JP2003018819A - Linear electro-magnetic actuator - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve reduction in size and propulsive force of a linear electro- magnetic actuator. SOLUTION: This linear electro-magnetic actuator comprises a stator 2 composed of magnetic substrates 21, 22 and permanent magnets 23, 24, a plurality of coil pieces 11a to 11f to which a three-phase current flows, and an armature 1 which is moved along the longitudinal direction of the magnetic substrates with a propulsive force generated by mutual effect with the permanent magnets when the current flows. Each coil piece 11a to 11f is formed in the shape of frame, each width of a pair of sides of coil piece is 1/2 or less of the width of a window portion, and an upper or lower part coupling a pair of sides is deviated in the coil axis direction to the sides by the thickness thereof or more. In addition, the armature 1 is formed by sequentially allocating the coil pieces oppositely with each other as many as integer times of three in the manner that the sides of adjacent coil pieces are engaged with the center portions near the window portions.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a linear electromagnetic actuator having a stator as a field and an armature (movable element).

[0002]

2. Description of the Related Art FIGS.
Japanese Patent No. 44962 "High magnetic flux density field for linear motor"
FIG. 3B is a first conventional technique described in (a) and (b) is a sectional view taken along line XX of (a). In FIG. 14, two magnetic substrates 501 and 502 are arranged to face each other with a gap provided by a supporting member 503, and the magnetic flux density inside the gap is equal to that of the magnetic substrates 501 and 5.
02, the permanent magnets 504, 50 are formed on the opposing surfaces of the magnetic substrates 501, 502 so as to change periodically along the longitudinal direction of
5 are arranged to form the stator 500.

A mover (armature) 510 composed of a plurality of coils is arranged in the gap and is movable along the longitudinal direction of the gap. In this conventional technique, the mover 51
By passing a current through the 0 coil, the stator 500
By the interaction with the permanent magnets 504 and 505, thrust force in the direction of the arrow in FIG.

[0004]

The linear motor having such a structure is now widely used for transportation and positioning. However, the problem to be solved is miniaturization,
There are suppression of heat generation, high efficiency, and the like, and in order to realize these, an ingenuity in the structure of the armature has been made as shown in the following prior art.

FIGS. 15 (a) and 15 (b) show Japanese Patent Application Laid-Open No. 2001-2001.
It is the 2nd prior art described in the 86726 publication "coreless linear motor", (b) is a YY sectional view of (a). In this conventional technique, densely wound concentrated winding coils 521 to 523 are integrally fixed by a resin mold 524 to form a mover (armature) 520, and the coils 521 to 523 are concentrated windings. While the ratio of conductors per coil cross section can be increased, the coil 5
There is a disadvantage that a wasteful space is formed in the central portion of 21 to 523. In FIG. 15A, 525 is an armature fixing plate, 530 is a stator, 531 is a field yoke, 532
Is a permanent magnet.

FIGS. 16 (a) and 16 (b) show Japanese Patent Laid-Open No. 56-1.
This is a third conventional technique described in Japanese Unexamined Patent Publication No. 14012 “Precision Positioning Device”, which is a configuration example of a two-phase linear motor. In this conventional technique, the coil end portions are curved so that the portions of the two coils 541 and 542, which are the movers (armatures), that contribute to the thrust force are arranged in the spaces of the coil central portions.

With such a structure, the space at the center of the coil is not wasted, so that the space utilization rate can be increased. However, the overlapping portion of the coils swells, which may have the opposite effect unless structural measures are taken. 16B, 550 is a stator,
Reference numeral 551 denotes a permanent magnet, and 552 denotes a permanent magnet holding member that constitutes a magnetic circuit.

FIGS. 17 (a) and 17 (b) show Japanese Patent Laid-Open No. 2001-2001.
This is the fourth prior art described in Japanese Unexamined Patent Publication No. 103725, “Movable Coil for Linear Motor and Manufacturing Method Thereof”. In this conventional technique, the utilization factor of the space is improved by overlapping the plurality of coils 560 forming the mover (armature) with each other. Here, the coil 560 is formed by bending a flat plate-shaped coil member, and the thickness d of the coil 560 shown in FIG.
Since it is structurally about 1/3 of the magnetic pole pitch p of the stator 570, when the magnetic pole pitch p is large, there is a problem that the bulge of the coil end also becomes large and the motor becomes large. Note that in FIG. 17A, 571 and 572
Is a yoke, and 573 and 574 are permanent magnets.

