KR102683505B1 - Shaft type linear motor system for FA transfer machine and manufacturing method of shaft type linear motor - Google Patents

Abstract

The present invention relates to a shaft-type linear motor system for application to FA feeders and a method of manufacturing the shaft-type linear motor. More specifically, it provides a shaft-type linear motor for application to FA feeders and provides an optimal design method. This relates to a shaft-type linear motor system and a method of manufacturing a shaft-type linear motor for application to FA conveyors in order to establish the advancement of equipment technology accordingly.
Through the present invention, it is possible to design a shaft linear motor with high thrust and low propulsion ripple, and to establish advanced equipment technology through the establishment of linear FA transport device assembly technology that is easy to apply to utility and has high stability during propulsion. , it is possible to manufacture linear transport equipment applicable to low-noise, high-precision factory automation, and the development of shaft-type linear motors suitable for performance standards makes it possible to secure original technology for motor design and production.

Description

Shaft type linear motor system for FA transfer machine and manufacturing method of shaft type linear motor}

The present invention relates to a shaft-type linear motor system for application to FA conveyors and a method of manufacturing the shaft-type linear motor. More specifically, it provides a shaft-type linear motor for application to FA conveyors and provides an optimal design method. This relates to a shaft-type linear motor system and a method of manufacturing a shaft-type linear motor for application to FA conveyors in order to establish the advancement of equipment technology accordingly.

In general, a linear motor refers to an electric motor aimed at linear motion.

Also, in the case of a permanent magnet linear motor, it has a stator and a rotor like a rotary motor, and this structure represents a structure in which the rotary motor is cut into a radial plane and spread out on a plane.

A linear motor is a type in which a general rotary motor is cut in the axial direction. It is different in that it generates thrust, which is a force that pushes in a straight direction, compared to a general motor that generates a rotary motion force, but the driving principle is fundamentally the same.

Recently, the advantages of linear motors, which can be applied as a linear motor technology system and design and manufacturing technology, are that they have good overall efficiency through direct drive, low maintenance costs, and a structure with a high degree of freedom.

On the other hand, it has the disadvantages that a support mechanism is required, there is a lot of leakage flux, and efficiency and power factor are lower than those of the rotary type.

In addition, linear motors are peripheral technologies that can contribute to the development of measurement and control technology by being applied to high-performance sensors, modern control theory, H control, fuzzy control, vector control, and microstep driving.

In addition, it is applied to the advancement of material technology such as permanent magnet materials and superconducting materials, and also contributes to the development of power electronics technology such as increased capacity of GTO and IGBT, power modules, and multiple inverters, and increases output, compactness, higher performance, and higher precision. It has the advantage of being able to be applied with its characteristics as a linear motor.

On the other hand, as a technical difficulty when linear motor technology is applied to FA, most control devices that drive linear motion systems use rotary motor control devices, so the transient and steady-state response characteristics of the system are inadequate or the system It appears that the ability to respond to disturbances that may occur due to inappropriate analysis is insufficient, and mechanical noise, loss, and vibration are generated by these conversion devices, which reduces the stability of the overall system.

These shortcomings can be solved by using a linear motor (LM) that generates thrust by directly converting electrical energy into mechanical energy from a linear motion motor.

Precision conveyors play a very important role in factory automation facilities for semiconductors, precision processing, and robot production. Linear motors are highly utilized equipment as they reduce the number of parts such as gears and are less likely to break down, but are less popular than existing rotary types. It is low-quality and expensive, so a technical solution is needed.

In addition, since the shaft and the mover are non-contact, frictional heat is not generated, so there is no sound or dust generated, and there are no additional maintenance costs, so it can be applied in high-precision, clean facilities, so its usability is excellent.

The shaft structure also has no influence on thrust due to gap changes, and changing the mechanism of the ball screw is simple, so it can provide an optimal linear motor for load conditions that require a constant thrust, and the core has no adsorption force between the shaft and the mover. It is a type that does not exist and there is no cogging phenomenon during operation.

In addition, the external features include a simple structure, which reduces the design cost and component cost of peripheral devices, and allows high-accuracy positioning based on linear standards even if it is slightly rough.

Meanwhile, it is necessary to secure original technology in the field of transportation equipment in the future through various applications applicable to FA. The original technology in the field of domestic transportation equipment is insufficient, and Japan and Germany are relatively ahead, so it is a field that requires a localization process.

In the linear power system applied to the FA field, linear motors have special advantages compared to rotary motors. Since there is no contact between the moving part and the stator, there is less noise and friction, and there is no need to combine it with other mechanical elements, so the structure of the system is simple. It has the advantages of being light, consuming little energy, having fast acceleration and deceleration characteristics, good energy transfer efficiency, and no backlash.

Therefore, if the shaft linear motor is applied to factory automation, the shaft and the mover are non-contact, so frictional heat is not generated, so there is no sound or dust, and there is no additional maintenance cost, and the shaft structure also provides the effect of reducing the thrust due to the change in the gap. There is no effect, and changing the mechanism of the ball screw has a simple effect. It is a core-less form with no adsorption force between the shaft and the mover, and there is no cogging phenomenon during operation. The external feature is that the structure is simple, which reduces the design cost of peripheral equipment and component costs. It has the effect of being able to achieve high-precision positioning according to linear standards even if it is a little rough, the effect of being able to realize various driving methods with a simple structure of magnets and coils that can operate a shaft with a fixed mover, and the effect of realizing various driving methods, and the effect of realizing a variety of drive methods. The high-precision structure of the motor can provide the effect of being applied to high-precision production lines such as semiconductor processes or secondary battery manufacturing lines, which are recently expanding.

In the present invention, by recognizing the need for a shaft linear motor system in the FA field and providing a solution, domestic technology and localization are possible, especially in the equipment field, and shaft-type linear motors are currently unrivaled in Japan. Although we are leading the way with technology, as Korea's industrial demand increases, import substitution and local production technology are needed. Among domestic technologies, material technology and control technology are excellent, but there is an absolute lack of technology to combine them, optimize them, and systemize them, so we are developing technologies for them. This necessary part can be resolved.

(Prior Document 1) Republic of Korea Patent Publication No. 10-1432205

Therefore, the present invention was devised to solve the above conventional problems,

The purpose of the present invention is to provide a linear FA transport device assembly that has the effect of designing a shaft linear motor with high thrust and low propulsion ripple, is easy to apply to utility, and has high stability during propulsion.

In order to achieve the problem that the present invention seeks to solve, the shaft-type linear motor system for applying the FA conveyor according to an embodiment of the present invention is,

A main body portion (100) of a certain size; and

A stator (200) mounted on the shaft supporter (210) and disposed on a straight line inside which permanent magnets are installed at regular intervals;

A mover 300 including a mover core installed with an air gap from the outside of the stator and a coil wound around the outside of the mover core;

A linear sensor 400 formed on one side of the shaft supporter; and

It is configured to include an LM guide 500 installed at a position spaced apart from the linear sensor at a predetermined distance,

The problem of the present invention is solved by characterizing that the dimensions of the stator, mover, and gap are determined based on the result information calculated by the calculation device.

