阅读说明：本技术 线性马达和使用该线性马达的运输系统 (Linear motor and transport system using the same ) 是由 金弘中 于 2020-11-05 设计创作，主要内容包括：提供了一种线性马达。根据本公开的实施例的线性马达可包括：第一构件,该第一构件包括多个电枢模块,每个电枢模块包括磁芯和线圈,该磁芯包括两个或更多个突出部；以及包括至少一个磁体模块的第二构件。该第一构件可以是固定的并且由该第二构件构成的可移动构件通过所产生的推力来移动。并且,沿着移动方向,在被布置在第一区段中的第一电枢模块之间的第一间隔不同于被布置在位于该第一区段之后的第二区段中的第二电枢模块之间的第二间隔。(A linear motor is provided. A linear motor according to an embodiment of the present disclosure may include: a first member including a plurality of armature modules, each armature module including a magnetic core and a coil, the magnetic core including two or more protrusions; and a second member comprising at least one magnet module. The first member may be fixed and the movable member constituted by the second member is moved by the generated thrust. And, along the moving direction, a first interval between first armature modules arranged in a first section is different from a second interval between second armature modules arranged in a second section located after the first section.)

1. A linear motor, comprising:

a first member including a plurality of armature modules, each armature module including a magnetic core including two or more protrusions and a coil wound around the magnetic core and through which a single-phase current flows; and

a second member comprising at least one magnet module comprising a plurality of magnetic poles alternating in a direction of movement and disposed between two adjacent projections,

wherein electric power having a predetermined phase difference is supplied to the coil of each armature module so that thrust force depending on a moving magnetic field is generated by using P number of permanent magnets, which is a multiple of 2, as one unit and disposing the armature modules in a section corresponding to a first length in which the P number of permanent magnets are aligned in a moving direction,

wherein the first member is fixed, and a movable member constituted by the second member is moved by the generated thrust, and

wherein, along the moving direction, a first interval between first armature modules arranged in a first section is different from a second interval between second armature modules arranged in a second section located after the first section.

2. The linear motor of claim 1, wherein a third interval between third armature modules arranged in a third section subsequent to the second section is the same as the first interval.

3. The linear motor of claim 2, wherein the second spacing is greater than the first spacing.

4. The linear motor according to claim 2, wherein the first section and the third section are sections in which the speed of the movable member changes, and the second section is a section in which the speed of the movable member is constant.

5. The linear motor according to claim 2, wherein fourth and fifth sections are disposed between the first and second sections and between the second and third sections, respectively, and a spacing between fourth armature modules disposed in the fourth and fifth sections is one of the first and second spacings.

6. The linear motor according to claim 2, wherein a ratio of the number of first armature modules arranged in a section corresponding to the first length in the first section, the number of fourth armature modules arranged in a section corresponding to the first length in the fourth section, and the number of second armature modules arranged in a section corresponding to the first length in the second section is 3:2: 1.

7. The linear motor according to claim 5, wherein the linear motor,

wherein 9 first armature modules are arranged in the following order in a section corresponding to a first length in the first section: 1-1m, 1-2m, 1-3m, 1-4m,1-5m, 1-6m, 1-7m, 1-8m, 1-9m, the current of the U-phase group is supplied to 1-1m, 1-2m, and 1-3m, the current of the V-phase group is supplied to 1-4m,1-5m, and 1-6m, and the current of the W-phase group is supplied to 1-7m, 1-8m, and 1-9m,

wherein 6 fourth armature modules are arranged in the following order in a section corresponding to the first length in the fourth section: 4-1m, 4-3m, 4-4m, 4-6m, 4-7m and 4-9m, the current of the U-phase group is supplied to 4-1m and 4-3m, the current of the V-phase group is supplied to 4-4m and 4-6m, and the current of the W-phase group is supplied to 4-7m and 4-9m,

wherein 3 second armature modules are arranged in the following order in a section corresponding to the first length in the second section: 2-2m, 2-5m and 2-8m, the current of the U-phase group is supplied to 2-2m, the current of the V-phase group is supplied to 2-5m, and the current of the W-phase group is supplied to 2-8 m.

8. The linear motor of claim 1, wherein the relationship between the number M of the first armature modules arranged in a section corresponding to the first length in the first section and P is M: P ═ 9 (9 ± 1).

9. The linear motor of claim 1, wherein a first number of protrusions included in the magnetic core of the first armature module and a second number of protrusions included in the magnetic core of the second armature module are different from each other.

10. The linear motor according to claim 9, wherein a third number of protrusions included in a magnetic core of a third armature module arranged in the third section located after the second section is equal to the first number and greater than the second number.

