JPS6281966A - Linear dc motor - Google Patents

Abstract

PURPOSE:To enable positioning through open-loop control by selecting the phase of a polyphase coil, through which currents are made to flow, in succession at a specific period, successively making currents flow through selected phase and step-drive controlling a multipolar polyphase coil movable type linear DC motor. CONSTITUTION:Magnets 1 magnetized in the thickness direction are arranged mounted to a side yoke 4 on both sides of a center yoke 3. Coils 2 of three phase are wound movably on the center yoke 3. The phase of the coils 2 of three phase is selected in succession at a specific period, and currents are made to flow successively through the coil 2 of phase selected, thus driving and controlling the coils 2 as a stepping motor.

Description

[Detailed Description of the Invention] [Field of Application of the Invention] The present invention relates to a linear DC motor, and in particular to a multi-pole, multi-phase motor suitable for coarse positioning in an open loop system without a position detector. This invention relates to a movable coil type linear DC motor.

[Background of the invention]

The drive and position control of a conventional multi-pole multi-phase coil movable linear DC motor is performed using a position detector, as shown in, for example, the "Cartesian coordinate robot" described in Japanese Patent Application Laid-Open No. 57-149179. , so-called closed-loop control, in which the signal from the position detector is fed back for control, was adopted.

This method is advantageous when performing high-precision positioning, but if high-precision positioning is not required, consider the cost disadvantage as the mower and position detector are expensive. It had not been done.

In addition, as another conventional example, in order to perform rough positioning, there is a method of cutting off and stopping the motor power of the control device using a signal from a proximity switch or the like.

However, [2] Since this method does not apply braking to the motor, the stopping position will vary greatly if the payload changes. Even if it is possible to apply braking to the motor using this method, it is necessary to place the proximity switch in advance to stop the motor (as many as 7), which increases equipment costs. An example of rough positioning is open loop control using a linear stepping motor.

With this method, it is true that the VC coarseness is 1 d, but the thrust is smaller in the linear stepping motor than in the linear DC motor.

This is obtained by Fleming's left hand rule for the thrust of a linear DC motor, and the direction of the force is the same as the direction of the thrust, but the thrust of a linear stepping motor is obtained by magnetic force, and the direction of thrust and magnetic force are the same. This is because the directions do not match.

[Purpose of the invention]

The present invention has been made in view of the actual state of the prior art described above, and is based on a linear DC motor that enables drive control to be carried out at low cost using an open loop system without a position detector, and that enables coarse positioning at intervals. Its purpose is to provide.

[1 Summary of the Invention] The configuration of the linear DC motor according to the present invention is such that the directions of the magnetic fluxes generated by the arrangement of magnets alternately point in opposite directions, and the magnetic spaces 1'\0# of equal positive magnetic fluxes are formed. continuous V
In a linear DC motor in which a multiphase coil movable in the arrangement direction of the magnetic space group is arranged in a magnetic space region formed by the continuation of the magnetic space group arranged t-1 on the C straight line, the multiphase Each phase of the coil is configured to have a winding width Vc that is equal to the number of phases by dividing the width of the magnetic flux in the magnetic space, and is provided with a drive control circuit for supplying and positioning the coil.

It should be noted that, according to the present invention, a multi-phase co-oscillator movable linear DC motor through which a current flows is driven and controlled like a stepping motor.

[Embodiments of the invention]

Embodiments of the present invention will be described below with reference to FIGS. 1 to 5.

First, FIG. 1 is a diagram showing the configuration of a multi-pole multi-phase coil movable linear DC motor according to an embodiment of the present invention, in which (a) is a front view and (b) is a front view. X sectional view, (C)
is an explanatory diagram showing the direction of magnetic flux and magnetic space, Figure 2 is a system diagram of the drive control device for the IJ near DC motor in Figure 1, and Figure 3 is a diagram of the 1-drive damping device in Figure 2. FIG. 4, a time chart showing input/output conditions, is an explanatory diagram of the operation of the linear DC motor shown in FIG. 1.

In Fig. 1, IVi is a magnet magnetized in the thickness direction, and side yokes 4Vc are attached and arranged on both sides of the center yoke 3 so that adjacent polarities are different and opposite polarities are the same. has been done. In the figure, S, N
U indicates its polarity.

