EP2005566A1 - Entrainement lineaire avec unite passive mobile a masse reduite et a guidage lateral - Google Patents

Entrainement lineaire avec unite passive mobile a masse reduite et a guidage lateral

Info

Publication number
EP2005566A1
EP2005566A1 EP06725180A EP06725180A EP2005566A1 EP 2005566 A1 EP2005566 A1 EP 2005566A1 EP 06725180 A EP06725180 A EP 06725180A EP 06725180 A EP06725180 A EP 06725180A EP 2005566 A1 EP2005566 A1 EP 2005566A1
Authority
EP
European Patent Office
Prior art keywords
linear drive
unit
plate
tooth
active
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP06725180A
Other languages
German (de)
English (en)
Inventor
Eckhard Wendorff
Eberhard Meissner
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Schaeffler Industrial Drives AG and Co KG
Original Assignee
INA Drives and Mechatronics GmbH and Co KG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by INA Drives and Mechatronics GmbH and Co KG filed Critical INA Drives and Mechatronics GmbH and Co KG
Publication of EP2005566A1 publication Critical patent/EP2005566A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
    • H02K41/02—Linear motors; Sectional motors
    • H02K41/03—Synchronous motors; Motors moving step by step; Reluctance motors

Definitions

  • the present invention relates to a linear drive with a fixed active unit, which contains bobbins for generating a variable magnetic flux, with a passive unit, a bearing unit, which allows low-friction movement between the active and passive units, and with a control unit, with which the magnetic flux can be controlled is.
  • linear drives also called linear motors
  • linear motors which work similarly to rotary motors according to the electromagnetic principle.
  • One of the advantages of such linear drives is that both force-generating functions and frame functions can be integrated in a few structural units.
  • both the active unit and the passive unit can be the moving element. In order to achieve high speeds and high accelerations with little effort, an attempt must generally be made to reduce the moving mass.
  • a linear drive is known from German published patent application DE 32 08 380 A 1, in which permanent magnets and electromagnets for generating a controllable magnetic flux are contained in the active unit.
  • the passive unit consists of a soft iron strip, the so-called
  • Pole teeth is provided.
  • the general principle of operation of such linear motors is described in detail, so that knowledge of the mode of operation of Linear motors can be assumed by a specialist.
  • the cited document also gives an indication that there is generally the possibility of using the passive unit as a moving element while the active unit forms the stator. In these cases, however, high masses have to be moved, which means that only slight accelerations are possible.
  • the soft iron strips serving as passive units cannot be designed as thin as desired, since they have to provide a sufficient material cross section for the magnetic flux generated by the active unit.
  • US Pat. No. 4,563,602 also describes a linear motor which is used both as a single-phase synchronous machine and as
  • Multi-phase synchronous machine can be configured.
  • the present invention does not depend on the number of current phases with which the active unit is operated and which special control and regulating methods are used to optimize the drive or to increase the accuracy will.
  • the active unit and the passive unit can be coupled to one another via an air bearing. Air bearings of this type are frequently used in linear drives because this drastically reduces friction losses.
  • DE 196 43 518 A 1 shows a linear drive with a moving passive unit which consists of a lightweight basic body and a magnetizable soft iron plate attached to it to reduce mass.
  • a moving passive unit which consists of a lightweight basic body and a magnetizable soft iron plate attached to it to reduce mass.
  • a linear drive with a movable passive part in the form of a toothed plate is known from JP 56 117 572.
  • the movable passive part moves within a fixed active unit with two opposing running surfaces that have a tooth pitch.
  • the teeth of the active treads are arranged opposite the teeth of the movable passive unit.
  • the magnetic circuit generated by the parts of the active unit is closed in the passive element.
  • JP 2000 004 575 contains a linear actuator with a linear drive and a rotary drive. Excitation of the coils of the linear drive leads to a translational movement of the drive shaft.
  • the rotation of the drive shaft is effected by the rotary drive, which is arranged at the end of the shaft, below the linear drive. In the axial direction, the drive shaft can move freely to the rotary drive so that it is not moved during a translational movement.
  • WO 03/041245 A1 describes a linear drive with a moving, mass-reduced passive unit.
  • the passive unit consists only of a thin tooth plate, on which magnetically conductive teeth alternate with magnetically non-conductive tooth gaps.
