JP2000308324A - Linear shuttle motor device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve the energy conversion efficiency of a linear shuttle motor device, by causing a rotor and stator to make reciprocating motions in the opposite directions on the same shaft while the masses of the rotor and stator are made equal to each other, an coupling the rotator and stator to a 180 deg. phase synchronizing means. SOLUTION: The rotor 1 of a linear shuttle motor device is constituted by arranging four magnets 3 around a rotor shaft 2 so that the same poles of the magnets may repulse each other and interposing ferromagnetic bodies 4 among the magnets 3. The stator 5 of the motor device, in addition, is composed of a bearing 7 and magnets 8 arranged in the direction in which the magnet repulses the lines of magnetic force at both ends of the rotor 1 and, on the outer periphery of the stator 5, a fixed-speed solenoid 9, an inverting solenoid 10, a left-end solenoid 11, and right-end solenoid 12 are fixed at prescribed positions. In addition, both ends of the stator 5 are coupled with both ends of a counter balance 19 with a belt 24 through a pulley 21 and the stator 5 and a printing head 13 make linear reciprocating motions in the direction opposite to the rotor 1 and counter balance 19. Therefore, the power transmission loss is minimized and the energy conversion efficiency of the motor device is improved.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a linear shuttle motor device for driving a load such as a print head of a printer which needs to reciprocate at a substantially constant displacement amount at high speed, and a control device therefor.

[0002]

2. Description of the Related Art A linear shuttle motor device conventionally used in a printer or the like is configured such that a stator made of a permanent magnet is fixed to a main body of a device, and a rotor made of a coil is driven by the force of a left hand of Fleming to print on the rotor. The head was connected and reciprocated.

In order to suppress the generation of a moment,
The thrust of the rotor is transmitted to the counter balance via the vector conversion mechanism, and the reciprocating operation is performed to obtain a couple.

[0004]

In the conventional linear shuttle motor device, when transmitting the thrust of the rotor to the drive (movement) of the print head and the counter balance, a vector conversion mechanism for converting the thrust of the rotor is used. Since a part was consumed and transmission loss occurred, a large amount of thrust was required more than necessary. In particular, an inertia force is applied to the rotor during operation at a change point of the reciprocating operation direction (hereinafter referred to as inversion). It was necessary to drive with a large current.

Further, since this thrust is transmitted from the rotor to the print head via the vector conversion mechanism, the transmission loss in the vector conversion mechanism increases instantaneously when the print head is inverted. There was a drawback that it was easy to connect. In particular, in the conventional configuration, in consideration of the wear resistance against the load at the time of reversal, a separate repulsion spring mechanism and a repulsion magnet mechanism have been provided to reduce the inertia force at the time of reversal and to supplement the repulsive thrust. .

SUMMARY OF THE INVENTION It is an object of the present invention to provide a linear shuttle motor apparatus which improves energy conversion efficiency by reducing drive energy and power transmission loss at the time of reversal, and does not require any biasing means. That is the task.

[0007]

The above object can be achieved by providing the following means.

(1) As a configuration of the motor, the rotor and the stator have the same mass and reciprocate in the opposite directions on the same axis. The rotor and the stator are connected to a 180-degree phase synchronization means fixed to the housing to synchronize the phases.

(2) As a constitution of the rotor, magnets having the same poles facing each other are laminated, and a ferromagnetic material or the like is interposed between the magnets so that the lines of magnetic force are concentrated and generated in a vertical direction from the periphery of the rotor. To do.

(3) As a constitution of the stator, a pair of magnets having repelling poles are attached to both ends of the rotor. Four types of solenoids, a constant speed solenoid, a reversing solenoid, a left end solenoid, and a right end solenoid, are mounted on the circumference of the stator at positions shown in the operation principle diagrams of FIGS.

(4) A constant speed solenoid drive, a reverse solenoid drive, a left / right end solenoid drive and an end stop control unit for driving the linear shuttle motor device,
A start control unit, a constant speed control unit, and a reversal control unit are provided.