The shaft-type linear motor system and the manufacturing method of the shaft-type linear motor for application to the FA conveyor according to the present invention are,

It is possible to design a shaft linear motor with high propulsion and low propulsion ripple, and to establish advanced equipment technology through the establishment of linear FA transfer device assembly technology that is easy to apply to utility and has high stability during propulsion, and to establish a low-noise, high-precision factory. It is possible to manufacture linear transport devices applicable to automation, and the development of shaft-type linear motors suitable for performance standards makes it possible to secure original technology for motor design and production.

Figure 1 is a generalized conceptual diagram of the synchronous linear motor structure of a shaft-type linear motor system for application to an FA feeder according to an embodiment of the present invention.
Figure 2 is a conceptual diagram showing the geometric size of the PMLSM of the shaft-type linear motor system for application to the FA feeder according to an embodiment of the present invention.
Figure 3 is an example diagram briefly showing the magnetic flux density waveform of a permanent magnet of a shaft-type linear motor system for application to an FA feeder according to an embodiment of the present invention.
Figure 4 is a BH characteristic curve for NdFeB PM material of a shaft-type linear motor system for FA conveyor application according to an embodiment of the present invention.
Figure 5 is an exemplary diagram showing the arrangement and specifications of magnets according to the design of a shaft-type linear motor system for application to an FA feeder according to an embodiment of the present invention.
Figure 6 is an exemplary diagram of the mover winding design of a shaft-type linear motor system for application to an FA transporter according to an embodiment of the present invention.
Figure 7 is an example of the combined structure of a stator and a mover of a shaft-type linear motor system for application to an FA feeder according to an embodiment of the present invention.
Figure 8 is an exemplary configuration diagram of a shaft-type linear motor of a shaft-type linear motor system for application to an FA feeder according to an embodiment of the present invention.
Figure 9 is an exemplary simulation result according to the stator NdFeB magnet arrangement of a shaft-type linear motor system for application to an FA feeder according to an embodiment of the present invention.
Figure 10 is an exemplary magnetic simulation result according to the stator NdFeB magnet arrangement of a shaft-type linear motor system for application to an FA feeder according to an embodiment of the present invention.
Figure 11a is a diagram illustrating the utility configuration design of a shaft-type linear motor system for application to an FA conveyor according to an embodiment of the present invention in 3D.
Figure 11b is an exemplary diagram showing the utility configuration of a shaft-type linear motor system for application to an FA conveyor according to an embodiment of the present invention.
Figure 12 is an exemplary configuration diagram of a shaft-type linear motor system for application to an FA feeder according to an embodiment of the present invention.
Figure 13 is an exemplary load carrier configuration of a shaft-type linear motor system for application to an FA feeder according to an embodiment of the present invention.
Figure 14 is an exemplary diagram of the configuration of a shaft supporter of a shaft-type linear motor system for application to an FA feeder according to an embodiment of the present invention.
Figure 15 is an illustration of the d-axis and q-axis stator and rotor reference frames of a shaft type linear motor system for application to an FA feeder according to an embodiment of the present invention.
Figure 16 is an equivalent circuit in the synchronous reference frame of the shaft-type linear motor of the shaft-type linear motor system for application to the FA feeder according to an embodiment of the present invention.
Figure 17 is a phasor diagram of the shaft-type linear motor of the shaft-type linear motor system for application to the FA feeder according to an embodiment of the present invention.
Figure 18 is a three-phase voltage source inverter of a shaft-type linear motor system for FA conveyor application according to an embodiment of the present invention.
Figure 19 is an example of inverter output according to the voltage vector of a shaft-type linear motor system for application to an FA conveyor according to an embodiment of the present invention.
Figure 20 is an example diagram of the inverter switching state and output voltage vector of a shaft-type linear motor system for application to an FA feeder according to an embodiment of the present invention.
Figure 21 is an example of conditions in the switching area of a shaft-type linear motor system for application to an FA feeder according to an embodiment of the present invention.
Figure 22 is an example of the pole voltage and switching pattern of the space vector PWM of the shaft-type linear motor system for application to the FA feeder according to an embodiment of the present invention.
Figure 23 is an example diagram of an inverter switching function of a shaft-type linear motor system for application to an FA feeder according to an embodiment of the present invention.
Figure 24 is an example of the output current state during dead time of a shaft-type linear motor system for application to an FA feeder according to an embodiment of the present invention.
Figure 25 is an exemplary diagram of a dq-axis current controller and a speed controller of a shaft-type linear motor system for application to an FA feeder according to an embodiment of the present invention.
Figure 26 is an exemplary diagram of the PI current controller of the shaft-type linear motor of the shaft-type linear motor system for application to the FA feeder according to an embodiment of the present invention.
Figure 27 is a 50mm position control output waveform of a shaft-type linear motor system for application to an FA conveyor according to an embodiment of the present invention, Figure 28 is a 100mm position control output waveform, Figure 29 is an initial state waveform, and Figure 30 is the speed waveform at no load, Figure 31 is the speed waveform under a 1N (0.98N) load, Figure 32 is the speed waveform under a 2N (1.96N) load, and Figure 33 is the speed waveform under a 3N (2.94N) load condition. Figure 34 shows the speed waveform under 4N (3.92N) load condition.
Figure 35 is a conceptual diagram showing a gantry loader of a shaft-type linear motor system for FA transfer machine application according to an embodiment of the present invention.

The shaft-type linear motor system for application to the FA conveyor according to an embodiment of the present invention is,

A main body portion (100) of a certain size; and

A stator (200) mounted on the shaft supporter (210) and disposed on a straight line inside which permanent magnets are installed at regular intervals;

A mover 300 including a mover core installed with an air gap from the outside of the stator and a coil wound around the outside of the mover core;

A linear sensor 400 formed on one side of the shaft supporter; and

It is configured to include an LM guide 500 installed at a position spaced apart from the linear sensor at a predetermined distance,

The dimensions of the stator, mover, and gap are determined based on result information calculated by the calculation device.

At this time, the method of manufacturing the shaft-type linear motor of the shaft-type linear motor system for application to the FA conveyor is:

A first step (S100) for the computing device to acquire shaft type PMLSM design specification information; and

A second step (S200) in which the computing device acquires the dimensional information of each part set on the shape information provided by the computing device in order to design the shaft type PMLSM;

A third step (S300) in which the calculation device calculates the output information of the electric motor and calculates the width of the mover core based on the output information;

A fourth step (S400) in which the calculation device calculates the thickness of the stator back iron based on the saturation magnetic flux density of the stator iron core;

A fifth step (S500) for the calculation device to calculate the length and thickness of the permanent magnet;

A sixth step (S600) in which the calculation device calculates the magnetic flux density, calculates the number of turns, and calculates the diameter of the coil based on this.

