecting rails 31.

[0013] In the following description, an XYZ orthogonal coordinate system is set, and the positional relationship of each member may be described with reference to this XYZ orthogonal coordinate system. The X-axis direction is the length direction of the track body 30 (the direction of movement of the moving body 2). The Y-axis direction is the width direction of the track body 30, which is perpendicular to the X-axis direction. The Z-axis direction is the height direction of the track body 30, which is perpendicular to the X-axis and Y-axis directions.

[0014] Fig. 2 is a perspective view of the moving body 2 and the linear motor module 3 according to one embodiment. Fig. 3 is a view of the moving body 2 and the linear motor module 3 according to one embodiment as viewed from the X-axis direction. As shown in FIG. 3, the moving body 2 includes a table 10, a slider block 11, a magnet 12, and a linear scale 13.

[0015] The table 10 includes a top plate portion extending along the XY plane and a pair of side walls extending downward from both ends of the top plate portion in the Y-axis direction. An object to be conveyed (not shown) can be fixed to the upper surface side of the top plate portion of the table 10.

[0016] A slider block 11 is attached to the underside of the top plate of the table 10. The slider block 11 is engaged with the track body 30 so as to be movable in the X-axis direction. Recesses are formed on both side surfaces of the track body 30 in the Y-axis direction, and the slider block 11 has protrusions that engage with the recesses.

[0017] A rolling element transfer path for endlessly transferring the rolling elements (not shown) may be formed between the recess of the track body 30 and the protrusion of the slider block 11. The rolling element transfer path may be provided, for example, in two rows, one on each side in the Y-axis direction, or in four rows, two on each side in the Y-axis direction.

[0018] In addition, a magnet 12 is attached to the underside of the top plate of the table 10. The magnet 12 is disposed on the -Y side of the slider block 11. The magnetic poles of the magnet 12 face downward. The downward magnetic poles of the magnet 12 are arranged such that the N poles and S poles are alternately arranged in the X-axis direction.

[0019] A linear scale 13 is attached to the inner wall surface of the side wall on the +Y side of the table 10. The linear scale 13 is formed in the shape of a thin bar extending in the X-axis direction. The linear scale 13 faces a detection unit 64a of the linear encoder 60 in the Y-axis direction. The linear scale 13 and the linear encoder 60 may be of either an optical type or a magnetic type.

[0020] The linear motor module 3 includes a base member 20, a track body 30, a coil unit 40, a drive board 50, a linear encoder 60, and a cover 70. The base member 20 is preferably a lightweight metal member having heat dissipation properties such as aluminum, and includes a bottom plate portion 21, a pedestal portion 22, and a column portion 23. The bottom plate portion 21 is formed in a plate shape extending along the XY plane.

[0021] The pedestal portion 22 stands upward (to the +Z side) from the center of the bottom plate portion 21 in the Y-axis direction. The above-mentioned track body 30 is attached to the top of the pedestal portion 22. As shown in Fig. 2, the pedestal portion 22 extends in the X-axis direction together with the track body 30. A first mounting portion 22a (step) is formed on the surface of the pedestal portion 22 facing the -Y side.

[0022] The pillar portion 23 is disposed on the -Y side of the base portion 22, and stands upward (to the +Z side) from the bottom plate portion 21. The pillar portion 23 also extends in the X-axis direction together with the base portion 22 (first mounting portion 22a). The height of the top of the pillar portion 23 is the same as the height of the first mounting portion 22a. A support member 41 is installed between the pillar portion 23 and the first mounting portion 22a.

[0023] 3, the support member 41 is formed in an L-shape when viewed from the X-axis direction. The support member 41 supports the coil unit 40. The coil unit 40 faces the magnet 12 in the Z-axis direction. The coil unit 40 includes U-phase, V-phase, and W-phase coil groups arranged along the X-axis direction. For example, a plurality of the coil units 40 (four in this embodiment) are arranged side by side in the X-axis direction.

[0024] 3, the drive board 50 is disposed below (on the -Z side) the coil unit 40 and fixed onto the bottom plate portion 21. The drive board 50 includes a connector 81 that is connected to the coil unit 40 via a cable (not shown), and a motor driver 82 that controls the movement of the movable body 2 in the X-axis direction by passing a current through the coil unit 40 via the cable. The drive board 50 is disposed to penetrate the base portion 22 in the Y-axis direction (described later).

[0025] The cover 70 covers a portion (base portion 51) of the drive board 50 that protrudes from the pedestal portion 22 to the +Y side. The cover 70 is provided with various connectors that connect the drive board 50 to an external device (not shown). For example, reference numerals 71 and 72 shown in FIG. 2 are communication connectors. Reference numeral 73 is a power connector. Reference numeral 74 is a USB connector.

