Linear Transport System

Abstract

A linear conveyance system (1) comprises: a plurality of stator modules (2) forming a conveyance path; and movable elements (3) having a plurality of magnets disposed on both side surfaces. The plurality of stator modules (2) include one-side stator modules (21) each disposed on one side of a non-branching portion of the conveyance path, and both-side stator modules (22) each disposed on both sides of a branching portion of the conveyance path. The one-side stator modules (21) and the both-side stator modules (22) each have an iron core and a plurality of coils. The movable elements (3) are propelled by electromagnetic force from the plurality of coils. The both-side stator modules (22) each have two stator modules. The coil amount of the one-side stator modules (21) disposed on the non-branching portion of the conveyance path, and the coil amount of the both-side stator modules (22) disposed on the branching portion of the conveyance path are the same.

Description

[Technical field]

[0001] The present disclosure relates to a linear transport system that uses the thrust of a linear motor. [Background technology]

[0002] There is known a technology in which a mover to which multiple magnets are attached moves along a linear guide composed of multiple stator modules, and paths can branch and merge by electromagnetic force. For example, Patent Document 1 discloses an invention in which stator coils are arranged on both sides in a branching section, and electricity is passed through the coil on one side to apply a lateral force that moves the mover in the branching direction. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6633516 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in conventional linear transport systems, coils similar to those in the non-branched section are arranged on both sides of the branched section, which increases the weight of the motor. Furthermore, when coils are arranged on both sides of the branched section only and the same inverter is used for the branched section and the non-branched section, in order to generate the same thrust in the branched section as in the non-branched section, it is only necessary to energize half of the coils in the branched section, which results in inverters that are not utilized. Or, the current flowing in the branched section is half that of the current flowing in the non-branched section, which means that only half of the inverter's performance can be utilized, which results in an increase in the size of the inverter.

[0005] The present disclosure has been made in view of the above, and has an object to provide a linear conveyance system that reduces the weight of the motor and the capacity of the inverter, and contributes to miniaturization. [Means for solving the problem]

[0006] In order to solve the above-mentioned problems and achieve the object, the linear transport system according to the present disclosure has a plurality of stator modules forming a transport path, and a mover having a plurality of magnets arranged on both side surfaces. The plurality of stator modules include a single-sided stator module arranged on one side of a non-branched portion of the transport path, and a double-sided stator module arranged on both sides of a branched portion of the transport path. Each of the single-sided stator module and the double-sided stator module includes an iron core and a plurality of coils. The mover is propelled by electromagnetic force from the multiple coils. . transportation The coil amount of the one-side stator module arranged in the non-branching portion of the transport path is equal to the coil amount of the two-side stator modules arranged in the branching portion of the transport path. Effect of the Invention

[0007] The linear conveying system according to the present disclosure has the advantage of being able to reduce the weight of the motor and the capacity of the inverter, and also contribute to miniaturization. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram showing an overall configuration of a linear transport system according to a first embodiment. [Diagram 2] FIG. 1 is a perspective view of a double-sided stator module included in a linear transport system according to a first embodiment; [Diagram 3] FIG. 1 is a cross-sectional view of a double-sided stator module included in the linear transport system according to the first embodiment. [Figure 4] 1 is a cross-sectional view of a mover included in a linear transport system according to a first modified example of the first embodiment; [Diagram 5] 11 is a cross-sectional view of a mover included in a linear transport system according to a second modification of the first embodiment; [Figure 6] FIG. 3 is a cross-sectional view of a one-side stator module included in the linear transport system according to the first embodiment. [Figure 7] FIG. 11 is a cross-sectional view of a double-sided stator module included in the linear transport system according to the second embodiment. [Figure 8]FIG. 11 is a cross-sectional view of a mover included in a linear transport system according to a modification of the second embodiment. [Figure 9] FIG. 11 is a cross-sectional view of a double-sided stator module included in the linear transport system according to the third embodiment. [Figure 10] FIG. 13 is a cross-sectional view of a double-sided stator module included in the linear transport system according to the fourth embodiment. [Figure 11] FIG. 13 is a perspective view of a double-sided stator module included in the linear transport system according to the fifth embodiment; [Figure 12] FIG. 13 is a first cross-sectional view of a double-sided stator module included in the linear transport system according to the fifth embodiment; [Figure 13] FIG. 13 is a second cross-sectional view of the double-sided stator module of the linear transport system according to the fifth embodiment; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] A linear transport system according to an embodiment will be described in detail below with reference to the drawings.