It is characterized in that it includes a seventh step (700) in which the calculation device determines the stator, mover, and gap dimensions based on the result information calculated through each of the above steps.

At this time, the following equation 1 is used to determine the width of the mover core.

(Formula 1)

( and and , Am(r) is the electric field, and Bmg is the magnetic field.)

At this time, the following equation 2 is used to determine the thickness y _s of the stator back iron.

(Formula 2)

At this time, the following equation 3 is used to determine the thickness lm of the permanent magnet.

(Formula 3)

(k _s : saturation coefficient, k _c1 : Carter coefficient, Hm: magnetic field strength at the magnet operating point, g ₀ : air gap length, Bmg: air gap magnetic flux density on the magnet surface.)

At this time, the shaft-type linear motor system of the present invention is,

The applied applied voltage is characterized by applying a pulse width modulation (PWM) method that can precisely generate a voltage in the form of a square wave or sine wave.

At this time, in the shaft type linear motor system,

The applied sinusoidal voltage waveform is characterized by being generated by a space vector modulation technique.

At this time, the space voltage vector modulation is,

It is characterized in that the output signal of the switching element is generated by combining an effective vector using the same average voltage as the reference voltage vector within one cycle of the signal.

Hereinafter, a detailed description will be given through an example of a shaft-type linear motor system for application to an FA conveyor according to the present invention.

Figure 1 is a generalized conceptual diagram of the synchronous linear motor structure of a shaft-type linear motor system for application to an FA feeder according to an embodiment of the present invention.

As shown in Figure 1, the shaft-type linear motor system for application to the FA conveyor of the present invention includes a main body portion 100 of a certain size; and

A stator (200) mounted on the shaft supporter (210) and disposed on a straight line inside which permanent magnets are installed at regular intervals;

A mover 300 including a mover core installed with an air gap from the outside of the stator and a coil wound around the outside of the mover core;

A linear sensor 400 formed on one side of the shaft supporter; and

It is configured to include an LM guide 500 installed at a position spaced apart from the linear sensor at a predetermined distance,

The dimensions of the stator, mover, and gap are determined based on result information calculated by the calculation device.

At this time, the method of manufacturing a shaft-type linear motor for applying the FA conveyor according to the present invention to be applied to the system is:

A first step (S100) for the computing device to acquire shaft type PMLSM design specification information; and

A second step (S200) in which the computing device acquires the dimensional information of each part set on the shape information provided by the computing device in order to design the shaft type PMLSM;

A third step (S300) in which the calculation device calculates the output information of the electric motor and calculates the width of the mover core based on the output information;

A fourth step (S400) in which the calculation device calculates the thickness of the stator back iron based on the saturation magnetic flux density of the mover iron core;

A fifth step (S500) for the calculation device to calculate the length and thickness of the permanent magnet;

A sixth step (S600) in which the calculation device calculates the magnetic flux density, calculates the number of turns, and calculates the diameter of the coil based on this.

It includes a seventh step (700) in which the calculation device determines the dimensions of the stator, mover, and gap based on the result information calculated through each of the above steps.

To be specific, the first step (S100) is a step for the computing device to acquire shaft type PMLSM design specification information, and a permanent magnet to achieve a rated thrust of 10 [N] and a rated speed of 0.5 [m/s]. Assuming you are designing a linear synchronous motor (PMLSM),

The primary side with the three-phase winding wound around the layered core is used as the mover, and the N and S poles of the cylindrical permanent magnets are inserted into the magnetic pipe in a row facing each other, and the secondary side in the form of a magnetic rod is used as the stator, improving mechanical performance. It is possible to simultaneously perform analysis to reduce detent force while maintaining .

Table 1 below shows design specification information for shaft type PMLSM.

division specification division specification Rated capacity 200 [W] number of poles 8 [POLES] input voltage 3 to 220 [V] Equivalent number of slots 3 [EA] frequency 60[HZ] a constant 3 [EA] rated speed 0.5 [m/s] efficiency More than 60 [%] Rated thrust 10 [N] power factor COS θ 95 [%] or more

The second step (S200) is a step for the computing device to acquire the dimensional information of each part set on the shape information provided by the computing device in order to design the shaft type PMLSM, as shown in FIG. 2 to design the shaft type PMLSM. The shape information as shown above is provided, the dimensional information of each set part is input, and the dimensional information of each input part is obtained.

The third step (S300) is a step in which the calculation device calculates the output information of the electric motor and calculates the width of the mover core based on the output information, as follows.

First, the output of the electric motor is calculated. The apparent power of the electric motor with an output of Po [kW] is shown in Equation 1.

(Formula 1)

Here, S is the apparent power, m1 is a constant, Ef is the equivalent back electromotive force, Ia is the phase current, the winding coefficient Kdpf = 0.966, and the values of the electric field Am and magnetic field Bm are calculated by the load distribution method as shown in Equation 2. Let's assume together.

Bm: As magnetic field, Bm=0.65[T]

Am: Electrical load, Am(r)=160,000[A/m] (Equation 2)

The speed of the mover is given in Equation 3.

(Formula 3)

The input current Ia is given in Equation 4.

(Formula 4)

The back electromotive force of the mover winding is given in Equation 5 according to Faraday's law.

(Formula 5)

here, So, if you substitute and organize it, it becomes Equation 6.

(Formula 6)

The effective value of back electromotive force Ef is the maximum value. Since it is the same as a pear, it can be summarized as Equation 7.

(Equation 7)

Here, Kdpf is the winding coefficient, and the magnetic field Bavg and electric field Am(r) are shown in Equation 8 and Equation 9, respectively.

(Equation 8)

(Equation 9)

The equation for magnetic field Bmg is magnetic flux To summarize, it is as equation 10.

(Equation 10)

Equation 9 for the electric charge Am(r) can be summarized in terms of the number of turns N1, which is equivalent to Equation 11.

(Equation 11)

Here, the obtained magnetic flux By substituting the equivalent number of turns N1 into the back electromotive force equation 8, it becomes equation 12.

(Equation 12)

Here, α is the coefficient for the sinusoidal magnetic field, So, if you substitute and organize it, it becomes Equation 13.

(Equation 13)

If this equation is substituted into the apparent power equation 1, it becomes equation 14.

(Equation 14)

Therefore, the effective length Li of the primary mover can be obtained from Equation 15.

(Equation 15)

At this time, the actual width of the mover core was set to 11 [mm].

Thereafter, the fourth step (S400) is a step in which the calculation device calculates the thickness of the stator back iron based on the saturation magnetic flux density of the stator iron core. The design method of the stator back iron sets the saturation magnetic flux density of the stator iron core to Bc = 1.6. Assuming [T], the magnetic flux passing through the stator back iron is as shown in Equation 16.

(Equation 16)

In Equation 16: So by substituting To summarize, it is as shown in Equation 17.

(Equation 17)

Using Equation 17 above, the thickness y _s of the stator back iron can be obtained as Equation 18.