11. A transportation system comprising:

the linear motor of one of claims 1 to 10;

a ground base on which the first member is fixed and on which a rail is mounted;

a mover base to which the second member is fixed; and

a guide mounted on the mover base and coupled to the rail.

Technical Field

The present disclosure relates to a transport system using linear motors to generate linear motion.

Background

In general, a linear motor has a structure in which: thrust is generated between the mover and the stator facing in a linear shape. A linear motor of a permanent magnet type places a permanent magnet on one of a mover and a stator and applies alternating current of multiple phases to the other, so that electromagnetic force acts therebetween to generate thrust in a certain direction.

As an example of a transport system using a linear motor, reference may be made to japanese patent laid-open No. 2006-.

The linear motor according to the related art has a structure in which: the swing motor is unfolded to be linearly arranged, thereby generating a strong magnetic pulling force between the salient pole of the armature core and the permanent magnet, thereby reducing the system accuracy. Also, this structure causes the following problems: the guide mechanism maintaining the constant air gap is severely worn and the magnetic flux flows through the armature core in the same direction as the moving direction of the mover, which results in a decrease in motor efficiency. In addition, in order to compensate for such magnetic attraction, there are many problems that the mechanical structure is complicated and the entire apparatus becomes heavy.

Disclosure of Invention

The present disclosure has been made in view of the above circumstances. The object of the invention is to provide a transport system with a small variation in the speed of operation.

It is another object of the present disclosure to provide a permanent magnet mobile transport system that is capable of long distance transport while using a small number of armature modules.

In one aspect, a linear motor according to an embodiment of the present disclosure may include: a first member including a plurality of armature modules, each armature module including a magnetic core including two or more protrusions and a coil wound on the magnetic core and through which a single-phase current flows; and a second member including at least one magnet module including a plurality of magnetic poles that alternate in a moving direction and are disposed between two adjacent protrusions, power having a predetermined phase difference being supplied to a coil of each armature module, so that a thrust force depending on a moving magnetic field is generated by using P number of permanent magnets as one unit and disposing the armature modules in a section corresponding to a first length in which the P number of permanent magnets are arranged in the moving direction, wherein the P number of permanent magnets is a multiple of 2, the first member may be fixed and a movable member constituted by the second member is moved by the generated thrust force. And, along the moving direction, a first interval between first armature modules arranged in a first section is different from a second interval between second armature modules arranged in a second section subsequent to the first section.

A transportation system according to another embodiment of the present disclosure may include: a linear motor; a ground base on which the first member is fixed and on which the rail is mounted; a mover base to which the second member is fixed; and a guide mounted on the mover base and coupled to the rail.

The number of armature modules in the entire transport system can be optimized and the entire system structure can be made lightweight by providing the first member composed of various types according to the purpose.

In addition, a large thrust force and a fast transmission speed can be obtained in a small size, and since each element is modularized, it is easy to assemble the elements and the transportation system can be converted into various forms.

Further, it is possible to provide a conveying system using a linear motor that is capable of long-distance transportation with few resources and a small difference between the travel speed and the target speed.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention. In the drawings:

FIG. 1 is a view showing an open type linear motor of application Nos. KR10-2010-0081522 and KR10-2010-0129947 filed by the applicant of the present disclosure,

figure 2 shows a linear motor described in application No. KR 10-2011- & 0020599 filed by the applicant of the present disclosure,

fig. 3 is a diagram illustrating a transport system in which a first member is fixed to a base, and a movable member including a permanent magnet moves,

fig. 4 is a diagram showing the configuration of a conveying system to which a linear motor according to the present disclosure is applied,

fig. 5 shows a model a in which a first module of a first member is continuously disposed and a model B in which a first module including a plurality of armature modules is discontinuously disposed,

fig. 6 is a diagram illustrating a transportation system in which first modules are arranged in series, each first module is connected with one inverter, and the inverters are controlled as a whole by a main controller,

fig. 7 is a diagram showing a transportation system according to an embodiment of the present disclosure, in which first modules of first members are discontinuously arranged, a relay is connected to each of the first modules, and a plurality of the first modules are controlled by a main controller with an inverter,

figure 8 shows the combined relationship between the number of armature modules and the number of permanent magnet poles of a three-phase synchronous motor,

fig. 9 shows an operation principle, in which a thrust force in a linear direction is generated in combination by a first member composed of three armature modules and a plurality of permanent magnets in a linear motor,