In view of the problems of the fourth prior art, therefore, the present invention is intended to provide a linear electromagnetic actuator which can be downsized as a whole.

[0010]

In order to solve the above problems, the invention according to claim 1 is characterized in that two long magnetic substrates made of a ferromagnetic material are arranged so as to face each other with a constant distance therebetween.
A plurality of permanent magnets are arranged at a substantially constant magnetic pole pitch on at least one of the opposing surfaces of both magnetic substrates so that the magnetic flux density changes periodically along the longitudinal direction of the magnetic substrates in the space between both magnetic substrates. And a plurality of coil pieces arranged in the magnetic field generated by the permanent magnet and allowing a three-phase current to flow therethrough. In a linear electromagnetic actuator including an armature as a mover that can move along the longitudinal direction of the magnetic substrate by the generated thrust, in the coil piece, the winding axis of the coil penetrates substantially the center of the window portion. In the frame shape, the width of the pair of side portions of the coil piece is equal to or less than 1/2 of the width of the window portion, and the upper side portion and the lower side portion connecting the pair of side side portions with respect to the side portion. Coil thickness in the axial direction The coil pieces, which are formed by being shifted by the above length, are an integer multiple of 3 and are sequentially arranged to face each other so that the side portions of adjacent coil pieces and the central portion near the window portion are fitted to each other. A child is formed, and the armature and the stator are arranged so that the permanent magnets of the stator face the side portions of the coil pieces that form the armature.

According to a second aspect of the present invention, in the linear electromagnetic actuator according to the first aspect, the width of the side portion of each coil piece is ½ of the width of the window space, and
The deviation amount of the upper side portion and the lower side portion from the side side portion is made equal to the thickness of the coil piece.

According to a third aspect of the present invention, two long magnetic substrates made of a ferromagnetic material are arranged so as to face each other with a constant distance on average, and the magnetic flux density is magnetic in a space sandwiched between the two magnetic substrates. A stator in which a plurality of permanent magnets are arranged with a substantially constant magnetic pole pitch on at least one of the facing surfaces of both magnetic substrates so as to change periodically along the longitudinal direction of the substrate, and a magnetic field generated from the permanent magnets. Has a plurality of coil pieces arranged therein and through which a three-phase current flows, and along the longitudinal direction of the magnetic substrate due to the thrust generated by the interaction with the permanent magnet when flowing through these coil pieces. In a linear electromagnetic actuator including an armature as a movable mover, the armature includes first coil pieces and second coil pieces of different types, and the first coil piece includes a coil. The winding axis is The second coil piece has a frame shape in which a winding axis of the coil penetrates substantially the center of the window portion, and the second coil piece has a pair of sides of the second coil piece. The side portion has a coil thickness in the winding axis direction of the coil with respect to an upper side portion and a lower side portion where a portion having a length equal to or less than the height of the window portion of the first coil piece connects the pair of side side portions. Since the width of the window portion of the first coil piece and the width of the window portion of the second coil piece are equal to each other, and the width of the side portion of the first coil piece and the width of the second coil piece are different. The widths of the side portions are equal, and the width of each side portion is ½ or less of the width of each window portion,
An armature is constructed by sequentially combining the first and second coil pieces so that the side portions of two adjacent second coil pieces fit into the window portion of the first coil piece. The armature and the stator are arranged such that the permanent magnets of the stator face each other on the side portions of the coil pieces constituting the child.

According to a fourth aspect of the present invention, two armatures according to the third aspect are provided as armature constituting members, and the surfaces on which the first coil pieces of both armature constituting members are arranged in parallel are provided. One armature is formed by superposing them and connecting both armature constituent members so that coil pieces of the same phase and the same polarity face each other.

According to a fifth aspect of the present invention, in the linear electromagnetic actuator according to the fourth aspect, the coupling position of the two armature constituent members is moved by an integral multiple of 1/3 of the magnetic pole pitch of the stator. It is relatively offset along the direction.

According to a sixth aspect of the present invention, in the linear electromagnetic actuator according to the fourth aspect, the coupling position of the two armature constituent members is equal to or less than 1/3 of the magnetic pole pitch of the stator. Move relatively along the moving direction,
The coil pieces of the same phase and the same polarity are partly opposed to each other at the coupling surface.