[0010] Embodiment 1 1 is a diagram showing an overall configuration of a linear conveyance system 1 according to the first embodiment. The linear conveyance system 1 has a plurality of stator modules 2 that form a conveyance path. The plurality of stator modules 2 have a single-side stator module 21 arranged on one side of a non-branching portion of the conveyance path, and a double-side stator module 22 arranged on both sides of a branching portion of the conveyance path. An example of the non-branching portion is a straight section.

[0011] The linear transport system 1 has a plurality of single-sided stator modules 21 and a plurality of double-sided stator modules 22. At a branching portion, one transport path branches into two transport paths, or the two transport paths merge into one transport path. The linear transport system 1 further has a mover 3 having a plurality of magnets arranged on both side surfaces. The linear transport system 1 has a plurality of movers 3.

[0012] Fig. 2 is a perspective view of the double-sided stator module 22 included in the linear transport system 1 according to the first embodiment. Fig. 3 is a cross-sectional view of the double-sided stator module 22 included in the linear transport system 1 according to the first embodiment. Figs. 2 and 3 also show the mover 3. Figs. 2 and 3 typically show the double-sided stator module 22 and the mover 3. Figs. 2 and 3 also show the traveling direction of the mover 3.

[0013] The double-sided stator module 22 has two stator modules. Specifically, the double-sided stator module 22 has a first stator module 221 and a second stator module 222. The first stator module 221 is one of the two stator modules included in the double-sided stator module 22. The second stator module 222 is the other of the two stator modules included in the double-sided stator module 22. The first stator module 221 is disposed on one side of a branching portion of the conveying path, and the second stator module 222 is disposed on the other side of the branching portion of the conveying path.

[0014] The first stator module 221 has an iron core 41 and a plurality of coils 42. The iron core 41 has a plurality of teeth 43. Each of the plurality of coils 42 is wound around one of the plurality of teeth 43. The second stator module 222 has an iron core 51 and a plurality of coils 52. The iron core 51 has a plurality of teeth 53. Each of the plurality of coils 52 is wound around one of the plurality of teeth 53. The number of teeth 43 included in the first stator module 221 and the number of teeth 53 included in the second stator module 222 are even numbers.

[0015] In each of the first stator module 221 and the second stator module 222, the teeth 43, 53 around which the coils 42, 52 are wound and the teeth 43, 53 around which the coils 42, 52 are not wound are arranged alternately in the traveling direction of the mover 3. More specifically, the teeth 43 around which the coil 42 of the first stator module 221 is wound face the teeth 53 around which the coil 52 of the second stator module 222 is wound. The teeth 43 around which the coil 42 of the first stator module 221 is not wound face the teeth 53 around which the coil 52 of the second stator module 222 is not wound.

[0016] The mover 3 has a plurality of magnets 31 arranged on both side surfaces. At the branching portion of the conveying path, the mover 3 is located between the first stator module 221 and the second stator module 222, and is propelled by electromagnetic force from a plurality of coils 42 of the first stator module 221 or a plurality of coils 52 of the second stator module 222. Each of the plurality of movers 3 is independently controlled on the conveying path. A motor drive control device (not shown) supplies current to each coil of the stator module 2 located near the mover 3. For example, the current is not a three-phase alternating current of UVW, but a single-phase alternating current in which each phase is independently controlled, and a current is supplied to each coil with an arbitrary waveform.