  • an active unit with a toothed active running surface is provided on one side of the passive unit, while a reflux element is arranged opposite on the other side of the passive unit, which provides the inference for the magnetic flux.
  • the magnetic flux flows through the magnetically conductive teeth of the toothed plate, but does not have to provide the cross-section for the magnetic flux.
  • the tooth plate is movable between the
  • a lateral guide is also required for precise positioning of the tooth plate, for which side guide magnets are proposed in this publication, which interact with a row of auxiliary teeth attached to the side of the tooth plate.
  • side guide magnets are proposed in this publication, which interact with a row of auxiliary teeth attached to the side of the tooth plate.
  • the size of the entire linear drive increases due to the space required for the side guide magnets and the auxiliary tooth rows.
  • the total weight of the linear drive increases so that it is only slightly suitable for use in moving automation units.
  • the positioning accuracy that can be achieved with the magnetic side guidance is limited. Hysteresis effects occur which reduce the repetition accuracy.
  • the magnetically acting side guide is relatively susceptible to torques and transverse forces that can act on the tooth plate.
  • the object of the present invention is therefore to provide an improved linear drive that can be generated with a minimal mass of the passive unit and high
  • the lateral guide of the tooth plate working as a passive unit is achieved with the aid of a lateral guide plate which is guided in the installation space which is required anyway for the reflux element.
  • the side guide plate is attached to the tooth plate at an angle, preferably in a substantially vertical position, and engages in a guide gap which extends in the reflux element along the entire movement length.
  • the guide gap is preferably arranged centrally in the reflux element, while the side guide plate runs in one plane with the axis of symmetry of the tooth plate.
  • the guide of the lateral guide plate is formed by a secondary air bearing built up in the guide gap.
  • the passive element is also mounted between the active unit and the return flow element with the aid of an air bearing, this results in an uncomplicated overall construction of the linear drive.
  • other known bearing structures can also be used.
  • a material measure is attached to the side guide plate or integrated into it, which extends in the direction of movement and serves to determine the position of the passive unit.
  • the associated sensor can be arranged on the return flow element or on the frame of the drive.
  • magnetic or optical measuring principles can be used in a manner known per se.
  • the magnetic flux generated by the active unit passes through the magnetically conductive teeth of the tooth plate in order to generate the driving force in the same way as is the case with linear motors known per se.
  • the magnetic circuit is not (or at least not completely) closed directly in the moving part of the passive unit, that is to say in the movable tooth plate.
  • the magnetic flux enters the fixed reflux element, which, in magnetic terms, forms the passive unit together with the moving tooth plate.
  • the effective cross-section of the material with regard to the magnetic flux is increased by the fixed reflux element.
  • the movably mounted tooth plate can be made very thin, which enables a drastic reduction in mass.
  • the fixed reflux element is formed by a soft iron block which has a passive running surface which is parallel to the active running surface of the active element.
  • the tooth plate moves between these two parallel running surfaces if the magnetic fields generated in the active unit are changed appropriately.
  • the passive tread also has a tooth pitch that corresponds to the tooth pitch of the active tread.
  • a further modified embodiment is characterized in that the fixed reflux element is formed by a second fixed active unit with a second active running surface. So that is on everyone Side of the moving tooth plate an active running element, whereby large driving forces can be provided despite the greatly reduced mass of the moving tooth plate. Since the second active contact surface also provides a magnetically conductive area, the magnetic circuit is not interrupted, although the individual teeth of the tooth plate are not directly connected by magnetically conductive areas.
  • the individual or the plurality of side guide plates not only extend into the return flow element but through it to an opposite tooth plate, which in turn forms a passive unit for an opposite active unit.
  • the two tooth plates and the side guide plate running between them have a double-T cross-section.
  • Attach side guide plate which are guided in guide gaps, which run on the one hand in the active unit and on the other hand in the reflux element.