(Equation 18)

Therefore, considering saturation of the back iron, it was designed at y _s = 9[mm].

Thereafter, the fifth step (S500) is a step in which the calculation device calculates the length and thickness of the permanent magnet. By finding the operating point of the permanent magnet, calculating the value of Bmg and using the permanent magnet B-H characteristic curve or load line Derive Hm equivalent to Bmg, and use Ampere's law of rotation to find lm of the permanent magnet.

As shown in Figure 3, the air gap magnetic flux density generated by the permanent magnet is shown.

The magnetic flux density of the air gap is affected by the saturation of the stator teeth. The thicker the stator teeth are, the more load current can flow, but the air gap magnetic flux density decreases.

The optimal ratio of tooth width/slot width is approximately 1, and the maximum magnetic flux density of the air gap at this time is 0.7[T].

A typical synchronous motor is When , the harmonic component decreases and here is calculated as α _i = 24/30 = 0.8.

At this time, in order to calculate the value related to the magnetic flux due to the permanent magnet, the value related to the magnetic flux due to the permanent magnet is derived as Equation 19 according to Ampere's law of rotation.

(Equation 19)

In addition, in order to determine the thickness of the permanent magnet, the Hm value at the operating point must be calculated, so if the value of Bmg is given, the value of Hm can be found using FIG. 4.

By Figure 4 If the value of Hm is obtained by substituting the value of Bmg according to the equation, it is as shown in Equation 20.

(Equation 20)

By calculating by substituting the value of Hm obtained in Equation 20 above, the thickness of the permanent magnet can be obtained as in Equation 21.

(Equation 21)

Thereafter, the sixth step (S600) is a winding number calculation step in which the calculation device calculates the magnetic flux density, calculates the equivalent number of turns, and calculates the diameter of the coil based on this.

That is, first, to calculate the magnetic flux density, the value of Bmg is equal to Equation 22.

(Equation 22)

Here, a typical synchronous motor is When , the harmonic component decreases, and α _i = 0.8 was selected.

At this time, Because of Depending on the can be obtained.

In addition, the equivalent number of turns is calculated. Since the voltage V1 applied to one phase is 180 [V], Ef is equal to Equation 23 according to the relationship between Ef and V1.

(Equation 23)

At this time, ε is calculated assuming 0.6 to 0.8 depending on experience, and the back electromotive force Ef is as shown in Equation 24.

(Equation 24)

Using this, the number of turns per turn N1 can be obtained as shown in Equation 25.

(Equation 25)

Since the total number of slots Sn = 9, the number of coils per slot is calculated as 160 [turns] according to Equation 26.

(Equation 26)

At this time, the current density flowing in the coil Then, the cross-sectional area of the coil is equal to Equation 27.

(Equation 27)

At this time, the diameter of the coil can be determined as Cd = 1.1 [mm] according to Equation 28.

(Equation 28)

Thereafter, in the seventh step 700, the calculation device determines the stator, mover, and gap dimensions based on the result information calculated through each of the above steps.

In other words, the information calculated by the calculation device through each step is collected to determine the stator, mover, and gap dimensions.

The basic dimensions of the PMLSM design resulting from the design process according to an embodiment of the present invention are shown in Table 2.

item unit size

stator [mm] 0.5 [mm] 10.5 [mm] 10 [mm] 10

mover [mm] 0.1 [mm] 75 [mm] 0.2 [mm] 0.4 air gap [mm] 0.1

That is, the pitch between the stator poles is 0.5 mm, the pitch of the slots is 0.2 mm, and the structure was designed with 3 poles and 6 slots.

At this time, the stator and mover designed by the above-described calculation device are installed in the mechanism using the LM guide.

The arrangement and specifications of the magnets included in the linear motor according to the design using the above calculation device are shown in Figure 5, and the NdFeB magnet has a diameter of 15 mm, a height of 10 mm, Br = 14, Hc = 10, and BHmax = 50. .

The magnets must be arranged in NSSNNS.... so that the magnets act as mutual repulsion and generate magnetic force.

In the case of Figure 6, it is a diagram showing the mover winding design. The winding insulation has a diameter of 0.202 mm, corresponding to AWG32, the number of turns is 560T, and is composed of a three-phase winding.

In the case of Figure 7, it is a diagram showing the combined structure of the stator and the mover. The gap is 0.1 mm, and the housing of the stator is made of STS304 material.

Additionally, Figure 8 is a diagram showing the configuration of a shaft-type linear motor.

As mentioned above, the design is carried out using a computational device, and through this, the most optimal design conditions are calculated.

Based on the above design conditions, simulation results according to the stator NdFeB magnet arrangement are shown in Figure 9, and Figure 10 shows the magnetic simulation results.

Therefore, the shaft-type linear motor for application to the FA conveyor of the present invention is,

A stator (100) disposed on a straight line inside which permanent magnets are installed at regular intervals; and

A mover 200 including a mover core installed with an air gap from the outside of the stator and a coil wound around the outside of the mover core,

The dimensions of the stator, mover, and gap are determined based on result information calculated by the calculation device.

That is, in order to construct a shaft-type linear motor for application to the FA feeder as shown in FIG. 11a, the stator 100 and the mover 200 are constructed on the basic base. At this time, the result information designed through the computing device is The standards are set based on this.

Meanwhile, the hardware structure of the present inventor's system is as shown in FIG. 11b. According to statistics, in the case of a transport system using a linear motor that directly generates linear propulsion force, the cross-sectional area of the device is small when manufactured with a rotary motor. It has been studied to have the effect of reducing the overall utility production area by more than 30% by reducing it by about 70%, making it possible to configure the system utility as shown in Figure 11b.

In the case of FIG. 13, it is an example diagram showing a load carrier, and in FIG. 14, it is an example diagram showing a shaft supporter.

Next, we will explain the shaft-type linear motor control topology.

First, as modeling through coordinate transformation of a shaft-type linear motor, it can be expressed as a differential equation with a time-varying coefficient, except for the initial state when the shaft-type linear motor is stopped.

Since it is difficult to interpret differential equations with time-varying coefficients, coordinate transformation can be used to transform them for easier analysis. By applying d-axis and q-axis coordinate transformation, the time-varying coefficients are converted into time-invariant differential equations with constant coefficients and expressed. This is possible.

In addition, the method of constantly converting the three-phase a, b, and c phase variables of a three-phase AC motor into variables on a Cartesian coordinate system consisting of the d-axis, q-axis, and neutral n-axis of the two-phase is called d-q coordinate transformation, and uses Park's transformation equation. .

In addition, the d-axis is the axis that is the reference for the generation of magnetic flux and is considered the reference axis in vector control, and the q-axis is perpendicular to the reference axis, which is the d-axis, and is the axis that is the reference for the current that generates torque in vector control. When a linear motor rotates counterclockwise with time, it is located ahead of the d-axis in the direction of rotation, like magnetic flux.

And, the n-axis is defined as an axis orthogonal to the d-axis and q-axis in the xyz three-dimensional space.