[0017] As described above, the mover 3 has a plurality of magnets 31 arranged on both side surfaces. With regard to the magnet arrangement on both side surfaces of the mover 3, the magnetic pole direction of the magnets 31 is reversed between the side surface of the mover 3 facing the first stator module 221 and the side surface of the mover 3 facing the second stator module 222. In the first embodiment, the side of the mover 3 facing the first stator module 221 is defined as the X side, and the side of the mover 3 facing the second stator module 222 is defined as the Y side. The magnet arrangement may be the same on the X side and the Y side. FIG. 4 is a cross-sectional view of the mover 3 included in the linear transport system according to the first modified example of the first embodiment. FIG. 4 also shows the double stator modules 22. FIG. 4 shows the mover 3 and the double stator modules 22 in a schematic manner. FIG. 4 also shows the moving direction of the mover 3. FIG. 4 shows that the arrangement of the magnets 31 is the same on the X side and the Y side. By making the magnet arrangement on the X side and the magnet arrangement on the Y side the same, when a thrust force is generated in the non-branched portion, the current command when an electromagnetic force acts on the X side and the current command when an electromagnetic force acts on the Y side match, so that control is easy. The magnet arrangements on the X side and the Y side may be shifted in the traveling direction. The positions where the coils 42 and the coils 52 are arranged may be the same as the positions where the coils 42 and the coils 52 are arranged in FIG. 3. FIG. 5 is a cross-sectional view of the mover 3 included in the linear transport system according to the second modified example of the first embodiment. FIG. 5 also shows the double-sided stator module 22. FIG. 5 shows the mover 3 and the double-sided stator module 22 in a schematic manner. FIG. 5 also shows the traveling direction of the mover 3. FIG. 5 shows that the arrangements of the magnets 31 on the X side and the Y side are shifted in the traveling direction by half the magnet pitch. By shifting the magnet arrangements on the X side and the Y side in the traveling direction, the cogging thrust acting on the X side and the cogging thrust acting on the Y side cancel each other out, so that the cogging thrust can be suppressed. The amount of shift at which the cogging thrust becomes minimum is half the magnet pitch, as shown in Fig. 5. The positions at which coils 42 and 52 are arranged may be the same as the positions at which coils 42 and 52 are arranged in Fig. 3.

[0018] At the branching portion of the transport path, as described above, the mover 3 is located between the first stator module 221 and the second stator module 222. Each of the multiple magnets 31 of the mover 3 faces a side surface of the first stator module 221 or a side surface of the second stator module 222. In the double-sided stator modules 22 at the branching portion, in order to guide the mover 3 to the selected path, a coil near the mover 3 is energized, and the double-sided stator modules 22 apply an electromagnetic force in a direction perpendicular to the traveling direction of the mover 3. As a result, the double-sided stator modules 22 move the mover 3.

[0019] Assume that the distance between the first stator module 221 and the X side of the mover 3 is smaller than the distance between the second stator module 222 and the Y side of the mover 3, and the user of the linear transport system 1 selects a path in a direction in which the distance between the second stator module 222 and the Y side of the mover 3 becomes smaller. The linear transport system 1 applies an electromagnetic force from the X side to the Y side to the two-sided stator modules 22. As a result, the distance between the second stator module 222 and the Y side of the mover 3 becomes smaller than the distance between the first stator module 221 and the X side of the mover 3, and the linear transport system 1 can move the mover 3 along a path in a direction in which the distance between the second stator module 222 and the Y side of the mover 3 becomes smaller.

[0020] Fig. 6 is a cross-sectional view of the single-side stator module 21 included in the linear transport system 1 according to the first embodiment. The mover 3 is also shown in Fig. 6. Fig. 6 shows the single-side stator module 21 and the mover 3 in a schematic manner. The traveling direction of the mover 3 is also shown in Fig. 6. As described above, the single-side stator module 21 is disposed on one side of the non-branched portion of the transport path. That is, in the non-branched portion, the single-side stator module 21 is located on one side of the mover 3.

[0021] The one-side stator module 21 has an iron core 61 and a plurality of coils 62. The iron core 61 has a plurality of teeth 63. Each of the plurality of coils 62 is wound around one of the plurality of teeth 63. The coils 62 are wound around all of the plurality of teeth 63. In the non-branched portion, the mover 3 is propelled by electromagnetic force from the plurality of coils 62.

[0022] The coil amount of the one-side stator module 21 arranged in the non-branching portion of the transport path is equal to the coil amount of the two-side stator module 22 arranged in the branching portion of the transport path.

[0023] As described above, in each of the first stator module 221 and the second stator module 222, the teeth 43, 53 around which the coils 42, 52 are wound and the teeth 43, 53 around which the coils 42, 52 are not wound are arranged alternately in the traveling direction of the mover 3. In addition, the number of the teeth 43 of the first stator module 221 and the number of the teeth 53 of the second stator module 222 are an even number. That is, in the double-sided stator modules 22 arranged on both sides of the branching portion of the transport path, the number of teeth around which coils are wound is the same as the number of teeth around which coils are not wound.