fig. 10 shows a first armature group consisting of 9 armature modules, a second armature group consisting of 6 armature modules, and a third armature consisting of 3 armature modules, which are used for 10-pole type permanent magnet units having the same structure,

fig. 11 shows an example of an embodiment according to the present disclosure, wherein identical armature sets are arranged consecutively,

fig. 12 shows the relative magnitude of the required thrust in the respective speed sections of acceleration, constant speed and deceleration, and the speed variation in the respective speed sections for different arrangements of the first member of the embodiment of the disclosure,

fig. 13 shows an embodiment of reducing a speed error by increasing the length of the mover when the B model of fig. 12 is employed as the first member,

fig. 14 is a diagram showing an arrangement of a first member according to another embodiment of the present disclosure, in which armature modules having different numbers of salient poles are arranged for each speed section.

Detailed Description

Hereinafter, a transport system using a linear motor according to the present disclosure will be described in detail with reference to the accompanying drawings.

The applicant of the present disclosure has proposed applications for closed and open linear motors by application numbers KR10-2010-0081522 and KR10-2010-0129947, the open linear motor including a first member composed of a plurality of armature modules arranged in a row in the traveling direction and a second member including a plurality of permanent magnet modules including a plurality of permanent magnets arranged while changing the magnetic poles in the traveling direction.

In the linear motors described in application nos. KR10-2010-0081522 and KR10-2010-0129947, in the open type linear motor shown in fig. 1, the core of the armature module is not a C shape surrounding the permanent magnet module as the second member, but a linear shape, a plurality of salient poles (or salient poles) protrude from the core in the same direction, for example, at right angles, and a plurality of permanent magnet modules of the second member also protrude toward the core between the salient poles placed side by side.

In the other linear motors described in application nos. KR10-2010-0081522 and KR10-2010-0129947, the protruding angles of the respective salient poles from the core of the armature module are different from each other, and therefore, the manufacturing mold is expensive and there is a limit to improve the accuracy. However, in the linear motor of fig. 1, the angle formed by each salient pole and the core in each armature module is the same, for example, a right angle, and each permanent magnet module is also fixed at the same angle as the base, for example, a right angle, so the manufacturing accuracy can be increased and the die cost can be reduced.

The linear motor according to the present disclosure is a type in which the permanent magnet in the open type linear motor of fig. 1 is modified to be movable as the linear motor or the linear motors described in application nos. KR10-2010-0081522 and KR 10-2010-0129947. In the present disclosure using the permanent magnet movable linear motor, by adjusting the distance between the armature modules to correspond to a speed section required by the conveying system, the conveyance over a long distance can be achieved, and the difference between the actual traveling speed and the target speed can be minimized.

Fig. 2 shows a linear motor described in application No. KR 10-2011- & 0020599 filed by the applicant of the present disclosure. The linear motor may include a first member including a coil generating a magnetic flux, and a second member including a plurality of permanent magnets crossing the magnetic flux. Compared to the linear motor of fig. 1, the working principle is the same except that the number of salient poles and the number of permanent magnet modules are reduced to two and one, respectively.

Fig. 3 is a diagram illustrating a transport system according to an embodiment of the present disclosure.

The linear motor according to the present disclosure is of a permanent magnet movable type in which an armature module is fixed to a base while a mover including permanent magnets moves, and may include a first member including coils for generating magnetic fluxes and a second member including permanent magnets crossing the magnetic fluxes. Compared to the linear motors of fig. 1 and 2, the number of salient poles and the number of permanent magnet modules are 3 and 2, respectively, but the basic operating principle is the same.

The first member 30 is constituted by a plurality of armature modules 10 which are arranged in a line in a state of being separated in the traveling direction. Each armature module 10 is composed of a magnetic core 11, three salient poles 12, and a coil 13, the magnetic core 11 connecting each salient pole 12, and the coil 13 in which the in-phase current flows is wound around each salient pole 12. In fig. 3, the number of salient poles 12 is three, but the present disclosure is not limited thereto, and two or more are possible.

Since each salient pole 12 protruding from the magnetic core 11 in the same direction has the same material as the magnetic core 11, the magnetic core 11 and each salient pole 12 may be referred to as one magnetic core 11, and each salient pole 12 may be referred to as a protruding portion 12 of the magnetic core 11.