Coordinate systems include stationary coordinate systems and rotational coordinate systems. The stationary coordinate system is a fixed coordinate system in which the coordinate axes do not rotate and is called the stator coordinate system. The stator coordinate system is d ^s and It is expressed as the q ^s axis.

Meanwhile, in the execution of coordinate transformation of the shaft type PMLSM, as shown in FIG. 15, d ^s forms a right angle to the a-axis of the three phases, and is in a stationary state without rotation.

The rotor coordinate system is expressed by d ^w and q ^w axes, and means a coordinate system in which the dq axis rotates in accordance with the rotational angular velocity w of the axis.

When the rotating magnetic field generated by the stator winding is synchronized in a rotating coordinate system by the angular velocity w according to the rotation of the d - q axis to express rotation, this is called a synchronous coordinate system and is expressed as d ^e - q ^e , and w is the rotation. A coordinate system that rotates in synchronization with the electron speed is called a rotor coordinate system and is represented by the d ^r - q ^r axis.

Since the d - q axis is basically rotatable, variables in the three-phase abc coordinate system can be converted to d - q axis variables in the Cartesian coordinate system that rotate at an arbitrary angular speed w, and are defined as Equation 29.

(Formula 29)

Here, f is an arbitrary variable and has the meaning of voltage, current, flux linkage, etc., and the transformation matrix T(θ) is as shown in Equation 30.

(Formula 30)

Here, θ is the rotation angle of the coordinate axis and is equal to Equation 31, and θ(0) is the angle between the d ^w axis and the a axis at t=0 and is generally set to θ(0) = 0 °.

(Formula 31)

When variables in the three-phase abc coordinate system are converted to d- and q-axis variables in a non-rotating stationary coordinate system, they are expressed as Equation 32, and the transformation matrix is as in Equation 33.

Here, θ appears as θ(0) = 0 ° because the sin table does not rotate.

(Formula 32)

(Formula 33)

When vector control is applied, it is the same as Equation 34 and Equation 35 to obtain the variable of the rotating coordinate system from the variable of the stationary coordinate system.

(Equation 34)

(Equation 35)

Additionally, the d-q axis model of the shaft-type linear motor will be explained.

For d-q axis modeling of a shaft-type linear motor, the stator circuit of a synchronous motor is considered to be the same as that of a right-way motor, and it is assumed that a rotating magnetic field is generated by a three-phase AC power source.

Unlike an induction motor, the rotor has an excitation winding that generates magnetic flux by direct current power or a permanent magnet.

An important feature of a synchronous linear motor is that the power factor of the input power can be arbitrarily controlled to be in phase, lead, or lag by changing the magnitude of the excitation current. However, since permanent magnets are generally used in control synchronous motors, the field The magnetic flux appears constant.

Permanent magnet synchronous motors have good efficiency as there is no loss due to the stator having no excitation winding for magnetic flux generation. They have high power density, so the ratio of output torque to the weight of the motor is large, and their quick response to control is excellent. Due to its superior dynamic characteristics compared to other electric motors, it is widely used in high-performance linear motor control fields that require instantaneous torque control.

In addition, as a conversion method of the d - q conversion model of shaft-type PMLSM using an equivalent circuit, the first step is to define an equivalent circuit through mathematical modeling to control a shaft-type permanent magnet synchronous linear motor. In general, the linear permanent magnet synchronous linear motor Equivalent circuit is utilized through magnet synchronous modeling.

The equivalent circuit of a shaft-type linear motor on a synchronous coordinate system is expressed as shown in FIG. 16.

In addition, since there is no stator circuit in the shaft-type permanent magnet synchronous linear motor, only the voltage equation for the stator needs to be obtained. Since the stator circuit of the synchronous motor is the same as that of the induction motor, the stator voltage equation is Equation 36 and Equation 36 according to Faraday's law. expressed together.

(Equation 36)

Flux linkage in the rotor winding in a synchronous linear motor is the magnetic flux linked to the rotor winding among the magnetic flux generated by the rotor current and the magnetic flux linked by the permanent magnet to the rotor winding. The sum of appears as shown in Equation 37.

(Equation 37)

The magnetic flux linkage is expressed as the product of current and inductance, and since the magnetic flux due to the permanent magnet is constant, it is equalized to the magnetic flux due to the field current i _f of the constant current source. Expressed as, To calculate , the necessary inductance must also be obtained.

The rotor inductance Ls consists of the self-inductance in each phase winding and the mutual inductance between each phase winding.

Additionally, the self-inductance of each phase winding , , is the leakage inductance It consists of magnetization inductance.

Unlike rotary induction motors, in shaft-type linear motors, the effective length of the air gap changes with the change in the position of the mover, so it has magnetic salient pole characteristics and the size of the self-inductance also changes. In general, shaft-type permanent magnet linear motors have magnetic pole characteristics. The motor can be expressed with the d-q axis stator voltage equation in Equation 38 and Equation 39, just like a rotary synchronous motor.

(Equation 38)

(Equation 39)

Here, V _ds is the d-axis stator voltage, V _qs is the q-axis stator voltage, i _ds is the d-axis stator current, i _qs is the q-axis stator current, λ _ds is the d-axis stator flux linkage, and λ _qs is the q-axis stator flux. Linkage, R _s represents stator winding resistance, and λ _PM represents permanent magnet flux linkage.

In this way, the voltage equation is expressed the same as that of the induction motor, but because the structure of the mover of the two motors is different, the resulting flux linkage is expressed in a different form.

Equation 40 represents the d-q axis flux linkage equation of a linear synchronous motor.

(Equation 40)

Here, Lds is the stator d-axis inductance, Lqs is the stator q-axis inductance, and the voltage equation for d-q is rewritten as Equations 41 and 42 below.

(Formula 41)

(Equation 42)

If equations 41 and 42 above are rearranged into equations for current, equations 43 and 44 are obtained.

(Equation 43)

(Equation 44)

If equations 43 and 44 above are expressed as a matrix, it is equivalent to equation 45.

(Equation 45)

The thrust equation for a linear motor can be summarized as Equation 46.

(Equation 46)

Since the shaft-type linear motor has the same structure and operating principle as the permanent magnet linear synchronous motor, the same analysis is performed. The permanent magnet synchronous motor and linear permanent magnet synchronous motor have the same operating principle, but physical differences. In other words, there is a difference between rotational movement and linear movement.

Therefore, a process of converting rotational motion into linear motion is necessary.

Equation 47, Equation 48, and Equation 49 below represent this conversion process.

(Formula 47)

(Equation 48)

(Formula 49)

Here, w _e is the synchronous angular velocity, n _p is the number of poles, w _r is the rotor angular velocity, v is the linear speed of the mover, v _e is the electrical linear speed of the mover, τ is the pitch of the pole, and f _e is the electrical frequency. do.

If Equation 47, Equation 48, and Equation 49 are applied to reconstruct the voltage equations for Equation 41 and Equation 42, they are expressed as Equation 50 and Equation 51.