  • the individual coil bodies of the active units can be controlled independently of one another or can be electrically connected together, so that they are uniform Form the bobbin, which is controlled by the control unit.
  • the moving tooth plate consists of a magnetically non-conductive carrier plate in which the magnetically conductive teeth are fastened.
  • the carrier plate is made of ceramic, with numerous evenly spaced, parallel recesses being provided, into which soft iron strips are inserted.
  • the magnetically conductive teeth can also be produced by other technologies, e.g. by galvanic processes or other coating processes.
  • the tooth plate consists of a magnetically conductive carrier plate, from which the individual tooth gaps are left as gaps between the teeth.
  • the tooth gaps are filled with a magnetically non-conductive material (e.g. synthetic resin) and then sanded.
  • the moving tooth plate can also have a reflux section which connects the individual teeth of the tooth plate to one another in a magnetically conductive manner.
  • This reflux section can be formed, for example, by a soft iron foil which is attached to the side of the tooth plate facing the fixed reflux element. In this case, the fixed reflux element and the co-moving reflux section together the desired cross-section ready for the passage of the magnetic flux.
  • the shape and size of the tooth plate can be adapted to the respective application. It is particularly expedient if fastening sections are provided on the toothed plate, which protrude laterally beyond the active unit and / or beyond the return flow element, in order to be able to fasten a support unit, for example a tool holder, to it. Such fastening sections can alternatively or simultaneously be arranged on the side guide plate, so that they protrude from the guide gap on the side opposite the tooth plate and in turn can serve as fastening points for a support unit.
  • a rotary actuator or miniature motor is attached to the support unit.
  • the axis of rotation of the miniature motor can lie in one plane with the moving passive unit, so that at the end of the carrying unit a rotary movement can be realized about an axis of rotation which is parallel to the axis of movement of the passive unit.
  • Toothed plates with a thickness between 0.4 mm and 5 mm are particularly advantageous. An optimal design is achieved if the thickness of the individual teeth of the tooth plate and thus also the thickness of the tooth plate is approximately equal to the width of these teeth. With appropriate tests, tooth plates with a total weight of only 10 g could be used successfully. With tooth plates of this type, forces of up to 15 N were achieved, which means that an excellent force-mass ratio is achieved.
  • air bearings are particularly suitable as a bearing unit for the linear drive according to the invention. The air nozzles required for this can be attached in the active unit and in the reflux element, so that the tooth plate is guided on both sides on an air poster.
  • the linear drive according to the invention can also be implemented with other guide and bearing elements, for example if the tooth plate is mounted in a roller rail or in a dovetail guide.
  • Fig. 1 is a partially sectioned side view of a
  • Fig. 2 is a simplified cross-sectional view of a first
  • FIG. 3 shows a simplified longitudinal sectional view of the linear drive from FIG. 2;
  • FIG. 4 shows a simplified cross-sectional view of an embodiment with a probe tip
  • the linear drive has an active unit 1, in which several coil formers 2 are contained.
  • the bobbins 2 consist of packaged soft iron cores which are provided with an electrical winding 4 (see FIG. 3) for generating a variable magnetic field.
  • the electrical winding 4 see FIG. 3
  • Windings are controlled by a control unit (not shown) in order to design the resulting magnetic flux in such a way that drive forces are generated.
  • a control unit not shown
  • Windings are controlled by a control unit (not shown) in order to design the resulting magnetic flux in such a way that drive forces are generated.
  • the coil former has an active running surface 5 on its outward side, which in turn has a tooth pitch through which the magnetic flux flows.
  • the tooth pitch consists of teeth and tooth gaps, the tooth gaps usually being filled with a magnetically non-conductive material in order to produce a flat active running surface 5.
  • the linear drive furthermore has a thin, movably mounted tooth plate 10 and a fixed return flow element 11.
  • the tooth plate 10 and the passive return flow element 11 together form the passive elements of the linear drive in relation to the magnetic flux.
  • 1 shows the course of the magnetic flux generated by individual lines 12.
  • the magnetic flux starts from the teeth of the active contact surface 5 and penetrates the magnetically conductive ones Teeth 13 of the tooth plate 10 and then runs into the reflux element 11 made of soft iron material, which closes the magnetic circuit. In order to reduce eddy currents in the reflux element 11, this can be produced in a manner known per se in a laminated construction (composed of individual sheets).
