CN102651599A

CN102651599A - Linear motor

Info

Publication number: CN102651599A
Application number: CN2012100147702A
Authority: CN
Inventors: 宫本恭祐; 永松清刚
Original assignee: Yaskawa Electric Corp
Current assignee: Yaskawa Electric Corp
Priority date: 2011-02-23
Filing date: 2012-01-17
Publication date: 2012-08-29
Also published as: JP5488836B2; JP2012175852A; KR20120096906A

Abstract

The invention provides a linear motor, which aims to improve detection accuracy and reliability without sacrificing the stroke of the linear motor. The linear motor comprises a field magnet (2) and an armature (5). An armature winding (7) is composed of two coil groups: a less rolling winding (7a) and a more rolling winding (7b). The height (H1) of the less rolling winding (7a) at the direction orthogonal to the driving method of the armature is smaller than height (H2) of the more rolling winding (7b). A magnetic pole detector (9) of a Hall element for detecting the position of an initial magnetic pole is disposed below the less rolling winding (7a).

Description

Linear motor

Technical field

Disclosed execution mode relates to the linear motor that is built-in with like the lower magnetic pole detector, and this magnetic pole detector uses the Hall element that detects the initiation magnetic pole position.

Background technology

In the past, the linear motor that is used in the synchronous type of permanent magnet in the table feed of processing equipment etc. was following, the known structure that has at the direction of advance top ends configuration magnetic pole detector of linear motor armature.The Hall element of magnetic poles detector is configured to as follows, relatively is 120 ° for Hall element substrate magnetic flux detected phase.

In addition,, also there is following technology (for example with reference to patent documentation 1), gets rid of the magnetic pole detector, detect the function that software is realized the magnetic pole detector through the magnetic pole that is assemblied in the drive transmission as other prior art.

Patent documentation 1: the spy of Japan opens flat 8-168232 communique

In the prior art, following at the structure of armature top ends configuration magnetic pole detector, reduce the stroke (movable range) of linear motor corresponding to the direction of advance length of magnetic pole detector.Especially, in same track (track), in the so-called bull purposes of a plurality of armatures of configuration, need to design the direction of advance length of armature shortly.Thereby such disposes the stroke minimizing generation bigger influence of the structure of magnetic pole detector to linear motor in the armature top ends.

In addition; In the existing technology that realizes through magnetic pole detection software; Under the bigger situation of the frictional behavior of the line slideway of straight line guiding linear motor, when load weight is big for linear motor thrust etc., there is the problem that (phase place) precision worsens that detects.

Summary of the invention

The purpose of 1 form of execution mode is to provide the linear motor that can improve accuracy of detection, reliability under a kind of situation of stroke of not sacrificing moving element.

As 1 linear motor that form relates to of execution mode, following about technical scheme 1, possessing: field magnet, the different a plurality of permanent magnets of linearity configuration interactive ground magnetic on flat field magnet yoke; And armature; Be included in the armature core of range upon range of electromagnetic steel plate when the magnet row of magnetic gap and said field magnet dispose relatively and the heterogeneous armature winding in the groove that is installed in this armature core of reeling; With any side of said field magnet and said armature as moving element; With the opposing party as stator; Make in the linear motor that moving element and stator relatively move; It is characterized by, said armature winding is by comprising that 1st armature winding different respectively with the winding height of the direction of the driving direction quadrature of said armature and 2 coil crowds of the 2nd armature winding constitute, and below low said the 2nd armature winding of the height of comparing winding with said the 1st armature winding, is provided with the magnetic pole detector with the Hall element that detects the initiation magnetic pole position.

Technical scheme 2 is following, in technical scheme 1 described linear motor, it is characterized by, and makes the coiling number of times of said the 2nd armature winding be less than the coiling number of times of said the 1st armature winding.

Technical scheme 3 is following; In technical scheme 1 or 2 described linear motors; It is characterized by, the said the 1st and the arrangement of the U of the 2nd armature winding, V, each phase of W following, with the number of magnetic poles of the field magnet of linear motor as P, with the groove number of armature as Ns, with the number of phases as m (is m=3 at this) and with q=Ns/ (when m * P) representes to count q corresponding to the groove of every extremely every phase; Under q=1/2,1/4,1/5 o'clock condition, each 1 ground uniformly-spaced disposes in the groove of said armature core.

Technical scheme 4 is following, in technical scheme 1 described linear motor, it is characterized by, and said Hall element is configured in the below of end winding of the range upon range of thickness direction of armature core of said the 2nd armature winding.