According to a seventh aspect of the present invention, in the linear electromagnetic actuator according to any one of the third to sixth aspects, the width of the side portion of the first coil piece and the side of the second coil piece. The width of the side portion is ½ of the width of each window portion, and the amount of deviation in the coil winding axial direction from the upper side portion and the lower side portion of the pair of side portions of the second coil piece is set to the thickness of the coil. The pair of side portions of the second coil piece are made equal to each other and have a fitting length equal to the height of the window portion of the first coil piece.

The invention according to claim 8 is the linear electromagnetic actuator according to any one of claims 1 to 7, wherein the coil piece according to claim 1 and the second coil piece according to claim 3 and the like. The three-dimensional coil pieces are formed by bending the four corners of the window portion of the flat coil material.

According to a ninth aspect of the invention, in the linear electromagnetic actuator according to any one of the first to seventh aspects, the four corners of the window portion of the plate-shaped coil material are bent, and each is bent. A plurality of types of coil piece materials are formed such that the length between the bending lines on the inside of the coil material is twice or more the thickness of each coil piece material and sequentially different, and these multiple coil piece materials are formed into a coil winding shaft. By stacking in the direction, a three-dimensional coil piece such as the coil piece in claim 1 or the second coil piece in claim 3 or the like is formed.

According to a tenth aspect of the present invention, in the linear electromagnetic actuator according to any one of the first to ninth aspects, the upper side portion and the lower side portion of each coil piece are relatively moved along the movable direction. By shifting, each coil piece is skewed.

[0020]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings. 1 to 3 show a first embodiment of the present invention and correspond to the invention described in claim 1. First, FIG. 1 shows the overall configuration of the embodiment, (a) is a front view,
(B) is a bottom view and (c) is a right side view.

In FIG. 1, reference numeral 2 denotes a stator, which is a flat magnetic substrate 21 or 2 made of a ferromagnetic material such as iron.
The connecting plate 2 made of a ferromagnetic material so that the two are kept at a constant distance on average.
5, and the permanent magnets 23a, 23b, 23c, 23d, 23e, on the facing surfaces of the magnetic substrates 21 and 22.
..., 24a, 24b, 24c, 24d, 24e, ...
It is configured by pasting each. It should be noted that these permanent magnets are arranged so that the magnetic flux density of the air gap changes periodically along the longitudinal direction of the magnetic substrates 21 and 22. That is, the magnetic poles are reversed at a constant magnetic pole pitch τ and permanent magnets (for example, 23a and 24a, which face each other) are reversed.
23b and 24b, ...) Have the same polarity.

Although not shown, two magnetic substrates 2
A configuration in which a permanent magnet is arranged only on one of the ones 1 and 22 may be adopted. Here, the above-described configuration of the stator 2 has been widely put into practical use, including the examples shown in the related art.

On the other hand, 1 is an armature as a mover,
Coil pieces 11a, 11b, 11c, 11 of an integer multiple of 3
d, 11e, 11f, ... In the example of FIG. 1, an armature is formed by the six coil pieces 11a to 11f. The armature 1 is held by a support mechanism (not shown) and is arranged in the space between the magnetic substrates 21 and 22 so as to interlink with the magnetic flux generated by the permanent magnets of the stator 2, and the magnetic substrate It is movable along the longitudinal direction of the 21, 22.

Next, FIG. 2A shows a coil piece 11 (11a).
11 to 11f have the same structure, they are shown here as coil pieces 11), (b) is a bottom view,
(C) is a right side view. The coil piece 11 has a frame shape having a window 115 when viewed from the front, and the coil is wound along the illustrated “coil winding direction”. Therefore, the winding axis of the coil penetrates the center of the window 115. Although the actual coil has curved corners,
For the sake of simplicity, the figure is shown as a whole rectangle.

The coil piece 11 has side portions 111, 11
2 and an upper side part 113 and a lower side part 114 that connect these side side parts 111 and 112, and the upper side part 113 and the lower side part 114 are provided to project more than the side side parts 111 and 112. As shown in FIG. 2B, the overall shape of the coil piece 11 when viewed from the bottom is convex. The thickness of the side portions 111 and 112, the upper side portion 113, and the lower side portion 114 (thickness of the coil piece 11) is t _c , and the upper side portion 11
3 and the lower side part 114 are more t _c than the side parts 111 and 112.
The protrusion is provided by the length t _d (t _c = t _{d in the} illustrated example). Further, as shown in FIG.
Width _{w s} of 112 is ½ or less of the width _{w c} of the window 115. Further, the coil pitch (w _s + w _c ) is a value which is completely equal to or almost equal to the magnetic pole pitch τ of the stator 2.