[0026] A second mounting portion 22b (step) is formed on a surface of the base portion 22 facing the +Y side. A linear encoder 60 is attached to the second mounting portion 22b. As shown in FIG. 3, the linear encoder 60 is formed in an L-shape when viewed from the X-axis direction. The linear encoder 60 includes a mounting base 61, a positioning plate 62, a sensor cover 63, and a position detection sensor 64.

[0027] The mounting base 61 is formed in a plate shape extending along the XY plane, and is fixed to the second mounting portion 22b. A positioning plate 62 is attached to the +Y side end of the mounting base 61 by a screw member 61a. The positioning plate 62 stands upward (on the +Z side) from the +Y side end of the mounting base 61. The positioning plate 62 extends along the XZ plane.

[0028] 2, the positioning plate 62 extends along the movement direction (X-axis direction) of the movable body 2 and faces the linear scale 13 in the Y-axis direction. A protective film 62a is attached to the surface of the positioning plate 62 facing the linear scale 13. The non-facing surface side of the positioning plate 62 is covered by a sensor cover 63, as shown in FIG. 3. A position detection sensor 64 is arranged inside the sensor cover 63.

[0029] Fig. 4 is a perspective view of a linear motor module 3 according to one embodiment. In order to improve visibility, the moving body 2 and the cover 70 are not shown in Fig. 4. Reference numeral 75 shown in Fig. 4 denotes a mounting frame for mounting the cover 70 to the base member 20.

[0030] 4, the linear motor module 3 includes four coil units 40A to 40D. The four coil units 40A to 40D are arranged side by side in the X-axis direction.

[0031] Fig. 5 is a perspective view of the base member 20 and the drive board 50 according to one embodiment. Note that in Fig. 5, in order to improve visibility compared to Fig. 4, the coil unit 40, the support member 41, and the mounting frame 75 are not shown.

[0032] 5, a plurality of spaces (hereinafter referred to as through holes 24) are formed at intervals in the X-axis direction on the side of the base portion 22. The plurality of through holes 24 are located below (on the -Z side) the second mounting portion 22b, and each penetrates the base portion 22 in the Y-axis direction.

[0033] The drive substrate 50 is fixed to the bottom plate portion 21 at multiple points by screw members 91 and spacers 92. The drive substrate 50 is fixed by the spacer 92 in a state where it is slightly floating upward (to the +Z side) relative to the bottom plate portion 21.

[0034] Fig. 6 is a plan view of the base member 20 and the driving substrate 50 shown in Fig. 5. Fig. 7 is a perspective view showing the assembly of the base member 20 and the driving substrate 50 according to one embodiment. As shown in FIGS. 6 and 7, the driving substrate 50 is formed with a plurality of protrusions (hereinafter referred to as comb-tooth portions 52) to be inserted into the plurality of through-holes 24.

[0035] The driving substrate 50 includes a base portion 51 extending in the X-axis direction and a plurality of comb-tooth portions 52 extending from the base portion 51 toward the -Y side. The driving substrate 50 of this embodiment includes three comb-tooth portions 52 and is formed in an E-shape in plan view as seen from the Z-axis direction.

[0036] A motor driver 82 that controls the coil unit 40 is provided at the tip of the comb-tooth portion 52. As shown in Fig. 3, the motor driver 82 is disposed on a surface of the comb-tooth portion 52 facing the -Z side and facing the bottom plate portion 21, and is in contact with the bottom plate portion 21 via a heat transfer member 83. Heat generated by the motor driver 82 is transferred to the base member 20 via the heat transfer member 83 and dissipated.

[0037] 6 and 7, the base portion 22 is formed with the three through holes 24 described above. The through holes 24 include two different sizes of through holes 24 (first through hole 24a and second through hole 24b). The first through hole 24a is formed at both ends of the base portion 22 in the X-axis direction. The second through hole 24b is formed at the center of the base portion 22 in the X-axis direction.

[0038] 6, the first through hole 24a is formed with a first length D1 in the X-axis direction. The second through hole 24b is formed with a second length D2 in the X-axis direction. The second length D2 is longer than the first length D1. Specifically, the second length D2 is approximately twice the dimension of the first length D1.

[0039] On the other hand, three comb teeth 52 are formed on the driving substrate 50. The comb teeth 52 include two sizes of comb teeth 52 (first comb teeth 52a and second comb teeth 52b). The first comb teeth 52a are formed on both ends of the base 51 in the X-axis direction. The second comb teeth 52b are formed in the center of the base 51 in the X-axis direction.

[0040] 6, the first comb tooth portion 52a is formed with a first width W1 in the X-axis direction. The second through hole 24b is formed with a second width W2 in the X-axis direction. The second width W2 is larger than the first width W1. Specifically, the second width W2 is approximately twice the size of the first width W1.