(Equation 50)

(Equation 51)

Additionally, in order to express the steady-state phasor diagram of a shaft-type linear motor, Equation 50 and Equation 51 are expressed as Equation 52 on the complex plane.

(Equation 52)

here, means respectively.

Figure 17 shows a phasor diagram of a shaft-type linear motor.

In addition, the thrust of the linear motor is expressed as Equation 54 by Equation 53, which represents the input-output relationship using electrical parameters, and the motion equation of the mover is expressed as Equation 55.

(Equation 53)

(Equation 54)

(Equation 55)

here, is the speed of the mover [mm/s], τ is the pole spacing [mm], M is the total mass of the mover, B is the friction coefficient of the mover, and D is the mechanical disturbance.

Next, we will explain space voltage vector PWM control.

As an application of the topology of a three-phase voltage type inverter, a shaft-type linear motor requires a sensor device to detect the position of the mover, and the position detection device supplies a control signal to the switching element provided in the stator winding.

And, the type of applied voltage to the shaft-type linear motor uses the pulse width modulation (PWM) method, which can precisely generate voltage in the form of a square wave or sinusoidal wave.

Therefore, in order to implement optimal driving characteristics according to the shaft-type linear motor structure, an appropriate control method must be used, and the sinusoidal voltage waveform applied to the linear motor is generated by a space vector modulation technique.

Figure 20 shows the topology of a three-phase voltage type inverter.

At this time, as an application of space voltage vector PWM control, each phase switch is In order to operate them in a complementary manner, the three-phase inverter outputs six types of voltage vectors depending on the switching operation status of the IGBT switch.

Here, the switch marked as 1 is the upper level switch of each phase ( ) means that it is turned on, and the one displayed as 0 is the lower level switch ( ) means that each is turned on.

However, if the switch levels of each phase are all 1 or all 0, the output becomes 0 voltage and is configured as a null vector.

If placed on a vector space in the concept of a vector, as shown in Figure 19, the effective voltage vectors are It has a size of , and each vector is expressed as a voltage vector located at intervals of 60°.

The operating principle of the space voltage vector modulation method generates an output signal of the switching device by combining an effective vector using the same average voltage as the reference voltage vector within one cycle of the signal.

In Figure 20, '1' means that the upper level switch is 'turned on' and the lower level switch is 'turned off' in the same phase, and '0' means, on the contrary, that the upper level switch is 'turned off' and the lower level switch is 'turned on'. 'It means becoming.

As shown in Figure 20, the inverter can output six cases of effective voltage vectors (V(1) to V(6)) and additionally have two zero vectors (V(0) and V(7)). .

The switching operation is a reference voltage vector with a constant size and phase within one cycle. Assuming that the vector is given to sector I in the vector space, in this case, the reference voltage is the adjacent vector closest to the reference voltage. vector and An output signal can be generated within one cycle by temporal composition of vectors and zero vectors.

here, The time at which the vector should be applied , The time at which the vector should be applied It becomes.

The time at which the zero vector should be applied The calculation according to the Volts-Second law for each time is as in Equation 56.

(Equation 56)

Here, the time for T ₀ is equal to Equation 57.

(Equation 57)

The application time T ₁ of each effective voltage vector is given in Equation 58.

(Equation 58)

Additionally, T ₂ is the same as Equation 59.

(Equation 59)

If the position of the reference voltage vector exists in another sector, a switching signal can be generated through a similar analysis, and the type and application time of the effective voltage vector generated according to the position of the reference voltage vector are directly calculated and calculated. I can pay it.

In addition, the space voltage vector modulation method can output a linear signal, and the maximum output voltage of the inverter is about 57.7% of the DC link voltage, which increases the linear control area by 15.5% compared to the triangle wave comparison pulse signal generation method. (Dr.K.Alicemary, 2012)

And, in order to perform voltage modulation using the spatial voltage vector modulation method, first select two effective switching vectors adjacent to the reference voltage vector in the vector space, calculate the application time for each voltage vector, and then calculate the actual switching of each phase. It must be resynthesized to create time.

Through this calculation process, the actual on-off time of the switch can be determined, and the problem of this complex procedure can be reduced by analyzing the problem of voltage modulation in terms of effective time rather than in terms of space vectors.

Meanwhile, as an arithmetic processing for inverter switching, the determination of the switching area determines which area of vector ① to vector ⑥ the command voltage calculated by the speed controller and current controller corresponds to when the control system wants to perform switching control in real time. You have to decide first.

To determine the switching area, the command voltage vector expressed in a fixed coordinate system is as shown in Equation 60.

(Formula 60)

The rotation angle is expressed as Equation 61.

(Formula 61)

Through the relationship between Equation 60 and Equation 61, it is possible to obtain the position angle θ from any α axis to the command voltage vector.

The conditions for determining the switching area use a simple comparison technique as shown in FIG. 21.

To calculate the switching time, if the position vectors in the vector area ① to ⑥ of the command voltage are calculated separately, the calculation results of the switching time according to the area of the command voltage vector are the same as those in FIG. 22.

Once the switching times T ₁ and T ₂ from the vector area ① to ⑥ on the complex plane according to the output command voltage are determined, the switches SWa, SWb, and SWc can be calculated from this.

In Figure 23, switching functions Ta, Tb, and Tc can all be calculated by referring to the switching pattern of the pole voltage of the space vector PWM.

The method used to approximate the stator reference voltage, which has eight possible switching pattern states, is to control the combination of adjacent vectors of the reference voltage and the application of each adjacent vector.

The eight patterns that can be combined by IGBT can have finite values on the coordinate axes (α, β coordinates) depending on the states of switches a, b, and c, and Figure 23 shows the inverter switching function in summary.

Meanwhile, as shown in FIG. 24, the inverter's dead time processing is such that in the space voltage vector PWM control method, the upper and lower level IGBTs constituting each switch SWa, SWb, and SWc of the inverter are turned on, respectively, according to the calculated switching function. When performing turn-off switching operation, it operates in a complementary manner.

If these IGBTs operate ideally, they will generate an output voltage that exactly corresponds to the command low voltage, but in general, switching devices such as IGBTs have a turn-off time that is relatively longer than the turn-on time, so the inverter's switching SWa, SWb, and SWc are complementary to each other. During operation, the upper and lower level switches that make up each LEG are turned on at the same time, which may cause an instantaneous electrical short circuit.

To prevent such a momentary electrical short circuit from occurring, a delay operation must be performed to turn off both the upper and lower level switches for a certain period of time. This time is called dead time and is expressed as Td.

As shown in FIG. 23, when dead time is applied, the output voltage is different from the command voltage, so dead time must be considered when calculating the switching times T ₁ , T ₂ , and T ₀ in the previous calculation.

When an inverter drives a linear motor, it takes a certain amount of time for the direction of the current to change even after the motor's load switches, so the direction of the output current must be taken into consideration in both turn-on mode and turn-off mode. By using a method of selectively assigning dead time to the switch on the turn-on side or the switch on the turn-off side, problems caused by dead time can be largely eliminated.