By constructing the coil piece 11 as described above, as shown in FIG. 1B, the side portions of one coil piece are sequentially fitted into the central portion of the other coil piece near the window. By combining the above, the armature 1 shown in FIG. 1 can be configured. Then, the coil phase sequence (U, V,
By setting (3 phases of W) as shown in FIG. 1 (b), a full-node distribution winding is obtained, and fixed by passing a 3-phase current corresponding to the position of the armature to the coil pieces 11a to 11f of each phase. Due to the interaction with the magnetic flux of the permanent magnet of the child 2, a continuous thrust can be obtained along the longitudinal direction of the magnetic substrates 21 and 22.

Next, FIG. 3 shows another circuit according to the first embodiment.
FIG. 3 is a three-sided view of the sill piece 12, FIG.
(B) is a bottom view and (c) is a right side view. Smell in Figure 3
121 and 122 are side edges, 123 is an upper edge, 124
Indicates a lower side portion, and 125 indicates a window portion. In this example,
The side portion 123 and the lower side portion 124 are generally side portions 121,
122 and the side portions 121, 1
22, thickness of the upper side portion 123 and the lower side portion 124 (coil piece
12 thickness) is t_cAnd the upper side portion 123 and the lower side portion 1
24 is t more than the side portions 121 and 122._cLength t above _d
Only (t in the illustrated example_c= T_d) Projected. Furthermore,
As shown in FIG. 3A, the width w of the side portions 121 and 122_s
Is the width w of the window 125_cIt is less than 1/2. Well
Coil pitch (w_s+ W_c) Is the magnetic pole pick of the stator 2.
The value is exactly equal to or almost equal to τ.

In this example, as shown in FIG. 3 (c), the entire shape of the coil piece 12 as viewed from the right side surface is convex.

Since the same effect can be obtained with any of the coil pieces 11 and 12 shown in FIGS. 2 and 3, the following description will be given for the coil piece 11. As mentioned above,
In the prior art described in Japanese Patent Application Laid-Open No. 001-103725, "Movable Coil for Linear Motor and Manufacturing Method Thereof", the thickness of the coil needs to be ⅓ of the magnetic pole pitch of the stator because of the structure, and Since the thickness is equal to the width of the upper and lower protruding portions of the armature, when the magnetic pole pitch of the stator is large, the protruding portion of the armature becomes large, resulting in an increase in size of the device.

On the other hand, in this embodiment, the thickness of the upper and lower protruding portions of the armature (that is, the upper side portion 113 and the lower side portion 114 in FIG. 2) is equal to the thickness of the coil piece, and the magnetic pole pitch τ of the stator 2 is large. Therefore, it is possible to realize a thin armature.

The side portions 111, 112 in FIG.
Width w _s of the window portion 115 is ½ of the width w _c , and the deviation amount t _d of the upper side portion 113 and the lower side portion 114 from the side side portions 111 and 112 is the thickness t _{c of the} coil piece 11. If they are made equal, as is apparent from FIG. 1B, each coil piece 11
When the coils are alternately combined, the adjacent coil pieces 1
Since the side portions 111 and 112 of No. 1 are fitted in the space in front of the window portion 115 without a gap, the space utilization rate in the armature is maximized. Such a structure corresponds to the embodiment of the invention described in claim 2.

Next, a second embodiment of the present invention corresponding to claim 3 will be described with reference to FIGS. The shape and structure of the stator 2 in this embodiment are the same as those in the first embodiment, except that the coil pieces 31 and 32 of two types of structures are used as the armature (mover) 3 in combination.

First, FIG. 4 shows the entire structure of the present embodiment, (a) is a front view, (b) is a bottom view, and (c) is a right side view. 5A is a front view of the first coil piece 31, FIG. 5B is a bottom view, FIG. 5C is a right side view, and FIG.
Is a front view of the second coil piece 32, (b) is a bottom view,
(C) is a right side view.

That is, in this embodiment, the first coil piece 31 (31a to 31) having a flat plate and frame shape shown in FIG.
c) and the three-dimensional second coil piece 32 (32) shown in FIG.
a to 32c) to form the armature 3. The second coil piece 32 has almost the same structure as that of the coil piece 12 of FIG. 3 in the first embodiment except for its size.