  • the return element 11 also has teeth which form a passive running surface 14.
  • the passive tread 14 can also be designed as a flat surface, since the tooth pitch required for generating the driving forces is only absolutely necessary in the tooth plate 10.
  • the tooth plate 10 is thus movably mounted between the active unit 1 and the reflux element 11, the bearing being formed by a plurality of air nozzles 15 which provide an air bearing for the tooth plate 10.
  • Winding 4 run through two soft iron cores lying next to each other or are each attached to an independent soft iron core 3.
  • the first-mentioned winding technique is shown, for example, in the prior art mentioned in the introduction to the description.
  • this second active unit replaces the reflux element 11 and is positioned on the other side of the tooth plate 10.
  • the magnetic circuit would continue to run through the teeth of the tooth plate as desired. However, with this construction, larger driving forces can be generated per surface of the tooth plate.
  • the tooth plate 10 consists, for example, of a carrier plate 20 which has a large number of cutouts in which the individual teeth 13 are arranged.
  • the carrier plate 20 consists of a magnetically non-conductive material, for example ceramic.
  • FIG. 2 shows a simplified cross-sectional view of a linear drive according to the invention.
  • a side guide plate 30 which is essentially perpendicular to the tooth plate is attached to the moving tooth plate 10.
  • the side guide plate 30 runs in a guide gap 31, which in the embodiment shown is positioned in the plane of symmetry of the return element 11.
  • the side guide plate 30 is preferably made of the same material as the tooth plate 10, for example ceramic, as a result of which different heat-related expansions be avoided.
  • the reflux element 11 can be produced in two parts, the two parts being spaced apart during assembly such that the guide gap 31 remains between them.
  • the guidance of the side guide plate 30 in the guide gap 31 simultaneously effects the lateral guidance (based on the direction of movement) of the moved tooth plate 10.
  • the guide in the guide gap 31 is formed by a secondary air bearing, which in turn is built up by air nozzles 15.
  • the side guide plate 30 preferably has essentially the same length as the tooth plate 10.
  • the width of the side guide plate 30 can also be chosen generously, since there is sufficient installation space available in depth in the return flow element 11. A large guide surface is thus available for providing the lateral guidance of the tooth plate 10, so that the accuracy of movement of the tooth plate 10 becomes very independent of forces and moments acting from the side.
  • FIG. 3 shows a simplified longitudinal sectional view of the linear drive shown in FIG. 2. It can be clearly seen from this view that the side guide plate 30 extends essentially over the entire depth of the return flow element 11.
  • the side guide plate 30 also carries a material measure 32, which is used for the precise detection of the position of the moved Passive unit can be evaluated.
  • two fastening sections 33 are formed on the side guide plate 30, which protrude from the return flow element 11 during the movement. Similar fastening sections 33 can also be found on the tooth plate 10 (see FIG. 2), these fastening sections projecting laterally beyond the reflux element and also remaining accessible during the movement.
  • Fig. 4 shows a cross-sectional view of a modified
  • the linear drive serves to move and position a stylus 34, which is attached to the fastening sections 33 via a support unit 35.
  • a stylus 34 instead of the stylus 34, other tools can be attached to the support unit 35.
  • the positioning of workpieces with the linear unit is also possible.
  • the support unit 35 should be as light and rigid as possible.
  • ceramic, light metal or carbon fiber struts can be attached to the fastening sections 33.
  • FIG. 5 shows a detailed view of a modified embodiment of the side guide plate 30 of the linear drive.
  • a miniature motor 36 is attached to the fastening section 33 of the side guide plate 30 by means of the support unit 35.
  • the miniature motor 36 is therefore moved along with a translational movement caused by the linear drive.
  • a gripper 37 can, for example, be arranged on the miniature motor 36, which can thus be displaced linearly and rotated around the rotary tion axis of the miniature motor 36 is rotatable. With such a gripper, numerous positioning tasks can be solved, in particular so-called Z- ⁇ movements.
  • the linear drive according to the invention can be fastened to a support arm which is moved in the XY plane, as is known, for example, from machines for populating printed circuit boards. This enables great accuracies as well as high speeds and accelerations to be achieved.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Electromagnetism (AREA)
  • Power Engineering (AREA)
  • Linear Motors (AREA)