The second member is constituted by a permanent magnet module 20 comprising a plurality of permanent magnets 21. The permanent magnet module 20 protrudes toward the core 11 of the armature module 10 and is placed between the salient poles 12, and a plurality of permanent magnets 21 are provided to change the magnetic poles in the traveling direction of the motor. The permanent magnet modules 20 may be fixed to the mover base 22. The guide rail 42 is provided on the ground base 41 for fixing the first member, and the guide piece 43 is provided on the movable base 22 on which the second member is mounted. Therefore, the first member and the second member can freely travel without mechanical interference with each other while a certain air gap is maintained between the salient poles 12 of the armature module 10 and the permanent magnets 21 of the permanent magnet module 20.

In each armature module 10, a current is supplied to the coil 13 so that a moving magnetic field is formed in each salient pole 12. In order to generate a forward thrust by the attractive and repulsive forces formed between the electromagnetic poles formed at the ends of the salient poles 12 and the respective permanent magnets, such a current may be supplied to the coils 13 of at least one armature module 10: the phase of the current is different from the phase of the current flowing through the coil 13 of the other armature module 10.

In each armature module 10, the polarities of the electromagnets of the salient poles 12 are different from each other so that magnetic fluxes form a closed loop, whereby high-density magnetic fluxes smoothly flow between each salient pole 12 and each permanent magnet 21 of the armature module 10. For this reason, for each armature module 10, the coil 13 in which the current of the same phase flows is wound on each salient pole 12, and the winding direction is set so that the polarities of the electromagnets of each salient pole 12 are different from each other.

Fig. 4 is a diagram showing a configuration of a conveying system to which a linear motor according to the present disclosure is applied.

The stator of the linear motor forms a motion path of a closed loop through which the mover passes, and forms a working area at a plurality of positions through which the mover passes. The mover may move at a constant speed between the working areas. Alternatively, to increase the moving speed, the mover may be accelerated when it starts to move from the current working area to the next working area, and decelerated when it reaches the next working area. That is, there may be an acceleration section, a constant speed section, and a deceleration section between the work areas.

Fig. 5 illustrates a model a in which a first module of a first member is continuously disposed and a model B in which a first module including a plurality of armature modules is discontinuously disposed, according to an embodiment of the present disclosure.

A plurality of armature modules disposed at predetermined intervals in a moving direction of the linear motor mover may be bundled to form one armature group (or first module), and a plurality of armature groups may be continuously or intermittently arranged to form a track of the conveying system. When the pitch of the permanent magnets of the N and S poles is τ, the total length of one armature set is ideally an even multiple of τ, but an odd multiple is possible if the direction of the moving magnetic field is matched to the absolute phase difference between each phase of the armature module.

At this time, when each armature group is provided, it should be set so that the induced electromotive forces (counter electromotive forces) of the respective phases are in phase. For this reason, when a plurality of armature groups are provided in the moving direction, the pitch between the first armature modules of the respective armature groups (or the pitch between the armature modules in the same phase) should be n times 2 × τ (n is an integer of 1 or more).

Fig. 6 is a diagram showing a transportation system according to an embodiment of the present disclosure, in which first modules are arranged in series, each first module is connected to one inverter 51, and the inverters are controlled as a whole by a main controller 50;

in fig. 6, each armature group has an inverter separately for driving the coils of each armature module belonging to the corresponding armature group. However, since a plurality of armature modules may be in phase with each other, the number of inverters used may be reduced by connecting the terminal lines of the armature modules in series, parallel, or series-parallel.

Fig. 7 is a diagram illustrating a transportation system according to an embodiment of the present disclosure, in which first modules of first members are discontinuously arranged, a relay is connected to each of the first modules, and a plurality of the first modules are controlled by a main controller having an inverter. Of course, in some cases, instead of relays, inverters may be connected individually for each armature group.

The hall sensors 53 are disposed in a section where the first module (or armature set) is not disposed, and the controller 50 may determine the position of the permanent magnet mover, connect the next first module to which the mover will be moved through the relay, and control the corresponding first module.

Fig. 8 shows a combined relationship between the number of armature modules and the number of permanent magnet poles of a three-phase synchronous motor.

In the table of fig. 8, 3, 6, and 9 armature modules may be used together with the number of permanent magnet poles being 8. Also, even in the case of 10 permanent magnet poles, 3, 6, and 9 armature modules can be used together.

Fig. 9 shows an operation principle in which a thrust force in a linear direction is generated in combination by a first member composed of three armature modules and a plurality of permanent magnets in a linear motor. Fig. 9 shows the principle of generating thrust in the direction of travel by a combination of two or more armature modules and permanent magnet modules. For example, when two permanent magnets 21 are matched with three armature modules (10U, 10V, 10W), three phases of the armature modules and two poles of the permanent magnets may be a combination as shown in the upper part of fig. 9.