2 is a three-phase coil consisting of A phase, B phase, and C phase, and each phase coil is formed to have a winding width divided into three equal parts of the magnet 10 width 1. Further, the coils 2 of all three phases are wound in the same direction so as to surround the center yoke 3.

In a so-called multi-pole multi-phase coil movable linear DC motor with such a configuration, the direction of magnetic flux alternates between arranged magnets 1 as shown by arrow m, as shown in Fig. 1(C). facing in the opposite direction.

Arrow indicates the direction of the current in coil 2! Then, the direction of the force becomes arrow f. It is a 5-digit magnetic space.

Further, 1g6 of the magnet 1 corresponds to IgVC of the magnetic flux of the magnetic space 5 formed for each magnet 1.

Therefore, in other words, the configuration of the multi-pole multi-phase coil movable linear DC motor described above is such that a large number of magnetic spaces 5 whose magnetic flux directions alternately face opposite directions are arranged in a continuous straight line,
A coil 2 that is movable in the arrangement direction of the magnetic space group and has a winding width that divides the width l of the magnetic flux in the magnetic space 5 into three equal parts is placed in the magnetic space region formed by the continuation of the magnetic space group. Three pieces are arranged in the group arrangement direction.

In FIG. 2, the phases of the coil 2 (human phase, B phase, C phase) are selected by the human power signal 6VC, and current is sequentially supplied to the selected phases. Above is the drive 1 control circuit. Here, the reason why there are two input signals 6 is to select the direction of movement of the DC motor; when F is used, the motor moves forward, and when R is used, the motor moves backward.

FIG. 3 shows an example of the operation of the drive control circuit 7, and is a time chart.

When a pulse signal is applied to the F side of the human input signal 6 in FIG. 2 as shown in FIG.
A positive or negative current is applied as shown.

Figure 4 shows the movement of the linear DC motor when current is applied to the human phase, B phase, and C phase as shown in Figure 3. Each state (a), (b) in Fig. 4
...(g) f'i corresponds to the horizontal axis shown in FIG. 3, that is, the time divisions (a), (b), . . . (g) of time t.

Figure 4 (a) shows a state in which a positive current is flowing in the YcA phase as shown in Figure 3 (a), and the right and left halves of the coil of the human phase have thrusts of the same magnitude in opposite directions. occurs, so
The center of the physiognomy reaches the boundary between the south and north poles and stops.

At this time, the force and the position of the proboscis of the ridges are always 1, so the repeatability of the stop position is high.

In FIG. 4(b), as shown in FIG. 3(b), a positive current is flowing in the B phase, and the center of the B phase comes to the boundary between the S pole and the N pole and stops.

As shown in FIG. 4(C) and FIG. 3(C), with a positive current flowing in the C phase, the center of the C phase comes to the boundary between the S pole and the N4 and stops.

In FIG. 4(d), as shown in FIG. 3(d), a negative current is flowing through the human face, and the center of the human face reaches the boundary between the N and S poles and stops.

Next, let a negative current flow through the B phase - let a negative current flow through the C phase →
By passing a positive current through the human phase, Figure 4(e) -
The positioning and driving of the multi-pole, multi-phase coil movable linear DC motor is performed in this way as the two coils move to the left in the state of (f)-(g).

According to this embodiment, the linear DC motor can be positioned with a blue resolution of the width e of the magnet 1, that is, the width of the magnetic flux of the magnetic space 5. Moreover, positioning is possible in all areas where the magnets 1 are arranged, that is, in all magnetic space heads, and the stopping position can be detected without using a separate position detector such as a proximity switch. The device is also simple and low cost.

Since it is stopped at that position by the balance of the opposite thrust of the coil, if the position shifts, a restoring force acts, that is, a holding force is generated. Repeatable positioning accuracy is high.

Furthermore, since it is a linear DC motor, it is possible to perform high-precision positioning using a position detector at one location, and to perform interplate positioning at other locations using the procedure of this embodiment.

In the above-mentioned embodiment, an example was explained in which current is supplied by sequentially selecting the coils of each of the three phases A, B, and C, but it is also possible to select multiple coils. You can also.

For example, when applying current to the coils of two phases,
Switching is performed so that current flows in two phases within the control circuit. In this case, the movable coil stops at a position where the cut between the two phases and the cut between the magnets match.

Next, another embodiment of the present invention will be described with reference to FIG.