(5) An auxiliary magnetic circuit is provided on the outer periphery of the solenoid to increase the number of magnetic fluxes crossing the solenoid.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below with reference to the drawings.

FIG. 1 is a cross-sectional view of a linear shuttle motor device according to the present invention.

The rotor 1 is configured such that four cylindrical magnets 3 are arranged so as to repel the same polarity around a metal rotor shaft 2, and a ferromagnetic material 4 is sandwiched between the arranged magnets 3. ing. By thus interposing the ferromagnetic material 4 between the magnets 3, strong magnetic lines of force perpendicular to the rotor shaft 2 can be generated on the periphery of the ferromagnetic material 4. Further, the ferromagnetic materials 4 at both ends of the rotor 1
Generates horizontal lines of magnetic force on the rotor shaft 2 and
It also plays the role of a nut sandwiching the repelling individual magnets 3.

The stator 5 is based on a cylindrical, non-magnetic stator housing 6, and has bearings 7 disposed at both ends of the stator housing 6, and a direction in which the magnetic field lines at both ends of the rotor 1 are repelled inside the bearing 7. Are formed by a pair of cylindrical magnets 8 arranged at the center.

On the outer periphery of the stator 5, a constant speed solenoid 9, a reversing solenoid 10, a left end solenoid 11, and a right end solenoid 12 are fixed at predetermined positions, respectively. Therefore, a repulsive magnetic circuit is constituted by these solenoids, the magnet 3 and the ferromagnetic material 4 described above.

It is assumed that the rotor 1 and the stator 5 are designed to have the same mass.

Further, a print head 13 is connected as a load via arms 14 extending from both ends of the stator 5. The print head 13 is attached to a shaft 16 via bearings 15 provided at both ends thereof, and is capable of reciprocating left and right.

The rotor shaft 2 is held by a shuttle housing 17 via bearings 18 and is connected to a counterbalance 19 at two places on the left and right.

The counter balance 19 has an H-shaped configuration, is attached to the shaft 16 via a bearing 20, and can reciprocate right and left. Note that the mass of the counter balance 19 is preferably the same as the mass of the print head 13 and the arm 14.

The shaft 16 is fixed to a shuttle housing 17.

Pulleys 21 are mounted on the left and right sides of the shuttle housing 17 by pulley holders 22 and nuts 23.

Both ends of the stator 5 and the counter balance 19
Are connected by a belt 24 via a pulley 21. The pulley 21, the pulley holder 22,
The nut 23 and the belt 24 are 180-degree phase synchronization means. By connecting to this 180 degree phase synchronization means,
The stator 5 and the print head 13 can linearly reciprocate in the opposite direction to the rotor 1 and the counterbalance 19.

An encoder 25 is mounted on an extension of the shaft of the pulley 21 on the right side, and the right and left displacement of the print head 13 can be accurately detected by a combination with an optical sensor 26 mounted on the shuttle housing 17. Can be done.

FIGS. 2 and 3 are operating principle diagrams of the linear shuttle motor device including the magnetic repulsion circuit according to the present invention. Here, FIG. 2 shows the operation from (1) stop to the rotation of the rotor 1 in the right direction in the figure and (4) the inversion. FIG. 3 shows the operation of the rotor 1 in the left direction (5 ) At the right end after the movement, (8) shows the operation until stopping.

The figure shows the polarity of the magnet (SN in the figure), the direction of the line of magnetic force (arrow), and the exciting current of the solenoid, and the thrust by the Fleming's left hand rule is applied to the rotor 1 (F).
R) and the state of working on the stator 5 (FS). As operations, stop, start, constant speed, and reversal state changes will be described in the order of operation sequence.

FIG. 4 is a time chart showing the operation of the linear shuttle motor device according to the present invention. In the drawings, the displacement of the rotor 1 and the excitation timing of each solenoid will be described in relation to the change in the operation state shown in FIGS.