[0041] The first comb tooth portion 52a can be inserted into the first through hole 24a. That is, the first width W1 has a dimension slightly smaller than the first length D1. The second comb tooth portion 52b can be inserted into the second through hole 24b but cannot be inserted into the first through hole 24a. That is, the second width W2 has a dimension slightly smaller than the second length D2 and larger than the first length D1.

[0042] The second comb-tooth portion 52b is provided with more motor drivers 82 than the first comb-tooth portion 52a. Specifically, the first comb-tooth portion 52a arranged on the +X side is provided with a connector 81A connected to the coil unit 40A (see FIG. 4) via a cable (not shown) and a motor driver 82A that controls the coil unit 40A via the cable. Screw members 91 (and spacers 92) are arranged at four locations around the motor driver 82A, and the motor driver 82A receives a substantially uniform load and contacts the bottom plate portion 21 via the heat transfer member 83.

[0043] Further, the first comb tooth portion 52a arranged on the -X side is provided with a connector 81D connected to the coil unit 40D via a cable (not shown) and a motor driver 82D that controls the coil unit 40D via the cable. Screw members 91 (and spacers 92) are arranged at four locations around the motor driver 82D, and the motor driver 82D is in contact with the bottom plate portion 21 via the heat transfer member 83 while receiving a substantially uniform load.

[0044] On the other hand, the second comb tooth portion 52b is provided with a connector 81B connected to the coil unit 40B via a cable not shown, and a motor driver 82B that controls the coil unit 40B via the cable, as well as a connector 81C connected to the coil unit 40C via a cable not shown, and a motor driver 82B that controls the coil unit 40C via the cable.

[0045] Spacers (and spacers 92) are arranged at four locations around motor driver 82B and at four locations around motor driver 82C, and motor driver 82B and motor driver 82C receive a substantially uniform load and are in contact with bottom plate portion 21 via heat transfer member 83. Note that two screw members 91c arranged between motor driver 82B and motor driver 82C are shared, and motor driver 82B and motor driver 82C are fixed with a total of six screw members 91.

[0046] Of the six screw members 91, a beam member 90 is attached above three screw members 91 that are arranged on an extension line of the first mounting portion 22a in the plan view shown in Fig. 6. The beam member 90 is detachably attached to the base portion 22 via screw members and forms a part of the first mounting portion 22a. By removing the beam member 90, the three screw members 91 that are arranged on an extension line of the first mounting portion 22a can be tightened or untightened.

[0047] At least a part of a control chip 84 that collectively controls the motor drivers 82A to 82D is provided on the second comb tooth portion 52b. The second comb tooth portion 52b has a larger width in the X-axis direction than the first comb tooth portion 52a, so that the control chip 84 can be easily laid out. Also, the dimension of the base portion 51 in the Y-axis direction can be made smaller than if the control chip 84 were laid out only on the base portion 51. Note that, in this embodiment, the control chip 84 is laid out across the second comb tooth portion 52b and the base portion 51, but the control chip 84 may be laid out only on the second comb tooth portion 52b.

[0048] According to the above configuration, as shown in Fig. 6, by forming a plurality of through holes 24 on the side of the base portion 22 and inserting the comb-tooth portions 52 of the drive substrate 50 into the through holes 24, the drive substrate 50 can be arranged horizontally along the XY plane, and therefore the height dimension of the linear motor module 3 can be reduced as shown in Fig. 3. In addition, by having the comb-tooth portions 52 penetrate the base portion 22 in the Y-axis direction, the drive substrates 50 can be arranged on both sides of the base portion 22 in the Y-axis direction, and therefore the footprint of the linear motor module 3 can be reduced compared to when the drive substrate 50 is arranged only on one side of the base portion 22 in the Y-axis direction.

[0049] As described above, the linear motor module 3 of this embodiment includes the track body 30 that guides the moving body 2, a plurality of coil units 40 arranged along the track body 30, a drive board 50 electrically connected to the plurality of coil units 40, and a base member 20 that supports the track body 30, the plurality of coil units 40, and the drive board 50, and the base member 20 is provided with a pedestal portion 22 that supports the track body 30, and a plurality of through holes 24 are formed on the side of the pedestal portion 22 at intervals in the longitudinal direction in which the track body 30 extends, and the drive board 50 is formed with a plurality of comb-tooth portions 52 that are inserted into the plurality of through holes 24. With this configuration, it is possible to provide a linear motor module 3 that has a small footprint and a small height dimension.