Technical scheme 5 is following; In technical scheme 4 described linear motors; It is characterized by; It is roughly consistent with the width dimensions of said Hall element to make said permanent magnet and range upon range of thickness said armature core compare overhanging more laterally length, so that said Hall element produces reaction to the magnetic flux of said permanent magnet.

Technical scheme 6 is following, in technical scheme 1 described linear motor, it is characterized by, and said Hall element is configured in the central portion below of the range upon range of thickness direction of armature core of said the 2nd armature winding.

Technical scheme 7 is following, in technical scheme 6 described linear motors, it is characterized by, and said Hall element is arranged on the between cog of said armature core.

1 form according to execution mode; Linear motor is following; Be configured in armature inside through the method in the embodiment of the present invention in this wise and with the magnetic pole detector parts, thereby at the stroke of not sacrificing linear motor or do not reduce significantly under the situation of thrust performance of linear motor and can improve accuracy of detection, reliability.

At first maximum thrust characteristic F is following, because La does not change the therefore reduction of nonexistence ability fully.

Then, m is following for the motor constant K, though also be related to armature slot height hs, in the product design of reality, is the reduced rate below 5%, and is compared with prior art very little.

Description of drawings

Fig. 1 is the linear motor of expression the 1st execution mode of the present invention, (a) is its sectional view, (b) is the main cutaway view of observing (a) from left, (c) is the vertical view from beneath (a).

Fig. 2 is the linear motor of expression the 2nd execution mode of the present invention, (a) is its sectional view, (b) is the main cutaway view of observing (a) from left, (c) is the vertical view from beneath (a).

Symbol description

The 1-linear motor; The 2-field magnet; 3-field magnet yoke; The 4-permanent magnet; The 5-armature; The 6-armature core; 7-armature winding; The 7a-winding (the 2nd armature winding) of reeling less; The 7b-multireel is around winding (the 1st armature winding); The 8-casting resin; 9-magnetic pole detector; 10-Hall element substrate; The 11-Hall element; 12-magnetic pole detector signal line; The 13-motor leads.

Embodiment

Below, with reference to accompanying drawing embodiments of the invention are specified.

Embodiment 1

In Fig. 1, the 1st, linear motor, the 2nd, field magnet, the 3rd, the field magnet yoke, the 4th, with mode adjacency that alternatively polarity is different and the permanent magnet that equidistantly disposes, field magnet yoke 3 and permanent magnet 4 constitute field magnets 2 on field magnet yoke 3.

The 5th, across the armature of magnetic spacing and field magnet 2 relative configurations; The 6th, be the die-cut electromagnetic steel plate in broach shape ground and carry out range upon range of and armature core that form, the 7th, be contained in the heterogeneous armature winding that U, V, the W of the slot part of armature core 6 constitute mutually by neatly reeling.The 8th, casting resin constitutes armature 5 to fix with casting resin 8 covering armature winding 7 and armature core 6 whole modes.

In addition, the 9th, the magnetic pole detector, like Fig. 1 (b) and (c) on Hall element substrate 10 with the Hall element 11 of 120 ° of phase configuration detection magnet magnetic fluxs and constitute, know in the length that just enters into the armature direction of advance.

And, the 12nd, magnetic pole detector signal line, the 13rd, motor leads.

Particularly, armature winding 7 is made up of around 2 coil crowds of winding 7b the coiling number of times of winding different few coiling winding 7a and multireel, and these are connected.At this, multireel is equivalent to the 1st armature winding that claims are put down in writing around winding 7b, and the winding 7a that reels less is equivalent to the 2nd armature winding that claims are put down in writing.

Through neat coiling that this multireel is inner around the groove that winding 7b is wound on armature core fully, another winding 7a that reels less is less than multireel by the coiling number of times and constitutes around the winding of winding 7b.That is, make the coiling number of times of winding of few coiling winding 7a few, the winding height H 1 of the direction of correspondingly reel less winding 7a and driving direction quadrature armature is less than the height H 2 of multireel around winding 7b.

In addition, in the lower room that can form (height H=multireel around the height H 2-of winding 7b reel less the height H 1 of winding 7a), be provided with the magnetic pole detector 9 that constitutes by Hall element substrate 10 and Hall element 11 through the winding height H 1 that reduces few coiling winding 7a.And this winding 7a that reels less number of times that also can replace reeling is less than that multireel is employed in the coiling number of times around the structure of winding 7b and multireel reduces the structure in line footpath down around the identical state of winding 7b.