In the initial stop state shown in FIG. 2A, the rotor 1 is located at the left end and the stator 5 is located at the right end as shown in FIG. When waiting for data transfer from a host device (not shown) (waiting for printing), the reversing solenoid 10
Then, the left end solenoid 11 is negatively excited. By the negative excitation of the reversing solenoid 10 and the left end solenoid 11, a force FS that moves further to the right is applied to the stator 5. On the other hand, a force FR is applied to the rotor 1 in a direction opposite to the force FS acting on the stator 5 and relative to the force FS.
Therefore, the rotor 1 stops at the leftmost stop position where the repulsive force between the ferromagnetic material 4 and the magnet 8 and FS are balanced.

When the printer receives data from the host device at the stop position of the rotor 1 and becomes ready for printing, the operation shifts to the start state shown in FIG. 2 (2). In the start state, the left end solenoid 11 and the reversing solenoid 10 are positively excited. The positive excitation of the reversing solenoid 10 and the left end solenoid 11 gives a force (FS) to the stator 5 to accelerate to the left,
As a result, the rotor 1 immediately starts moving to the right and the stator 5 starts moving instantaneously to the left, with the distance between the left end stop position and the left end of the printing range as the approaching displacement.

When the printer enters a printing operation, the print head 1
3 is required to perform a linear operation at a constant speed, so that the state shifts to the constant speed state shown in (3) of FIG. In this sequence, since the rotor 1 and the stator 5 are moving by the inertial force, a force (Fs) that does not cause a speed drop is applied to the stator 5
, An appropriate current is applied to the constant-speed solenoid 9 to perform positive excitation.

At the end of the printing cycle and in the first half of the reversing state shown in FIG. 2D, the rotor 1 is pressed rightward and the stator 5 is pressed leftward by inertial force. In this configuration, the polarity of the magnet 3 at the end of the rotor 1 and the stator 5
Since the magnets 8 on the side have the same polarity, when the stator 5 is pressed, a repulsive force is generated between the magnet 3 on the rotor 1 and the magnet 8 on the stator 5 via the ferromagnetic material 4. When this repulsive force becomes larger than the inertial force in the constant speed state (3), the rotor 1 moves leftward and the stator 5 turns rightward. At the time of reversing, in order to further shorten the reversing time and improve the printing speed, the reversing solenoid 10 is used.
Is positively excited to apply a force acting on the stator 5 in the right direction. The reversal position at this time is the right end in FIG.

Next, the rotor 1 enters the constant speed state shown in FIG. 3 (5), enters the printing cycle again, and moves to the left. At this time, the constant speed solenoid 9 is negatively excited. In this sequence, since the rotor 1 and the stator 5 are moving by inertial force, an appropriate current is supplied to the constant-speed solenoid 9 so that a force (Fs) that does not cause a reduction in speed is applied to the stator 5.

(6) of FIG. 3 is a position opposite to (4) of FIG.
That is, the operation at the left end is shown. The rotor 1 is pressed to the left and the stator 5 is pressed to the right by inertia. At this time, a repulsive force is generated between the magnet 3 at the end of the rotor 1 and the magnet 8 at the stator 5 side. When the repulsive force becomes larger than the inertial force in the constant speed state (5), the rotor 1 moves rightward and the stator 5 turns leftward. At the time of reversing, in order to further shorten the reversing time and improve the printing speed, the reversing solenoid 10 is positively excited to apply a force acting on the stator 5 to the left. The reversal position at this time is the left end in FIG.

FIG. 3 (7) shows the same constant speed operation as FIG. 2 (3).

When data transfer from the host device is interrupted,
The operation shifts to the stop state shown in (8) of FIG. In the drawing, the rotor 1 temporarily moves to the right end position due to inertia force, but the negative excitation of the reversing solenoid 10 and the right end solenoid 12 gives the stator 5 a further left moving force, and the rotor 1 moves in the moving direction of the stator 5. To give a relatively acting force. The rotor finally stops at the right end stop position where this force and the repulsive force acting between the magnet 3 and the magnet 8 at the end of the rotor 1 via the ferromagnetic material 4 are balanced.