The first coil piece 31 has a square-shaped peripheral portion 3
10 and the window portion 312, the width of the pair of side portions 311 of the peripheral portion 310 is w _s , the width of the window portion 312 is w _c ,
The height of the window portion 312 is h _c , and the thickness of the coil piece 31 is t _c . Here, the width w _s of the side portion 311 is ½ or less of the width w _c of the window portion 312.

Side portions 321 and 32 of the second coil piece 32
2, the thickness of the upper side portion 323 and the lower side portion 324 (the coil piece 3
2 is t _c , and the upper side portion 323 and the lower side portion 32 are
4 is protrusively _(t c = _{t d} in the illustrated example) _{t c} over the length _{t d} than the side edge portions 321 and 322. Further, the width w _s of the side portions 321 and 322 is less than or equal to 1/2 of the width w _c of the window portion 325. Coil pitch (w _s + w _c )
Is a value completely equal to or almost equal to the magnetic pole pitch τ of the stator 2. Also, the side portions 321 and 3 shown in FIG.
The height (fitting length) h _s on the back surface side of 22 is less than or equal to the height h _c of the window portion 312 of the first coil piece 31.

With the structure as described above, the side portions 321 and 322 of the two second coil pieces 32 can be closely fitted into the window portion 312 of the first coil piece 31. The armature 3 is configured by sequentially combining the first and second coil pieces 31 and 32. If the phase sequence of the coils (3 phases of U, V, W) is set as shown in FIG.
A continuous thrust can be obtained by passing a phase current.

According to this embodiment, as shown in FIG. 4 (c), the protruding portion of the coil end of the armature 3 is only on one side, so that the armature 3 can be made thin.

Next, a third aspect of the present invention corresponding to claim 4
An embodiment will be described with reference to FIG. This embodiment is the same as the armature 3 shown in the second embodiment (FIGS. 4 to 6).
Two armature structural members are formed as one armature structural member, and the surfaces of the respective structural members on which the first coil pieces 31 are juxtaposed are overlapped so that the coil pieces 31 and 32 of the same phase and the same polarity face each other. In addition, two armature structural members are connected in mirror symmetry to form one armature 3 '.

FIG. 7 shows the overall structure of this embodiment.
(A) is a front view, (b) is a bottom view, and (c) is a right side view. In these figures, 3A is a first armature constituent member having the same structure as the armature 3 shown in FIGS. 4 to 6, and 3B is a second armature constituent structure symmetrical to the first armature constituent member 3A. Members, 31a, 31b, 31c, 31a ', 31b',
31c 'is a first coil piece, 32a, 32b, 32c,
32a ', 32b', and 32c 'are second coil pieces. In this embodiment, the armature components 3A, 3B are
One armature 3'is formed by superimposing and connecting the juxtaposed surfaces of the respective first coil pieces 31a, 31b, 31c and 31a ', 31b', 31c '.

In this embodiment, the protruding length L ₁ of the coil end portion of the armature 3'shown in FIG. 7C can be set to 1/2 of the length L ₂ of the portion sandwiched by the permanent magnets of the stator. ,
The ratio of both (L ₁ / L ₂ ) can be halved compared to the embodiment of FIGS. 1 and 4.

In FIG. 7, two armature constituting members 3 are provided.
Although the structure in which A and 3B are mirror-symmetrical has been shown, one armature constituent member (for example, 3A) is joined to the other armature constituent member (the same 3B) by reversing them in the movable direction, and the joining surface is formed. The coils facing each other may have the same phase and the same polarity.

Next, FIG. 8 shows a fourth embodiment of the present invention corresponding to claim 5. This embodiment is also configured by coupling two armature constituent members 3A and 3B as in the third embodiment, but the relative position of the two armature constituent members 3A and 3B is determined by the magnetic pole pitch τ of the stator 2. It is shifted along the movable direction by an integral multiple of 1/3 of so that the coils facing each other at the coupling surface have the same phase and the same polarity. In particular, when the displacement amount of the two armature constituting members 3A and 3B is set to 1/3 of the magnetic pole pitch τ as shown in FIG. 8, the distribution of the three-phase coils at the end portion in the movable direction of the armature 3 ′ is reduced. 3 for equality
The phase has a good electromagnetic balance.

FIG. 9 shows a fifth aspect of the present invention corresponding to claim 6.
1 illustrates an embodiment. This embodiment is also configured by coupling two armature constituting members 3A and 3B in the same manner as in the third and fourth embodiments, but the relative position of the two armature constituting members 3A and 3B is set to that of the stator 2. It is displaced along the movable direction by 1/3 or less of the magnetic pole pitch τ. As a result, a phase difference occurs between the coils of the same phase in both armature constituting members 3A and 3B, so that the so-called short-pitch winding effect is obtained, and harmonics of the induced voltage can be reduced to smooth thrust. .