In addition, though Hall element 11 fixed configurations under the end winding of the winding of reeling less, relative therewith permanent magnet 4 is also compared further overhanging with the range upon range of thickness of armature core 6, produce reaction up to the 11 pairs of magnetic fluxs of Hall element.The width dimensions of full-size that this is overhanging and Hall element 11 is roughly the same.

Next action is described.

In such structure, the armature 5 of linear motor is following, when distance between two poles λ p is made 180 °, when 3 phase windings, on armature core 6 with the mode that the is 120 ° of phase places heterogeneous armature winding 7 of reeling successively.Make time phase 120 ° armature supply through in this each phase winding afterwards.Magnetic pole detector 9 is brought into play the function that the moment signal of will switching on sends to the drive transmission side.As stated; When by not shown power supply in the armature winding 7 of linear motor 1 during indirect current; Owing to the electromagnetic action of this armature winding 7 with permanent magnet 4 produces as the range upon range of magnetic field of armature core 6 of break-through, the armature 5 of the moving element of formation linear motor 1 is done straight line towards the length direction (rectilinear direction) in magnetic field and is moved.

The 1st execution mode is following, in linear motor armature, is built-in with the magnetic pole detector, thereby at the stroke of not sacrificing linear motor or do not reduce significantly under the situation of thrust performance of linear motor and can improve accuracy of detection, reliability.

Embodiment 2

In Fig. 2, the difference of the 2nd execution mode and the 1st execution mode is following.

That is, be the structure of central portion below that Hall element 11 is configured in the armature core stacked direction of few coiling winding 7a, and therefore fixed configurations detects the magnetic flux of relative therewith magnet and exports the magnetic pole signal at the between cog of armature core 6.

Thereby; In the 1st execution mode shown in Figure 1; The magnet width dimensions is compared further with the range upon range of thickness of armature core 6 and is stretched out, but in the 2nd execution mode shown in Figure 2, need not be the magnet width dimensions and compare the structure of further stretching out with the range upon range of thickness of armature core 6; Though less, also can reduce magnet cost, the miniaturization of linear motor width dimensions.

And; The arrangement of the armature winding of the U in this execution mode, V, each phase of W is following; With the number of magnetic poles of the field magnet of linear motor as P, with the groove number of armature as Ns, with the number of phases as m (is m=3 at this) and with q=Ns/ (when m * P) representes to count q corresponding to the groove of every extremely every phase; Under q=1/2,1/4,1/5 o'clock condition, preferably each 1 ground uniformly-spaced disposes in the groove of said armature core.

Claims

1. linear motor, it possesses:

Field magnet, the different a plurality of permanent magnets of linearity configuration interactive ground magnetic on flat field magnet yoke;

And armature, be included in the armature core of range upon range of electromagnetic steel plate when the magnet row of magnetic gap and said field magnet dispose relatively and the heterogeneous armature winding in the groove that is installed in this armature core of reeling,

As moving element, as stator, moving element and stator are relatively moved the opposing party any side of said field magnet and said armature, it is characterized by,

Said armature winding is by comprising that 1st armature winding different respectively with the winding height of the direction of the driving direction quadrature of said armature and 2 coil crowds of the 2nd armature winding constitute,

Below low said the 2nd armature winding of the height of comparing winding with said the 1st armature winding, be provided with magnetic pole detector with the Hall element that detects the initiation magnetic pole position.

2. linear motor according to claim 1 is characterized by,

Make the coiling number of times of said the 2nd armature winding be less than the coiling number of times of said the 1st armature winding.

3. linear motor according to claim 1 and 2 is characterized by,

The said the 1st and the arrangement of the U of the 2nd armature winding, V, each phase of W following; With the number of magnetic poles of the field magnet of linear motor as P, with the groove number of armature as Ns, with the number of phases as m, at this m=3 and with q=Ns/ (when m * P) representes to count q corresponding to the groove of every extremely every phase; Under q=1/2,1/4,1/5 o'clock condition, each 1 ground uniformly-spaced disposes in the groove of said armature core.

4. linear motor according to claim 1 is characterized by,

Said Hall element is configured in the below of end winding of the range upon range of thickness direction of armature core of said the 2nd armature winding.

5. linear motor according to claim 4 is characterized by,

It is roughly consistent with the width dimensions of said Hall element to make said permanent magnet and range upon range of thickness said armature core compare overhanging more laterally length, so that said Hall element produces reaction to the magnetic flux of said permanent magnet.

6. linear motor according to claim 1 is characterized by,

Said Hall element is configured in the central portion below of the range upon range of thickness direction of armature core of said the 2nd armature winding.

7. linear motor according to claim 6 is characterized by,

Said Hall element is arranged on the between cog of said armature core.