FIG. 5 shows a linear shuttle motor control device for performing the above operation.

The left end solenoid driving section 27 forms a full bridge circuit, and can excite the left end solenoid 11 in two ways, positive and negative. Similarly, the reverse solenoid driving unit 28, the constant speed solenoid driving unit 29, and the right end solenoid driving unit 30 also constitute a full bridge circuit, and the reversing solenoid 10, the constant speed solenoid 9, and the right end solenoid 12 are respectively excited in two positive and negative ways. it can.

The shuttle motor control unit 31 is composed of a general microcomputer. After the signal of the encoder 25 is fetched by the optical sensor 26, the end stop control unit 32, the start control unit 33, the constant speed control The drive signal shown in FIG. 4 is generated by the unit 34 and the inversion control unit 35.

The left end solenoid drive unit 27 and the right end solenoid drive unit 30 can be controlled by an end stop control unit 32 by using a common circuit.

Next, based on the principle diagrams of FIGS. 2 and 3,
FIG. 6 shows an example in which the number of driving solenoids is increased.

FIG. 6 shows a configuration in which a reversing solenoid and a constant speed solenoid are added to the configuration of FIG. 2 one by one. By doing so, the stop braking force is increased to 4/3 times, the starting thrust is increased to 4/3 times, the constant speed thrust is increased to 3 times, and the reverse thrust is increased to 3/2 times as compared with the configuration of FIG. be able to.

FIG. 7 shows a configuration in which the reversing solenoid of the configuration of FIG. 2 is removed. By doing so, the left end solenoid and the right end solenoid can be used instead of the reversing solenoid in applications where only stop operation is required for continuous operation.

FIG. 8 shows a configuration in which an electric iron plate 36 serving as an auxiliary magnetic circuit is provided on the outer periphery of the constant speed solenoid 9 and the reversing solenoid 10 having the configuration of FIG. According to this configuration, the line of magnetic force coming out of the N pole of the magnet crosses the solenoid, passes through the electric iron plate on the outer periphery of the solenoid, and again crosses the solenoid, and
You will be heading to the pole. As a result, a magnetic circuit having a smaller magnetic path resistance is configured, so that the number of magnetic fluxes crossing the solenoid increases, and when the solenoid is driven, a larger linear thrust and a repulsive thrust can be obtained.

By designing the above-described configuration in accordance with the following relational expression, it is possible to easily produce a series of linear shuttle motor devices having different amplitudes.

[0046]

(Equation 1)

In the above equation, when designing a linear shuttle motor device having an amplitude A, the magnet length M and the thickness S of the ferromagnetic material between layers may be appropriately set so as to satisfy the equation (1). By setting M and S, the length Lr of the rotor can be obtained by equation (2). Further, the length Ls in the stator is obtained from the above M, S and G. Here, G is a gap when the rotor and the stator are closest to each other at the time of reversal.

[0048]

According to the above configuration, the following effects can be obtained. (1) Since the force of the Fleming left hand in different directions acts directly on the rotor and the stator, power transmission loss is minimized and energy conversion efficiency is improved. (2) By applying a repulsive magnetic circuit having high utilization efficiency of magnetic energy to the linear shuttle motor itself, a thrust and a reversal thrust can be obtained, so that the energy conversion efficiency is improved. (3) Reciprocating reciprocating operation of the rotor and the stator, and the load and the counterbalance on the same axis respectively,
Theoretically, the generation of the moment can be suppressed to zero, so that the vibration of the device main body can be suppressed to the minimum. (4) Since the energy conversion efficiency is increased, the combined cost of the mechanical unit and the electronic control unit can be reduced. (5) Since the solenoid can be wound around the outside of the stator, heat radiation and air cooling of the solenoid are easy. (6) Thrust can be easily increased by increasing the number of stacked repulsive magnets of the rotor and the number of drive solenoids. (7) It is possible to easily produce a series of linear shuttle motor devices having different amplitudes. (8) Since a configuration without the vector conversion mechanism, which is required in the conventional method, can be obtained, wear of components constituting the apparatus can be eliminated. (9) Although the inertia force at the time of reversal greatly changes depending on the magnitude of the linear motion speed, the repulsive force between the stator magnet and the magnet at the rotor end at the reversal portion can be increased as the gap becomes narrower, so that the inertia force can be countered. Wide range. Therefore, the speed range of the linear shuttle motor device can be widened. (10) By attaching the encoder and the optical sensor to the 180-degree phase synchronization means, the linear displacement of the print head can be expanded to a circular shape, so that a highly reliable and inexpensive decoding function can be realized.