[0050] In the present embodiment, the comb-tooth portion 52 is provided with a motor driver 82 that controls the coil unit 40. According to this configuration, as shown in Fig. 3, the motor driver 82 can be disposed below the coil unit 40, and the motor driver 82 and the coil unit 40 can be connected at a short distance.

[0051] In this embodiment, the base member 20 is provided with a bottom plate portion 21 that supports the pedestal portion 22, and the motor driver 82 is disposed on the surface of the comb-tooth portion 52 that faces the bottom plate portion 21, and is in contact with the bottom plate portion 21 via a heat transfer member 83. According to this configuration, heat generated by the motor driver 82 can be transferred to the bottom plate portion 21 via the heat transfer member 83 and dissipated efficiently.

[0052] 6, the plurality of through holes 24 include a first through hole 24a formed with a first length D1 in the length direction and a second through hole 24b formed with a second length D2 longer than the first length D1 in the length direction, and the plurality of comb teeth 52 include a first comb teeth 52a inserted into the first through hole 24a and a second comb teeth 52b inserted into the second through hole 24b and having a width in the length direction larger than that of the first comb teeth 52a. The second comb teeth 52b is provided with more motor drivers 82 than the first comb teeth 52a, and is provided with a control chip 84 that controls the motor drivers 82. According to this configuration, the second comb teeth 52b is provided with two motor drivers 82B and 82C, and the control chip 84 is easily laid out. If four comb teeth 52 are formed corresponding to the four motor drivers 82, four through holes 24 must also be formed in the base 22. Increasing the number of through holes 24 in the pedestal portion 22 increases the processing cost of the base member 20 and makes it difficult to ensure the rigidity of the pedestal portion 22 that supports the track body 30. Therefore, it is preferable to provide the wide second comb tooth portion 52b as in this embodiment.

[0053] Moreover, the linear conveyance system 1 of this embodiment includes the linear motor module 3, and a moving body 2 that is equipped with a magnet 12 capable of facing a plurality of coil units 40 and is guided along a track body 30, and a plurality of linear motor modules 3 can be connected together so that the track body 30 is continuous. According to this configuration, by connecting a plurality of linear motor modules 3, a linear conveyance system 1 with a small footprint and small height dimension can be constructed.

[0054] Although the preferred embodiment of the present invention has been described above with reference to the drawings, the present invention is not limited to the above embodiment. The shapes and combinations of the components shown in the above embodiment are merely examples, and various modifications can be made based on design requirements, etc., without departing from the spirit of the present invention. For example, although a through hole has been described as a space, the present invention is not limited to this, and the same effect can be obtained by inserting the protruding portion of the drive substrate into a hole or groove that does not penetrate the base portion. [Explanation of symbols]

[0055] 1...Linear conveying system, ...moving body, 3...Linear motor module, 12...Magnet, 20...Base member, 21...Bottom plate portion, 22...Pedestal portion, 24...Through hole (space portion), 24a...First through hole, 24b...Second through hole, 30...Railway body, 40...Coil unit, 50...Drive board, 52...Comb tooth portion (protruding portion), 52a...First comb tooth portion, 52b...Second comb tooth portion, 82...Motor driver, 83...Heat transfer member, 84...Control chip, D1...First length, D2...Second length, W1...First width, W2...Second width

Claims

1. A track body that guides the moving body; A plurality of coil units arranged along the track body; a drive substrate electrically connected to the plurality of coil units; a base member supporting the track body, the coil units, and the drive substrate; The base member is provided with a seat portion that supports the track body, A plurality of spaces are formed at the side of the base at intervals in the longitudinal direction of the track body, The drive substrate is formed with a plurality of protrusions to be inserted into the plurality of spaces. Linear motor module.

2. A motor driver for controlling the coil unit is provided on the protruding portion. The linear motor module according to claim 1 .

3. The base member is provided with a bottom plate portion that supports the pedestal portion, the motor driver is disposed on a surface of the protruding portion facing the bottom plate portion, and is in contact with the bottom plate portion via a heat transfer member. The linear motor module according to claim 2 .

4. The plurality of spaces include A first space portion formed with a first length in the longitudinal direction; a second space portion formed with a second length that is longer than the first length in the longitudinal direction, The plurality of protrusions include A first protrusion portion to be inserted into the first space portion; a second protruding portion that is inserted into the second space and has a width in the longitudinal direction larger than that of the first protruding portion, The second protruding portion is provided with a larger number of the motor drivers than the first protruding portion, and is also provided with at least a part of a control chip that controls the motor drivers.

4. The linear motor module according to claim 2 or 3.

5. A linear motor module according to any one of claims 1 to 3, a moving body including a magnet capable of facing the plurality of coil units and being guided along the track body, The linear motor module can be connected in plurality so that the track body is continuous. Linear transport system.

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