For example, in the case of switch SWa, the state of the output current i _as at the moment the switching operation is performed, that is, in the dead time section, is as shown in (a) of Figure 24, which is divided into turn on mode and turn off mode and dead time This is a method of authorizing.

In the case of turn-on mode as shown in (a) of Figure 24, if i _as > 0, current currently flows through the lower level diode of phase a, so the current flows even if the lower level switch is first turned off for a short time Td. Since it does not affect the dead time, the dead time is applied to the lower level switch that performs a turn-off operation.

However, in the case of turn-on mode as shown in (b) of FIG. 24, i _as < If it is 0, current is currently flowing through the lower level switch of phase a, but even if the lower level switch is normally turned off and the upper level switch is turned on later for a short time Td, the current flow is maintained through the upper level diode. Since the flow of current can be maintained through the diode of the upper level, where the dead time is turned on, the dead time is applied to the upper level switch, which is turned on.

Considering this dead time, the calculated switching time is as shown in Equation 62.

(Equation 62)

In this case, it should be considered an overmodulation state and the switching output time of the voltage vector should be modified as shown in Equation 63.

(Formula 63)

If the switching time and the switching function of each phase are calculated considering the dead time, the space voltage vector control can perform a stable switching operation with a switching operation including the dead time.

In the following, the current controller and speed controller of the shaft-type linear motor will be explained.

In the current controller of a shaft-type linear motor, the three-phase current is coordinate converted to d-axis and q-axis current in the rotation coordinate system based on the rotor flux of the shaft-type linear motor, and has a direct current value in the normal state.

This is a method to implement much of the same control method of a DC motor by performing coordinate transformation when representing input and output.

In Figure 25 The speed reference is input as a direct current value, and since the direct current is controlled on the synchronous coordinate system, a proportional integration controller (PI), which is the same as the control method of a direct current motor, can be used.

Like current control in a DC motor, if the gain value of the PI current controller for the d-axis and q-axis is expressed as Equation 64, the zero and pole points are canceled out, so the transfer function can be designed like a first-order low-pass filter.

In the d-q controller, not only the back electromotive force due to the field flux but also the velocity electromotive force term, which is an interference component to the magnetic flux due to mutual inductance, must be forward-compensated, so there is an additional forward-compensation term.

Therefore, the block diagram of the shaft-type linear motor including the electrical model and PI current controller model is shown in Figure 26.

Meanwhile, a linear encoder sensor is constructed, for example, in an ultra-small package: 8.35 mm x 12.7 mm x 20.5 mm (7.3 mm x 12.7 mm x 20.5 mm for FPC version), best-in-class signal stability and vibration resistance thanks to filtering optics, It is desirable to construct a sensor that has long-term stability provided by AGC (Auto Gain Control) and AOC (Auto Offset Control), low sub-interpolation error (SDE) and jitter, and easy installation and diagnosis using the readhead's setup LED.

In addition, the shaft-type linear motor system for FA conveyor application is,

A main body portion (100) of a certain size; and

A stator (200) mounted on the shaft supporter (210) and disposed on a straight line inside which permanent magnets are installed at regular intervals;

A mover 300 including a mover core installed with an air gap from the outside of the stator and a coil wound around the outside of the mover core;

A linear sensor 400 formed on one side of the shaft supporter; and

It is configured to include; an LM guide 500 installed at a position spaced apart from the linear sensor at a certain distance.

We measured the motion output waveform when providing a shaft-type linear motor using the stator and mover manufactured through the manufacturing method described so far.

That is, Figure 27 shows the 50mm position control output waveform, and Figure 28 shows the 100mm position control output waveform.

And, looking at the thrust control according to the load of the shaft type PMLSM, Figure 29 shows the initial state waveform, and Figure 30 shows the speed waveform at no load.

Figure 31 shows the speed waveform under a 1N (0.98N) load condition, Figure 32 shows the speed waveform under a 2N (1.96N) load condition, and Figure 33 shows the speed waveform under a 3N (2.94N) load condition. , Figure 34 shows the speed waveform under 4N (3.92N) load condition.

Meanwhile, as shown in FIG. 35, the shaft-type linear motor system for application to the FA conveyor according to the present invention can be applied to a gantry loader.

That is, the stator, mover, and gap dimensions are determined and the manufactured stator and mover are applied to the gantry loader.

At this time, the gantry loader,

A main body portion 100 of a certain size,

An X-axis linear guide part 200 installed on both sides of the main body part,

An X-axis stator (310) installed at any part of the X-axis linear guide part;

An X-axis motor (300) including an X-axis mover (320) installed outside the X-axis stator,

A Y-axis linear guide portion 400 formed on the upper side of the X-axis mover 320,

A Y-axis stator (510) installed on the Y-axis linear guide;

A Y-axis motor (500) including a Y-axis mover (520) installed on the outside of the Y-axis stator,

A Z-axis linear guide portion 600 formed on the upper side of the Y-axis mover 520,

A Z-axis stator (710) installed on the Z-axis linear guide;

It is characterized in that it includes a Z-axis motor 700, which includes a Z-axis mover 720 installed on the outside of the Z-axis stator.

Specifically, a main body part 100 of a certain size, that is, a workspace, is formed, and an X-axis linear guide part 200 is installed on both sides of the main body part.

At this time, an X-axis stator 310 is formed in a certain part of the X-axis linear guide part, and an

In other words, it forms an X-axis Motor (300).

Therefore, it moves along the X-axis according to the control signal.

Then, a Y-axis linear guide part 400 is formed on the upper side of the X-axis mover 320, and a Y-axis stator 510 is formed on the Y-axis linear guide part 400, and the Y-axis stator The Y-axis mover 520 is formed outside of .

In other words, it forms a Y-axis Motor (500).

Therefore, it moves along the Y axis according to the control signal.

Then, a Z-axis linear guide part 600 is formed on the upper side of the Y-axis mover 520, and a Z-axis stator 710 is formed on the Z-axis linear guide part, and is formed on the outside of the Z-axis stator. This constitutes the Z-axis mover 720.

In other words, it forms a Z-axis Motor (700).

The gantry loader (stage) is a Cartesian robot in which two or more axes that are orthogonal to each other all perform linear motion.

The gantry stage has high structural rigidity, and because it moves linearly along one axis, it has the advantage of a wide work area and relatively easy control, making it suitable for pick-and-place work and automation of production facilities. It plays an important role in logistics transportation.

Factors that hinder the high precision of the gantry stage can be divided into mechanical parts and control system parts.

In the mechanical aspect, the orthogonal structure of the gantry stage generally uses an actuator including one electric motor and control device for each axis.

However, as the length of the transfer frame becomes longer, the frame rigidity decreases, causing the problem of increased residual vibration during high-speed transfer.

Therefore, in order to solve this problem, the rigidity of the frame is increased by using a method of driving the transfer frame from both sides.