[Brief description of the drawings]

FIG. 1 is a cross-sectional view of a linear shuttle motor device according to the present invention.

FIG. 2 is an operation principle diagram of the linear shuttle motor device according to the present invention.

FIG. 3 is an operation principle diagram of the linear shuttle motor device according to the present invention.

FIG. 4 is a time chart showing the operation of the linear shuttle motor device according to the present invention.

FIG. 5 is a linear shuttle motor control device according to the present invention.

FIG. 6 is an operation principle diagram of a linear shuttle motor device as another example of the present invention.

FIG. 7 is an operation principle diagram of a linear shuttle motor device as another example of the present invention.

FIG. 8 is an operation principle diagram of a linear shuttle motor device as another example of the present invention.

[Explanation of symbols]

1 is a rotor, 2 is a rotor shaft, 3 is a magnet, 4 is a ferromagnetic material, 5 is a stator, 6 is a stator housing, 7 is a bearing, 8 is a magnet, 9 is a constant speed solenoid, 10 is a reversing solenoid, and 11 is the left end. Solenoid, 12 is a right end solenoid, 13 is a print head, 14 is an arm, 15 is a bearing, 16 is a shaft, 17 is a shuttle housing, 1
8 is a bearing, 19 is a counterbalance, 20 is a bearing, 21 is a pulley, 22 is a pulley holder, 23 is a nut, 24 is a belt, 25 is an encoder, 26 is an optical sensor, and 36 is an auxiliary magnetic circuit.

Claims (6)

[Claims] 1. A rotor on which a member for generating a plurality of lines of magnetic force is disposed vertically from the periphery thereof, a stator provided on the periphery of the rotor and provided with a constant-speed solenoid and a reversing solenoid; The sum of the reciprocating displacement is 0
A linear shuttle motor device comprising a 180-degree phase synchronization means. 2. The linear shuttle motor device according to claim 1, wherein a load mounted on each of the rotor and the stator and a counterbalance commensurate with the load are mounted. . 3. The linear shuttle motor device according to claim 1, wherein members for generating a plurality of lines of magnetic force parallel to a longitudinal direction of the rotor are arranged at both ends of the rotor, and the two ends of the stator are arranged at both ends. A member that generates magnetic force lines having the same polarity as the magnetic force lines generated from the rotor ends is disposed on a surface facing the left and right ends of the rotor, and a repulsive magnetic force line generated when the end surface of the rotor approaches the end surface of the stator. A linear shuttle motor device, wherein an end solenoid is mounted on the stator in a region where convergence occurs. 4. The linear shuttle motor device according to claim 1, wherein the member for generating a plurality of lines of magnetic force of the rotor comprises: a plurality of magnets having the same poles facing each other; A linear shuttle motor device comprising a plurality of ferromagnetic materials mounted thereon, wherein the ferromagnetic materials concentrate magnetic fluxes of magnets having the same polarity on both sides thereof. 5. The linear shuttle motor control device according to claim 1, wherein the solenoid mounted on the stator has a control unit individually. 6. The linear shuttle motor control device according to claim 1, wherein an auxiliary magnetic circuit is provided on an outer periphery of a solenoid on the stator housing.