Abstract

L'invention concerne un entraînement linéaire comprenant une unité (1) active fixe, un élément (11) de reflux fixe, une unité passive logée de manière mobile sous la forme d'une mince plaque (10) crémaillère et une unité (15) support qui permet le mouvement relatif entre l'unité active et l'unité passive. Sur la plaque (10) crémaillère est montée une plaque (30) de guidage latérale qui s'étend sous un certain angle par rapport au plan de la plaque (10) crémaillère dans une fente (31) de guidage où elle est guidée, la fente (31) de guidage s'étendant dans l'élément (11) de reflux ou dans l'unité (1) active.
EP06725180A 2006-03-20 2006-03-20 Entrainement lineaire avec unite passive mobile a masse reduite et a guidage lateral Withdrawn EP2005566A1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/EP2006/060891 WO2007107183A1 (fr) 2006-03-20 2006-03-20 Entraînement linéaire avec unité passive mobile à masse réduite et à guidage latéral

Publications (1)

Publication Number Publication Date
EP2005566A1 true EP2005566A1 (fr) 2008-12-24

Family

ID=36782318

Family Applications (1)

Application Number Title Priority Date Filing Date
EP06725180A Withdrawn EP2005566A1 (fr) 2006-03-20 2006-03-20 Entrainement lineaire avec unite passive mobile a masse reduite et a guidage lateral

Country Status (4)

Country Link
US (1) US7919888B2 (fr)
EP (1) EP2005566A1 (fr)
CN (1) CN101401285B (fr)
WO (1) WO2007107183A1 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102013102922B4 (de) * 2013-03-21 2020-06-25 AeroLas GmbH Aerostatische Lager- Lasertechnik Linearmotor und Verfahren zur Herstellung eines gasgelagerten Läufers eines Linearmotors
JP6828370B2 (ja) * 2015-12-25 2021-02-10 株式会社リコー 画像生成装置及び画像投影装置
CN110514010A (zh) * 2019-09-19 2019-11-29 山东省科学院能源研究所 一种用于科研的电磁搅拌保温炉

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61161952A (ja) * 1985-01-09 1986-07-22 Yaskawa Electric Mfg Co Ltd ３相リニア誘導子形モ−タ
DE19803952A1 (de) * 1998-02-02 1999-08-05 Guenter Dr Ing Dreifke Direktantrieb mit Luftlagerung
DE19948490C2 (de) * 1999-10-07 2003-05-15 Univ Hannover Lineardirektantrieb
DE10153797A1 (de) * 2001-11-05 2003-05-22 Lat Suhl Ag Linearantrieb mit bewegter, massereduzierter Passiveinheit
FR2842977A1 (fr) * 2002-07-24 2004-01-30 Total Immersion Procede et systeme permettant a un utilisateur de melanger en temps reel des images de synthese avec des images video
JP2006006086A (ja) * 2004-06-21 2006-01-05 Fanuc Ltd リニアモータ

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See references of WO2007107183A1 *

Also Published As

Publication number Publication date
US7919888B2 (en) 2011-04-05
CN101401285B (zh) 2011-06-01
US20090127941A1 (en) 2009-05-21
WO2007107183A1 (fr) 2007-09-27
CN101401285A (zh) 2009-04-01

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