[0024] When the effective values ​​of the currents applied to each coil are equivalent in the branched and non-branched portions of the conveying path, the sum of the thrusts generated by the two-sided stator modules 22 arranged in the branched portions will be equal to the sum of the thrusts generated by the one-sided stator modules 21 arranged in the non-branched portions.

[0025] As described above, the linear conveying system 1 according to the first embodiment has a one-side stator module 21 arranged on one side of a non-branched portion of the conveying path, and a two-side stator module 22 arranged on both sides of a branched portion of the conveying path. The two-side stator module 22 has a first stator module 221 and a second stator module 222. Each of the first stator module 221 and the second stator module 222 has teeth on which no coils are wound. That is, in the first embodiment, the number of coils is reduced compared to the conventional embodiment. The linear conveying system 1 can reduce the weight of the motor by reducing the number of coils. In addition, according to the linear conveying system 1, the wiring work is reduced by reducing the number of coils, and the assembly of the motor is facilitated. The number of inverters (control devices) of the linear conveying system 1 can be reduced by reducing the number of coils.

[0026] In the linear conveying system 1, the coil amount of the one-side stator module 21 arranged in the non-branched portion of the conveying path is equal to the coil amount of the two-side stator module 22 arranged in the branched portion of the conveying path. Therefore, if the capacity of the inverter supplying power to the one-side stator module 21 and the capacity of the inverter supplying power to the two-side stator module 22 are made equal, the effective value of the current flowing through the coils in the branched portion and the non-branched portion when a certain thrust is output will be the same. In other words, the load factor of the inverter will be equal in the branched portion and the non-branched portion. In other words, the linear conveying system 1 can suppress the capacity of the inverter, which can contribute to miniaturization.

[0027] It should be noted that the multiple teeth 43, 53 included in the double-sided stator module 22 are not limited to be arranged such that the teeth 43, 53 around which the coils 42, 52 are wound and the teeth 43, 53 around which the coils 42, 52 are not wound are alternately arranged in the traveling direction of the mover 3. In the first embodiment, the coils 42, 52 may be arranged only on a portion of the multiple teeth 43, 53.

[0028] Embodiment 2 FIG. 7 is a cross-sectional view of a double-sided stator module 22A included in a linear transport system according to the second embodiment. The linear transport system according to the second embodiment includes a single-sided stator module 21 and a double-sided stator module 22A arranged on both sides of a branching portion of a transport path, similar to the linear transport system 1 according to the first embodiment. In the second embodiment, the single-sided stator module 21 is not shown. The linear transport system according to the second embodiment further includes a mover 3, similar to the linear transport system 1 according to the first embodiment. The mover 3 is also shown in FIG. 7. FIG. 7 shows the double-sided stator module 22A and the mover 3 in a schematic manner. The traveling direction of the mover 3 is also shown in FIG.

[0029] The double-sided stator module 22A arranged on both sides of the branching portion of the conveying path has two stator modules. Specifically, the double-sided stator module 22A has a first stator module 221A and a second stator module 222A. The first stator module 221A is one of the two stator modules that the double-sided stator module 22A has. The second stator module 222A is the other of the two stator modules that the double-sided stator module 22A has. The first stator module 221A is arranged on one side of the branching portion of the conveying path, and the second stator module 222A is arranged on the other side of the branching portion of the conveying path.

[0030] The first stator module 221A has an iron core 41 and a plurality of coils 42. The iron core 41 has a plurality of teeth 43a, 43b. Each of the plurality of coils 42 is wound around one of the plurality of teeth 43a. In the first stator module 221A, the teeth 43a around which the coils 42 are wound and the teeth 43b around which the coils 42 are not wound are alternately arranged in the traveling direction of the mover 3.

[0031] The second stator module 222A has an iron core 51 and a plurality of coils 52. The iron core 51 has a plurality of teeth 53a, 53b. Each of the plurality of coils 52 is wound around one of the plurality of teeth 53a. In the second stator module 222A, the teeth 53a around which the coils 52 are wound and the teeth 53b around which the coils 52 are not wound are alternately arranged in the traveling direction of the mover 3. The number of the teeth 43a, 43b of the first stator module 221A and the number of the teeth 53a, 53b of the second stator module 222A are even numbers.