In fig. 9, each of U, V, W is one salient pole 12 of three armature modules 10U, 10V, 10W disposed in the moving direction, and S and N are permanent magnets 21 placed at positions corresponding to the salient poles U, V and W.

The coil 13 of each armature module 10 is supplied with a single-phase current, but in the case of three phases, a current different by 120 degrees from the adjacent modules may be applied to the coil 13 of each armature module 10.

In addition, as shown in the above-described diagram of fig. 9, when the magnetic pole pitch of the permanent magnets S or N alternately arranged in the traveling direction is set to τ (1/2 periods, 180 degrees), the three armature modules 10 may be arranged at intervals corresponding to 2/3 τ (120 degrees).

When an Alternating Current (AC) current having a peak value flows through a coil wound around a salient pole V located between permanent magnets S and N in a positive (+) direction, and the salient pole V becomes an N pole, an AC current having a magnitude corresponding to a square root of the peak value flows through coils wound around salient poles U and W in a negative (-) direction, and thus the salient poles U and W become S poles. Therefore, an attractive force is generated between the salient pole V corresponding to the N pole and the permanent magnet S, and a repulsive force is generated between the salient pole V and the permanent magnet N, thereby moving the permanent magnet to the right. Although the repulsive force and the attractive force are generated between the permanent magnets S and N and the salient poles U and W, which become S poles, respectively, the attractive force and the repulsive force cancel each other out since they are smaller than the magnetic force corresponding to the salient pole V of N poles, and thus the salient poles U and W do not affect the motion of the permanent magnets.

The permanent magnets are moved 2/3 by the pole pitch so that salient pole W is located between permanent magnets S and N. In this state, when a current phase-advanced by 120 ° flows through the coil of each salient pole, and a current having a peak flows through the coil winding around the salient pole W in the positive direction, the salient pole W becomes the N-pole. In addition, an AC current having an amplitude corresponding to the square root of the peak value flows through the coil wound around the salient poles U and V in the negative direction, so that the salient poles U and V become S poles. Therefore, an attractive force is generated between the salient pole W corresponding to the N pole and the permanent magnet S, and a repulsive force is generated between the salient pole W and the permanent magnet N, thereby moving the permanent magnet to the right. Because of being smaller than the magnetic force corresponding to the salient pole V of the N pole, the salient poles U and W that become the S pole generate repulsive and attractive forces to the permanent magnets S and N, respectively. However, the attractive and repulsive forces cancel each other out.

The above operation is repeated to move the permanent magnet to the right. That is, the 3-phase current applied to the armature module generates a traveling magnetic field in the salient poles, thereby generating a thrust that moves the magnet to the right.

In an ideal case, the thrust force for moving the permanent magnets 21 is proportional to the sum of the surface areas of the contact portions of the salient poles 12 and the permanent magnets 21, the number of armature modules 10 disposed in the moving direction, the magnitude of the current applied to the coils 13, the number of coil turns of the coils 13 wound around the salient poles 12, and the magnitude of the magnetic force of each permanent magnet 21.

The first example of fig. 9 shows a basic combination of a 3-phase armature module and a 2-pole permanent magnet, and the second example of fig. 9 shows a combination of a 3-phase armature module and a 4-pole permanent magnet. Both examples have the same basic principle of generating thrust. Furthermore, a combination of a 3-phase armature module and an 8-pole permanent magnet is also possible.

Generally, the thrust force is generated based on a combination of the number S of armature modules corresponding to a multiple of the motor constant and the number P of permanent magnet modules corresponding to a multiple of 2 (N-pole and S-pole). Here, if the armature module is driven with 3-phase power, the motor constant is 3, and if the armature module is driven with 5-phase power, the motor constant is 5. An odd-numbered motor constant equal to or greater than 3 is generally used, and the phase difference of the currents applied to the coils of each armature module is determined by the motor constant.

When the length (length in the moving direction) of the region where the S armature modules face the P permanent magnet modules (with a gap between the armature modules and the permanent magnet modules) is referred to as a unit length of the first member (or primary member), an effective distance capable of generating thrust that moves the mover can be secured only when one of the first member composed of the plurality of armature modules and the second member composed of the plurality of permanent magnets is longer than the unit length.

That is, only when the length of the overlapping portion of the first member and the second member is greater than the unit length (when the number of armature modules is equal to or greater than S or the number of permanent magnet modules is equal to or greater than P), an effective distance for generating the thrust can be secured, and the thrust can be increased in proportion to the length of the overlapping portion.