FIG. 5 is a diagram showing the configuration of a multi-pole multi-phase coil movable linear DC motor according to another embodiment of the present invention, (a)
is a front view, (b) is a Y-Y sectional view of (a), (C) is a Z arrow view of (a), (d) Vi, the direction of its magnetic flux,
It is an explanatory view showing magnetic space.

In Figure 5, 1' is a magnet magnetized in the thickness direction,
They are attached to the side yoke 4' and arranged so that adjacent polarities are different and opposing polarities are also different.

2' is a three-phase coil consisting of human phase, B phase, and C phase.The coil of each phase is wound in a mouth shape so that the width of magnet 1' is equal to 103. is magnet 1
They are arranged so as to be shifted from the arrangement pitch by one-third of the arrangement pitch.

In a so-called multi-pole multi-phase coil movable linear DC motor with such a configuration, the direction of magnetic flux is alternated for each arranged magnet 1' as shown by the arrow m, as shown in Fig. 5(d)K. facing in the opposite direction.

If the direction of the current in the coil 2' is indicated by arrow i, the direction of force is indicated by arrow f. (See Figure 5(C)). 5' is a magnetic space.

Further, the width l of the magnet 1' corresponds to the width of the magnetic flux of the magnetic space 5' formed for each magnet 1'.

Therefore, in other words, the configuration of the multi-pole multi-phase coil movable linear DC motor described above is such that a large number of magnetic spaces 5' in which magnetic flux directions alternately face opposite directions are continuously arranged in a straight line,
A coil 2 is movable in the arrangement direction of the magnetic space group in the magnetic space region formed by the continuation of the magnetic space group, and has a winding width that divides 1ml of magnetic flux of the magnetic space 5' into three equal parts.
' are arranged in three magnetic space groups in the arrangement direction VC.

The operation is similar to that illustrated in FIGS. 2 to 4 of the above-described embodiment, by sequentially selecting the phases of the coil 2' and supplying the selected phase Ki order current, thereby achieving the desired positioning and positioning. You can do driving.

According to the embodiment shown in FIG. 5, the same effects as the previous embodiment can be expected.

In addition, in each of the above-mentioned embodiments, an example of a three-phase coil consisting of a movable coil, A phase, B phase, and C phase arranged in a magnetic space region was explained, but the present invention is not limited to this. It goes without saying that polyphase coils such as phase, four-phase, and five-phase coils are also possible.

〔Effect of the invention〕

As described above, according to the present invention of the VC1, drive control can be performed at low cost by open loop control without a position detector, and a linear DC motor can be provided that enables intermediate and rough positioning.

[Brief explanation of drawings]

FIG. 1 is a diagram showing the configuration of a multi-pole multi-phase coil movable linear DC motor according to an embodiment of the present invention, in which (a) is a front view, and (b) Hl (a) No.X-X m plane. Figure, (C) is an explanatory diagram showing the direction of magnetic flux and magnetic space, and Figure 2 is,
Fig. 1 is a system diagram of the linear DC motor drive control device, Fig. 3 is a time chart showing the eight input conditions of the drive side @l device in Fig. 2, and Fig. 4 is the system diagram of the drive control device of the linear DC motor in Fig. 1. FIG. 5 is an explanatory diagram of the operation of a linear DC motor, which shows the configuration of a multi-pole, multi-phase coil movable linear DC motor according to another embodiment of the present invention, in which (a) is a front view and (b) is a front view. , Y- in (a)
Yffr surface view, (C), (a) Z arrow view, (d)
is an explanatory diagram showing the direction of the magnetic flux and the magnetic space. 1.1'...51 stones 2.2'...Coil 3...
・Center yoke 4,4'...Side yoke
5,5'...Magnetic space 6...Human signal 7.
...IK motion control circuit. Ning tm Rub 4 SN5M NM

Claims (1)

[Claims] Magnetic space groups in which the directions of magnetic flux generated by the arrangement of magnets face alternately in opposite directions, and each magnetic flux width is equal, are continuously arranged in a straight line, and the magnetic space region formed by the continuation of the magnetic space groups is , in a linear DC motor including multiphase coils that are movable in the arrangement direction of the magnetic space group, the width of the magnetic flux of the magnetic space is divided equally between the coils of each phase of the multiphase coil by the number of phases. In addition, a drive control circuit is provided for sequentially selecting one coil or a plurality of coils of the multiphase coils, sequentially supplying current to the selected coils, and positioning the coils. Features a linear DC motor.