[0032] In the portion where the teeth of the first stator module 221A and the teeth of the second stator module 222A face each other, a coil is wound around one of the teeth of the first stator module 221A and the second stator module 222A, and a coil is not wound around the other of the teeth of the first stator module 221A and the second stator module 222A. The number of magnets on the X side and the number of magnets on the Y side may be different. FIG. 8 is a cross-sectional view of the mover 3 included in the linear transport system according to the modified example of the second embodiment. FIG. 8 also shows the double-sided stator module 22A. FIG. 8 shows the mover 3 and the double-sided stator module 22A in a schematic manner. FIG. 8 also shows the moving direction of the mover 3. FIG. 8 shows that the number of magnets 31 on the X side is different from the number of magnets 31 on the Y side. Specifically, FIG. 8 shows the mover 3 having three magnets 31 on the X side and five magnets 31 on the Y side. If the number of magnets on the X side is different from the number of magnets on the Y side, any thrust force and branched lateral force can be generated by energizing at least two coils even when the coils are arranged alternately. Note that the positions at which coils 42 and coil 52 are arranged may be the same as the positions at which coils 42 and coil 52 are arranged in FIG.

[0033] As described above, the linear transport system according to the second embodiment has the single-sided stator module 21, similar to the linear transport system 1 according to the first embodiment. In the second embodiment, the number of turns of the coil in the single-sided stator module 21 is the same as the number of turns of the coil in the double-sided stator module 22A. This makes the thrust constant, which is the thrust generated by energizing the coil divided by the current value, equal between the branched portion and the non-branched portion.

[0034] In the linear conveying system according to the second embodiment, when the linear conveying system outputs equal thrust in the branching portion and the non-branching portion, the absolute value of the waveform of the current passed through the double-sided stator module 22A arranged in the branching portion is equal to the absolute value of the waveform of the current passed through the single-sided stator module 21 arranged in the non-branching portion. Therefore, in the linear conveying system according to the second embodiment, the current can be easily controlled. In addition, the smoothness of the electromagnetic force acting on the mover 3 becomes equal in the branching portion and the non-branching portion, and the linear conveying system according to the second embodiment can reduce thrust ripples.

[0035] Embodiment 3 FIG. 9 is a cross-sectional view of a double-sided stator module 22B included in a linear transport system according to the third embodiment. The linear transport system according to the third embodiment includes a single-sided stator module 21 and a double-sided stator module 22B arranged on both sides of a branching portion of a transport path, similar to the linear transport system 1 according to the first embodiment. In the third embodiment, the single-sided stator module 21 is not shown. The linear transport system according to the third embodiment further includes a mover 3, similar to the linear transport system 1 according to the first embodiment. FIG. 9 also shows the mover 3. FIG. 9 also shows the double-sided stator module 22B and the mover 3. FIG. 9 also shows the traveling direction of the mover 3.

[0036] The double-sided stator module 22B arranged on both sides of the branching portion of the conveying path has two stator modules. Specifically, the double-sided stator module 22B has a first stator module 221B and a second stator module 222B. The first stator module 221B is one of the two stator modules included in the double-sided stator module 22B. The second stator module 222B is the other of the two stator modules included in the double-sided stator module 22B. The first stator module 221B is arranged on one side of the branching portion of the conveying path, and the second stator module 222B is arranged on the other side of the branching portion of the conveying path.

[0037] The first stator module 221B has an iron core 41 and a plurality of coils 42. The iron core 41 has a plurality of teeth 43a, 43b. Each of the plurality of coils 42 is wound around one of the plurality of teeth 43a. In the first stator module 221B, the teeth 43a around which the coils 42 are wound and the teeth 43b around which the coils 42 are not wound are alternately arranged in the traveling direction of the mover 3.

[0038] The second stator module 222B has an iron core 51 and a plurality of coils 52. The iron core 51 has a plurality of teeth 53a, 53b. Each of the plurality of coils 52 is wound around one of the plurality of teeth 53a. In the second stator module 222B, the teeth 53a around which the coils 52 are wound and the teeth 53b around which the coils 52 are not wound are alternately arranged in the traveling direction of the mover 3. The number of the teeth 43a, 43b of the first stator module 221B and the number of the teeth 53a, 53b of the second stator module 222B are even numbers.

[0039] In the portion where the teeth of the first stator module 221B and the teeth of the second stator module 222B face each other, a coil is wound around one of the teeth of the first stator module 221B and the second stator module 222B, and no coil is wound around the other of the teeth of the first stator module 221B and the second stator module 222B.