The 3-phase current is applied to each armature module 10 of the first member in the order of UuU (U-phase group), VvV (V-phase group), and WwW (W-phase group) in the traveling direction. Here, lower case letters denote currents having phases opposite to those of the currents denoted by upper case letters.

Since the first member (the same ferromagnetic substance as the core material of the first member) is composed of independent armature modules that are not connected, if the armature modules are supplied with the same power, independent magnetic fluxes of the same magnitude flow through the corresponding armature modules. Therefore, there is little deviation in the thrust force generated by the armature modules, thereby reducing fluctuations in the thrust force.

Assuming that the distribution of the magnetic flux flowing out of or into the salient pole 12 is constant, the amount of the magnetic flux passing through the salient pole 12 and the permanent magnet 21 is proportional to the area of the portion where the surface of the salient pole 12 and the surface of the permanent magnet 21 overlap each other.

The cross section of the permanent magnet 21 through which the magnetic flux from the salient poles 12 of the armature module 10 or the magnetic flux entering the salient poles 12 passes is not limited to a rectangle or a parallelogram, and may be a diamond shape, a circular shape, or an elliptical shape, or may be an octagonal shape having four corners of a rectangle or a parallelogram.

Fig. 10 shows a first armature group consisting of 9 armature modules, a second armature group consisting of 6 armature modules, and a third armature group consisting of 3 armature modules for a 10-pole type permanent magnet unit having the same structure according to an embodiment of the present disclosure.

Each armature group may be designed to be equal to a unit length L (2 τ × 5 — 10 poles) of the second member constituted by the 10-pole permanent magnet unit.

In the first armature group, 9 armature modules are provided at equal intervals within the unit length L of the second member. In the second armature group, 6 armature modules are provided in such a manner that 3 armature modules are omitted from the first armature group within the unit length L of the second member. In the third armature group, 3 armature modules are provided in such a manner that 6 armature modules are omitted from the first armature group within the unit length L of the second member.

That is, in the second armature group, the second, fifth and eighth armature modules are removed from the first armature group at intervals of three armature modules, and only the first, third, fourth, sixth, seventh and ninth armature modules are arranged. Also, in the third armature group, only the second, fifth and eighth armature modules are left from the first armature group at intervals of three armature modules, and the remaining armature modules are omitted. Thus, the ratio of the number of armature modules disposed in the first, second and third armature sets is 3:2: 1.

A first spacing between armature modules in the first armature set is less than a third spacing between armature modules in the third armature set. And, the spacing between the armature modules in the second armature set is one of the first spacing and the second spacing.

In the linear motor of the present disclosure, since a separate coil is wound for each armature module and the other armature modules do not affect each other, there is no operational problem even if several armature modules are removed from an armature group that is continuously provided at the same interval.

That is, in fig. 10, the first armature group includes 9 armature modules arranged in the order of m1, m2, m3, m4, m5, m6, m7, m8, and m9 in a unit length L of 10 pole units (10 permanent magnets). Current of the U-phase group is supplied to m1, m2, and m3, current of the V-phase group is supplied to m4, m5, and m6, and current of the W-phase group is supplied to m7, m8, and m9, thereby generating thrust to move the permanent magnet module as the second member.

And, the second armature group includes 6 armature modules arranged in the unit length L of the 10-pole unit in the order of m1, m3, m4, m6, m7, and m 9. Current of the U-phase group is supplied to m1 and m3, current of the V-phase group is supplied to m4 and m6, and current of the W-phase group is supplied to m7 and m9, thereby generating thrust to move the permanent magnet module as the second member.

Similarly, the third armature group includes 3 armature modules arranged in the order of m2, m5, and m8 in the unit length L of the 10-pole unit. The U-phase current is supplied to m2, the V-phase current is supplied to m5, and the W-phase current is supplied to m8, thereby generating a thrust to move the permanent magnet module as the second member.

For the unit length L (2 τ × 4 — 8 poles) of the second member composed of permanent magnet 8-pole units of the same structure, a first armature group composed of 9 armature modules, a second armature composed of 6 armature modules, and a third armature group composed of 3 armature modules may be used together.

The ratio of the number of armature modules arranged in the first armature group to the number of poles of the permanent magnet may be 9:10 or 9:8 within a unit length range for generating thrust.

Fig. 11 shows an example where the same armature sets are arranged in series, and the second member may be used with any type, according to an embodiment of the present disclosure.

When the first armature groups each composed of nine armature modules are continuously disposed, the armature modules are continuously disposed at equal intervals. When second armature groups each composed of six armature modules are successively arranged, in a cycle of three armature modules, a form in which one armature module is omitted after two successively arranged armature modules is repeated. When the third armature groups each composed of three armature modules are successively provided, in the cycle of the three armature modules, a form in which two armature modules are successively omitted after one armature module is provided is repeated.