This dual servo method can reduce residual vibration by increasing the rigidity of the transfer frame, but if the two actuators are not synchronized, position control performance deteriorates due to the coupling effect.

Therefore, it is very important to mechanically eliminate the coupling effect to improve positioning accuracy in a dual-servo gantry robot.

In terms of control systems, gantry robots exhibit dynamic characteristics with time delay.

Therefore, tracking error occurs in the output of the position input due to time delay.

Since this tracking error reduces the positioning accuracy of the gantry system, a filter that compensates for the time delay is needed.

Gantry stages typically provide planar, overhead motion in two (X-Y) or three degrees of freedom (X-Y-Z) through motor drives in two or more axes.

It is possible to move to a specific position on the X-Y plane of the gantry stage, and to provide a specific function by attaching a user-specific device to the vertical axis on the overhead.

If we simply consider the gantry stage drive from a mechanical perspective, it can be thought that it is possible to give the same command to the two constituting motor axes.

However, since the gantry stage has a structure in which two separate motor axes are mechanically connected, the two mechanically connected straight parts may interfere with each other or have a negative effect on motion performance, so compensation for this may be necessary.

Additionally, for this reason, the controller of the gantry stage system typically has a position and position/velocity control loop so that the compensation results between the two parallel axes can be reflected in the configuration axes.

In other words, the role is not limited to simply creating location profiles.

In such a configuration, the lower servo drive unit has a structure in which its role is reduced compared to other application areas in the overall control loop that carries out controller commands.

Additionally, the gantry system is a structure that moves objects up and down, left and right, and forward and backward, and cranes are also one of the gantry systems.

A gantry system that operates using a servo motor is called a precision gantry system.

The XYZ gantry system is a gantry system that generally operates using three servo motors.

With the spread of automation-based FA, the demand for automatic motion guidance systems with very robust load capacity is increasing, and in the case of high-precision position control systems without space constraints or backlash, a linear motion guided gantry system should be considered. These gantry systems can perform the same tasks as multi-axis robots at a lower cost in many applications and can be a cost-effective alternative to robots.

The most flexible configuration of a robotic gantry system is one that provides a 3-axis motion domain in On the other hand, it can be effectively utilized in applications that require a large movement range (e.g. automatic welding).

Factors to consider when choosing an actuator are accuracy, repeatability, capacity and stroke distance, which can make it a suitable solution for applications where reduced cycle times, extended system life, high dynamics and load capacity must meet cost-effectiveness.

Through the implementation of this high-speed, precise gantry system, accurate positioning, spraying, spray painting, visual inspection, movement, holding, cutting device, welding device, automatic assembly, self-locking screw, pallet PCB board detection, optical disk stacking device, and parts. Applies to selection and placement, etc.

According to the present invention, it is possible to design a shaft linear motor with high thrust and low propulsion ripple, and to establish advanced equipment technology through the establishment of linear FA transport device assembly technology that is easy to apply to utility and has high stability during propulsion. , it is possible to manufacture linear transport equipment applicable to low-noise, high-precision factory automation, and the development of shaft-type linear motors suitable for performance standards makes it possible to secure original technology for motor design and production.

Those skilled in the art to which the present invention pertains as described above will understand that the present invention can be implemented in other specific forms without changing its technical idea or essential features. Therefore, the embodiments described above should be understood in all respects as illustrative and not limiting.

The scope of the present invention is indicated by the claims described below rather than the detailed description above, and all changes or modified forms derived from the meaning and scope of the claims and their equivalent concepts should be construed as being included in the scope of the present invention. do.

100: main body part
200: stator
300: mover
400: Linear sensor
500: LM guide

Claims (10)

In the shaft-type linear motor system for FA conveyor application,
A main body portion (100) of a certain size; and
A stator (200) mounted on a shaft supporter and disposed on a straight line inside which permanent magnets are installed at regular intervals; and
A mover comprising a mover core installed with an air gap from the outside of the stator and a coil wound around the outside of the mover core.
A linear sensor formed on one side of the shaft supporter and
It is composed of an LM guide installed at a certain distance from the linear sensor,
Characterized in that the dimensions of the stator, mover, and gap are determined based on the result information calculated by the calculation device,
Characterized in that the stator, mover, and gap dimensions are determined and the manufactured stator and mover are applied to a gantry loader,
The gantry loader,
A main body portion 100 of a certain size,
An X-axis linear guide part 200 installed on both sides of the main body part,
An X-axis stator (310) installed at any part of the X-axis linear guide part;
An X-axis motor (300) including an X-axis mover (320) installed outside the X-axis stator,
A Y-axis linear guide portion 400 formed on the upper side of the X-axis mover 320,
A Y-axis stator (510) installed on the Y-axis linear guide;
A Y-axis motor (500) including a Y-axis mover (520) installed on the outside of the Y-axis stator,
A Z-axis linear guide portion 600 formed on the upper side of the Y-axis mover 520,
A Z-axis stator (710) installed on the Z-axis linear guide;
A shaft-type linear motor system for application to an FA feeder, characterized in that it includes a Z-axis motor (700), which includes a Z-axis mover (720) installed on the outside of the Z-axis stator.
In the method of manufacturing a shaft-type linear motor of a shaft-type linear motor system for application to an FA conveyor,
A first step (S100) for the computing device to acquire shaft type PMLSM design specification information; and
A second step (S200) in which the computing device acquires the dimensional information of each part set on the shape information provided by the computing device in order to design the shaft type PMLSM;
A third step (S300) in which the calculation device calculates the output information of the electric motor and calculates the width of the mover core based on the output information;
A fourth step (S400) in which the calculation device calculates the thickness of the stator back iron based on the saturation magnetic flux density of the stator iron core;
A fifth step (S500) for the calculation device to calculate the length and thickness of the permanent magnet; and
A sixth step (S600) in which the calculation device calculates the magnetic flux density, calculates the number of turns, and calculates the diameter of the coil based on this.
Characterized in that it includes a seventh step (700) in which the calculation device determines the stator, mover, and gap dimensions based on the result information calculated through each of the above steps,
A method of manufacturing a shaft-type linear motor of a shaft-type linear motor system for application to an FA conveyor, characterized in that the following equation 3 is used to determine the thickness lm of the permanent magnet.
(Formula 3)
(k _s : saturation coefficient, k _c1 : Carter coefficient, Hm: magnetic field strength at the magnet operating point, g ₀ : air gap length, Bmg: air gap magnetic flux density on the magnet surface.)
delete delete delete According to clause 1,
In the shaft type linear motor system,
A shaft-type linear motor system for application to FA transporters, characterized in that the applied voltage is a square wave or sine wave type and uses a pulse width modulation (PWM) method that can precisely generate voltage.
According to clause 1,
In the shaft type linear motor system,
A shaft-type linear motor system for application to FA transporters, wherein the applied sinusoidal voltage waveform is generated by a space vector modulation technique.



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