[0040] 9, in the third embodiment, the ratio of the multiple coils 42, 52 included in the double-sided stator module 22B to the slot area 44, 54 is ½ or less. In the third embodiment, the wire type and wire diameter of the coils of the double-sided stator module 22B arranged in the branching portion and the single-sided stator module 21 arranged in the non-branching portion are the same.

[0041] In the third embodiment, the types of coils are the same for the branching portion and the non-branching portion, so the linear conveying system according to the third embodiment can reduce the manufacturing cost of the linear conveying system. In addition, the insulation distance between two adjacent coils can be sufficiently secured, so the voltage resistance performance of the linear conveying system according to the third embodiment is improved.

[0042] Embodiment 4 FIG. 10 is a cross-sectional view of a double-sided stator module 22C included in the linear transport system according to the fourth embodiment. The linear transport system according to the fourth embodiment includes a single-sided stator module 21 and a double-sided stator module 22C arranged on both sides of a branching portion of the transport path, similar to the linear transport system 1 according to the first embodiment. In the fourth embodiment, the single-sided stator module 21 is not shown. The linear transport system according to the fourth embodiment further includes a mover 3, similar to the linear transport system 1 according to the first embodiment. The mover 3 is also shown in FIG. 10. FIG. 10 shows the double-sided stator module 22C and the mover 3 in a schematic manner. The traveling direction of the mover 3 is also shown in FIG.

[0043] The double-sided stator module 22C arranged on both sides of the branching portion of the conveying path has two stator modules. Specifically, the double-sided stator module 22C has a first stator module 221C and a second stator module 222C. The first stator module 221C is one of the two stator modules that the double-sided stator module 22C has. The second stator module 222C is the other of the two stator modules that the double-sided stator module 22C has. The first stator module 221C is arranged on one side of the branching portion of the conveying path, and the second stator module 222C is arranged on the other side of the branching portion of the conveying path.

[0044] The first stator module 221C has an iron core 41 and a plurality of coils 42. The iron core 41 has a plurality of teeth 43. Each of the plurality of coils 42 is wound around one of the plurality of teeth 43. In the first stator module 221C, the teeth 43 around which the coils 42 are wound and the teeth 43 around which the coils 42 are not wound are arranged alternately in the traveling direction of the mover 3.

[0045] The second stator module 222C has an iron core 51 and a plurality of coils 52. The iron core 51 has a plurality of teeth 53. Each of the plurality of coils 52 is wound around one of the plurality of teeth 53. In the second stator module 222C, the teeth 53 around which the coils 52 are wound and the teeth 53 around which the coils 52 are not wound are alternately arranged in the traveling direction of the mover 3. The number of teeth 43 of the first stator module 221C and the number of teeth 53 of the second stator module 222C are an even number.

[0046] In the portion where the teeth 43 of the first stator module 221C and the teeth 53 of the second stator module 222C face each other, a coil is wound around one of the teeth of the first stator module 221C and the second stator module 222C, and no coil is wound around the other of the teeth of the first stator module 221C and the second stator module 222C.

[0047] Fig. 10 shows the direction in which each of the multiple coils 42 and the multiple coils 52 is wound. In Fig. 10, a figure consisting of a white circle and a black circle written within the white circle indicates that the part of the coil to which the figure is attached is wound from the back side to the front side of the paper. A figure consisting of a white circle and a cross written within the white circle indicates that the part of the coil to which the figure is attached is wound from the front side to the back side of the paper.

[0048] 10, the winding directions of all the coils 42 included in the first stator module 221C are the same, and the winding directions of all the coils 52 included in the second stator module 222C are the same. The winding directions of the coils 42 included in the first stator module 221C and the coils 52 included in the second stator module 222C are opposite to each other. The winding directions of all the coils 62 included in the one-side stator module 21 are the same.

[0049] In the linear conveying system according to the fourth embodiment, the waveforms of the induced voltages in the coils in the branching and non-branching parts are equivalent, and when the linear conveying system outputs equivalent thrust in the branching and non-branching parts, the waveform of the current passed through the double-sided stator module 22C arranged on both sides of the branching part of the conveying path is equivalent to the waveform of the current passed through the single-sided stator module 21 arranged in the non-branching part of the conveying path, making it even easier to control the current in the linear conveying system according to the fourth embodiment. The induced voltage is a counter electromotive force.