Fig. 12 illustrates relative magnitudes of required thrust in respective speed sections of acceleration, constant speed, and deceleration and speed variation in the respective speed sections when the first member according to an embodiment of the present disclosure is differently arranged.

In fig. 12, in the a model, the first armature groups of 9 armature modules were continuously disposed, in the B model, the first armature groups were intermittently disposed, and in the C model, in the following order: a first armature set of 9 armature modules, a second armature set of 6 armature modules, a third armature set of 3 armature modules, a second armature set, and a first armature set.

It is desirable if the transport system uses a model a linear motor in which a first armature group in which 9 armature modules are arranged at equal intervals is continuously provided, because the speed variation is minimal; however, the longer the moving distance, the higher the cost of the first member and the total weight of the conveying system become.

By intermittently providing the first armature group like the B-model, it is possible to reduce the cost rise of the first member and to reduce the overall weight. However, the speed variation during operation of the mover is severe, and thus there is a limitation in use depending on the application.

As shown in the lower diagram of fig. 12, the path starting from the first position until reaching the second position and stopping may be composed of an acceleration section, a constant velocity section, and a deceleration section. For each section, the required thrust varies according to the speed type of the section. A relatively large thrust force for acceleration is required in the acceleration section, a thrust force is hardly required in the constant velocity section, and a relatively large thrust force in the opposite direction is required in the deceleration section. In other words, the relative magnitude of the thrust required varies depending on the speed required for the segment.

In the lower graph of fig. 12, the graph of the a-model corresponds to the ideal speed of the linear motor over time. However, in the graph of the B model, overshoot and undershoot occur in the acceleration section, the constant velocity section, and the deceleration section, so that the mover vibrates at the time of deceleration and acceleration.

Therefore, in the acceleration section and the deceleration section, a first armature set in which armature modules are provided at equal intervals without omitting the armature modules may be arranged, thereby generating a large thrust. Since thrust is hardly required in the constant velocity section, a third armature group having the longest distance between the armature modules may be arranged. Also, the second armature set may be disposed between the acceleration section and the constant velocity section, and between the constant velocity section and the deceleration section.

That is, in the present disclosure, by continuously providing armature groups having different intervals between armature modules according to a required speed (or a required thrust force) in a section, resources can be effectively utilized, costs and weight can be reduced, and an error from a target speed can be reduced.

In fig. 12, the first members are arranged in the order of the first armature group- > the second armature group- > the third armature group- > the second armature group- > the first armature group. However, the first member may be disposed in the order of the first armature set- > the third armature set- > the first armature set, with the second armature set deleted; or the third armature group is deleted by arranging the first armature group- > the second armature group- > the first armature group in sequence.

Fig. 13 illustrates an embodiment of reducing a speed error by increasing the length of the mover when the B model of fig. 12 is employed as the first member.

The lower diagram in fig. 12 is simulated on the assumption that the length of the armature group and the length of the permanent magnet module are the same. In the case of the B model, there may be more speed errors because there is no thrust between two adjacent armature sets.

When the first armature groups composed of 9 armature modules are intermittently arranged as shown in a B model of fig. 12, the length of the permanent magnet module as the second member may be made larger than that of the first armature group, thereby causing portions of both ends of the second member to overlap with the two first armature groups even when the center of the second member passes between the adjacent two first armature groups, as shown in fig. 13. For example, by configuring the second member as a permanent magnet 20 pole unit, the difference from the target speed can be reduced.

Fig. 14 is a diagram showing an arrangement of a first member according to another embodiment of the present disclosure, in which armature modules arranged for each speed section have different numbers of salient poles.

The linear motor of the present disclosure is characterized in that the number of permanent magnet modules arranged in a direction perpendicular to the traveling direction can be freely selected and designed. There are four permanent magnet modules 20 in fig. 1, one permanent magnet module 20 in fig. 2, and two permanent magnet modules 20 in fig. 3. Even if three permanent magnet modules 20 are used, the linear motor can be configured by the same principle.

As shown in fig. 14, in the acceleration section and the deceleration section that require a large thrust, as a part of the first member, an armature module composed of four salient poles is provided so as to drive all three permanent magnet modules. In a section requiring an intermediate thrust, as a part of the first member, an armature module composed of three salient poles is provided so as to drive two permanent magnet modules. In a section requiring a small thrust force, as a part of the first member, an armature module composed of two salient poles is provided so as to drive only one permanent magnet module.