[0050] In the double-sided stator module 22C, the second stator module 222C is a stator module that is the same as the first stator module 221C but is arranged by rotating it 180 degrees, and faces the first stator module 221C. In other words, since the two stator modules of the double-sided stator module 22C of the branching portion can be configured from the same parts, the linear conveyance system according to the fourth embodiment can reduce manufacturing costs.

[0051] Embodiment 5. FIG. 11 is a perspective view of a double-sided stator module 22D included in the linear transport system according to the fifth embodiment. The linear transport system according to the fifth embodiment includes a single-sided stator module 21 and a double-sided stator module 22D arranged on both sides of a branching portion of a transport path, similar to the linear transport system 1 according to the first embodiment. In the fifth embodiment, the single-sided stator module 21 is not illustrated. The linear transport system according to the fifth embodiment further includes a mover 3, similar to the linear transport system 1 according to the first embodiment. FIG. 11 also illustrates the mover 3. FIG. 11 also illustrates the traveling direction of the mover 3. FIG. 12 is a first cross-sectional view of the double-sided stator module 22D included in the linear transport system according to the fifth embodiment. FIG. 12 also illustrates the mover 3. FIGS. 11 and 12 each show a schematic diagram of the double-sided stator module 22D and the mover 3.

[0052] The double-sided stator module 22D arranged on both sides of the branching portion of the conveying path has two stator modules. Specifically, the double-sided stator module 22D has a first stator module 221D and a second stator module 222D. The first stator module 221D is one of the two stator modules that the double-sided stator module 22D has. The second stator module 222D is the other of the two stator modules that the double-sided stator module 22D has. The first stator module 221D is arranged on one side of the branching portion of the conveying path, and the second stator module 222D is arranged on the other side of the branching portion of the conveying path.

[0053] The first stator module 221D and the second stator module 222D do not face each other. More specifically, the first stator module 221D and the second stator module 222D are arranged at different positions in a direction perpendicular to the moving direction of the mover 3 and perpendicular to the direction of the magnetic field lines of the magnets 31 of the mover 3 when the mover 3 moves through the stator modules 22D on both sides.

[0054] For example, when the transport path is provided on a surface parallel to a horizontal plane, the first stator module 221D and the second stator module 222D are arranged at different positions in the vertical direction z. Although details will be described later, both the first stator module 221D and the second stator module 222D have an iron core. For example, in the above case, the vertical direction z is parallel to the height direction h of the iron core. The height of each of the first stator module 221D and the second stator module 222D is 1 / 2 the height of the one-side stator module 21 arranged on one side of the non-branched portion of the transport path.

[0055] Fig. 13 is a second cross-sectional view of the double-sided stator module 22D included in the linear transport system according to the fifth embodiment. The mover 3 is also shown in Fig. 13. Fig. 13 diagrammatically illustrates the double-sided stator module 22D and the mover 3. Fig. 13 also illustrates the traveling direction of the mover 3.

[0056] The first stator module 221D has an iron core 41 and a plurality of coils 42. The iron core 41 has a plurality of teeth 43. Each of the plurality of coils 42 is wound around one of the plurality of teeth 43. The coils 42 are wound around all of the teeth 43. The second stator module 222D has an iron core 51 and a plurality of coils 52. The iron core 51 has a plurality of teeth 53. Each of the plurality of coils 52 is wound around one of the plurality of teeth 53. The coils 52 are wound around all of the teeth 53.

[0057] Fig. 13 shows the direction in which each of the multiple coils 42 and the multiple coils 52 is wound. In Fig. 13, a figure consisting of a white circle and a black circle written within the white circle indicates that the part of the coil to which the figure is given is wound from the back side to the front side of the paper. A figure consisting of a white circle and a cross written within the white circle indicates that the part of the coil to which the figure is given is wound from the front side to the back side of the paper.

[0058] 13, the winding directions of all the coils 42 included in the first stator module 221D are the same, and the winding directions of all the coils 52 included in the second stator module 222D are the same. The winding directions of the coils 42 included in the first stator module 221D and the winding directions of the coils 52 included in the second stator module 222D are opposite to each other. In other words, the second stator module 222D is a stator module in which the same stator module as the first stator module 221D is arranged in a state in which it is inverted by 180 degrees. The winding directions of all the multiple coils 62 included in the one-side stator module 21 are the same.