Fig. 14 shows an example of changing the number of salient poles of the armature module for each segment to control the number of permanent magnet modules that can be driven. By combining the embodiment of fig. 14 with the C model of fig. 12, not only the number of permanent magnet modules that can be driven but also the number of armature modules included in a section corresponding to the length of the permanent magnet modules (or the distance between the armature modules) can be variously adjusted.

By configuring the first modules constituting the first member in various types and continuously providing them to match the speed or thrust, the speed variation can be minimized while reducing the cost increase of the first member, and the total weight of the conveying system can be reduced.

In the conveying system using the linear motor of the present disclosure, since the first member and the second member do not have unnecessary mechanical interference in any section other than the guide portion for guiding travel, durability is good and product life is long.

Various embodiments of the linear motor and delivery system of the present disclosure are briefly and clearly described below.

A linear motor according to an embodiment of the present disclosure may include: a first member including a plurality of armature modules, each armature module including a magnetic core including two or more protrusions and a coil wound on the magnetic core and through which a single-phase current flows; and a second member including at least one magnet module including a plurality of magnetic poles that alternate in a moving direction and are disposed between two adjacent protrusions, power having a predetermined phase difference being supplied to a coil of each armature module so that a thrust force depending on a moving magnetic field is generated by using P number of permanent magnets as one unit and disposing the armature modules in a section corresponding to a first length in which the P number of permanent magnets are arranged in the moving direction, the first member may be fixed and a movable member constituted by the second member is moved by the generated thrust force. And, along the moving direction, a first interval between first armature modules arranged in a first section is different from a second interval between second armature modules arranged in a second section subsequent to the first section.

In one embodiment, the third interval between the third armature modules disposed in the third zone after the second zone may be the same as the first interval.

In one embodiment, the second spacing may be greater than the first spacing.

In one embodiment, the first and third sections may be sections in which the speed of the movable member changes, and the second section may be a section in which the speed of the movable member is constant.

In an embodiment, fourth and fifth sections may be disposed between the first and second sections and between the second and third sections, respectively, and a spacing between fourth armature modules disposed in the fourth and fifth sections may be one of the first and second spacings.

In one embodiment, a ratio of the number of first armature modules arranged in a section corresponding to the first length in the first section, the number of fourth armature modules arranged in a section corresponding to the first length in the fourth section, and the number of second armature modules arranged in a section corresponding to the first length in the second section may be 3:2: 1.

In an embodiment, 9 first armature modules may be arranged in the following order in a section corresponding to the first length in the first section: 1-1m, 1-2m, 1-3m, 1-4m,1-5m, 1-6m, 1-7m, 1-8m, 1-9m, the current of the U-phase group may be supplied to 1-1m, 1-2m, and 1-3m, the current of the V-phase group may be supplied to 1-4m,1-5m, and 1-6m, and the current of the W-phase group may be supplied to 1-7m, 1-8m, and 1-9 m. The 6 fourth armature modules may be arranged in the following order in a section corresponding to the first length in the fourth section: 4-1m, 4-3m, 4-4m, 4-6m, 4-7m, and 4-9m, the current of the U-phase group may be supplied to 4-1m and 4-3m, the current of the V-phase group may be supplied to 4-4m and 4-6m, and the current of the W-phase group may be supplied to 4-7m and 4-9 m. The 3 second armature modules may be arranged in the following order in a section corresponding to the first length in the second section: 2-2m, 2-5m and 2-8m, the current of the U-phase group may be supplied to 2-2m, the current of the V-phase group may be supplied to 2-5m, and the current of the W-phase group may be supplied to 2-8 m.

In an embodiment, the relationship between the number M of first armature modules arranged in a section corresponding to the first length in the first section and P may be M: P ═ 9 (9 ± 1).

In an embodiment, the first number of projections included in the magnetic core of the first armature module and the second number of projections included in the magnetic core of the second armature module may be different from each other.

In one embodiment, the third number of projections included in the magnetic core of the third armature module arranged in the third section located after the second section may be equal to the first number and greater than the second number.

A transportation system according to another embodiment of the present disclosure may include: the above-described linear motor; a ground base on which the first member is fixed and on which the rail is mounted; a mover base to which the second member is fixed; and a guide mounted on the mover base and coupled to the rail.

Throughout the specification, it will be understood by those skilled in the art that various changes and modifications are possible without departing from the technical principles of the present disclosure. Therefore, the technical scope of the present disclosure is not limited to the detailed description in the specification, but should be defined by the scope of the appended claims.