[0059] As described above, in the linear conveying system according to the fifth embodiment, the height of each of the first stator module 221D and the second stator module 222D of the double-sided stator module 22D arranged on both sides of the branching portion of the conveying path is 1 / 2 the height of the single-sided stator module 21 arranged on one side of the non-branching portion of the conveying path. In other words, the height of each of the iron core 41 of the first stator module 221D and the iron core 51 of the second stator module 222D is 1 / 2 the height of the iron core 61 of the single-sided stator module 21. Therefore, the linear conveying system according to the fifth embodiment can reduce the weight of the motor.

[0060] In the double-sided stator module 22D, the second stator module 222D is a stator module that is the same as the first stator module 221D but is arranged in a state where it is inverted by 180°. In other words, since the two stator modules of the double-sided stator module 22D of the branching portion can be configured from the same parts, the linear conveyance system according to the fifth embodiment can reduce manufacturing costs.

[0061] The configurations shown in the above embodiments are merely examples, and may be combined with other known technologies, or the embodiments may be combined with each other. Also, parts of the configurations may be omitted or modified without departing from the spirit of the invention. [Explanation of symbols]

[0062] 1 Linear conveying system, 2 Stator module, 3 Movable element, 21 One-side stator module, 22, 22A, 22B, 22C, 22D Two-side stator module, 31 Magnet, 41, 51, 61 Iron core, 42, 52, 62 Coil, 43, 43a, 43b, 53, 53a, 53b, 63 Teeth, 44, 54 Slot area, 221, 221A, 221B, 221C, 221D First stator module, 222, 222A, 222B, 222C, 222D Second stator module.

Claims

1. A plurality of stator modules forming a transport path; a mover having a plurality of magnets arranged on both side surfaces, the plurality of stator modules include a single-sided stator module arranged on one side of a non-branched portion of the transport path, and a double-sided stator module arranged on both sides of a branched portion of the transport path, Each of the single-side stator module and the double-side stator module includes an iron core and a plurality of coils, The mover is propelled by electromagnetic forces from the coils, The coil amount of the one-side stator module arranged in the non-branching portion of the transport path is equal to the coil amount of the two-side stator module arranged in the branching portion of the transport path. A linear transport system comprising:

2. The core includes a plurality of teeth, Each of the plurality of coils is wound around one of the plurality of teeth, In the double-sided stator module, coils are arranged only on a portion of the teeth, In the one-side stator module, coils are arranged on all of the teeth.

2. The linear transport system according to claim 1 .

3. The core includes a plurality of teeth, Each of the plurality of coils is wound around one of the plurality of teeth, for each of a first stator module which is one of the two stator modules included in the double-sided stator module and a second stator module which is the other of the two stator modules included in the double-sided stator module, teeth around which coils are wound and teeth around which coils are not wound are alternately arranged in a traveling direction of the mover, With respect to a portion where the teeth of the first stator module and the teeth of the second stator module face each other, a coil is wound around one of the teeth of the first stator module and the second stator module, and a coil is not wound around the other of the teeth of the first stator module and the second stator module, the number of teeth included in each of the first stator module and the second stator module is an even number, The number of turns of the coil in the one-side stator module is equal to the number of turns of the coil in each of the first stator module and the second stator module.

3. The linear transport system according to claim 1 or 2.

4. The ratio of the area of ​​each of the coils included in the double-sided stator module to the area of ​​the slot is 1 / 2 or less.

4. The linear transport system according to claim 1, wherein the linear transport system is a linear transport system having a plurality of linear transport members.

5. The winding directions of the coils included in the one-side stator module are the same, The winding direction of the coil included in the first stator module, which is one of the two stator modules included in the both-side stator module, is opposite to the winding direction of the coil included in the second stator module, which is the other of the two stator modules included in the both-side stator module.

5. The linear transport system according to claim 3 or 4.

6. A first stator module, which is one of the two stator modules included in the both-sided stator module, and a second stator module, which is the other of the two stator modules included in the both-sided stator module, do not face each other and are arranged at different positions in a direction perpendicular to the moving direction of the mover and perpendicular to the direction of magnetic field lines of the multiple magnets of the mover when the mover moves through the both-sided stator module.

2. The linear transport system according to claim 1 .

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