Incidentally, the armature 3 in FIG. 4 and FIGS.
Regarding the structure of the armature constituting members 3A and 3B shown in FIG.
The width w _s of the side part 311 of each of the coil pieces 31a to 31c, 31a ′ to 31c ′ is set to ½ of the width w _c of the window portion 312, and the second coil pieces 32a to 32c, 32a ′ to 3 are formed.
The width w _s of the side portions 321 and 322 of 2c ′ is set to ½ of the width w _c of the window portion 315, and the upper side portion 323 and the lower side portion 3
Displacement amount _{t d} of the coil pieces 32a~32c from side portions 321 and 322 of 24, the thickness of the 32a'~32c'11 _{t c}
And the fitting length h in FIG. 6 (c).
_{By making s} equal to the height h _c of the window portion 312, as is clear from FIGS. 4B, 7B, 8 and 9, when the coil pieces are combined in an alternating manner, Since the side portions 321 and 322 of the adjacent coil pieces are fitted in the window portion 312 without a gap, the space utilization rate in the armature is maximized. Such a structure corresponds to the invention described in claim 7.

FIG. 10 is a perspective view showing a manufacturing process of a three-dimensional coil piece in each of the above-mentioned embodiments. Here, the coil pieces 11 (11a to 11) in the first embodiment are used.
Although the manufacturing process of f) is shown, the coil piece 12 of FIG. 3 and the coil piece 32 (32a to 32c) of FIG. 6 can be manufactured in the same manner.

That is, in the vicinity of the four corners (a) of the window 115 of the flat plate-shaped and frame-shaped coil material 11 'in FIG.
(Part) is bent twice at a right angle along the dotted line to form the coil piece 11 in which the upper side part 113 and the lower side part 114 are provided in a protruding manner. If the thickness of the coil piece is small,
A three-dimensional coil piece can be manufactured by such a simple method. This invention corresponds to the invention described in claim 8.

As a three-dimensional coil piece manufacturing process, one shown in FIGS. 11 and 12 can be considered. These inventions correspond to the invention described in claim 9.

FIG. 11 shows the coil piece 11 (1 shown in FIG.
1a to 11f). First, a plurality of three-dimensional coil piece materials 11A to 11D are formed by the same method as in FIG. At this time, each coil piece material 11A
The lengths (indicated by L in the figure) between the bending lines inside 11C to 11D are sequentially different by twice the thickness of each coil piece material 11A to 11D, so that the coil piece materials 11A to 11D.
Can be stacked in the coil winding axis direction. In order to keep the thickness of the coil piece 11 (corresponding to the thickness of the side portions 111 and 112 in FIG. 10) constant, each coil piece material 11A
11D have different widths (number of turns). The coil piece 11 is formed by laminating these coil piece materials 11A to 11D.

Next, FIG. 12 shows a manufacturing process of the coil piece 12 of FIG. 3 and the coil piece 32 (32a to 32c) of FIG. 6, and the coil piece 12 will be described as an example.
First, a plate-like and frame-shaped coil material is bent by a method similar to that of FIG.
Form 2D.

In this case, the original flat plate-shaped and frame-shaped coil material has the same shape and the window has the same size, but the bending positions are different, as is apparent from FIG. That is, similar to FIG. 11, each coil piece material 12
Bending the coil piece material 12A to 12D so that the length (indicated by L in the figure) between the inner bending lines of A to 12D is different by two times the thickness of each coil piece material 12A to 12D.
12D is laminated in the coil winding axial direction to form the coil piece 12 (or 32).

As described above, according to the steps shown in FIGS. 11 and 12, even when the thickness of the coil piece is large, the desired coil piece can be easily formed by stacking a plurality of bent coil piece materials. It is possible to manufacture. Although FIGS. 11 and 12 show the case where four coil piece materials are used, the number of coil piece materials to be laminated is arbitrary.

Next, FIG. 13 shows a sixth embodiment of the present invention, which corresponds to the invention described in claim 10. In the armature 1 ′ according to this embodiment, each coil piece 11a ′, 1
In 1b ', 11c', 11d ', 11e', and 11f ', the upper side and the lower side are relatively displaced along the movable direction so that the coil piece has a substantially parallelogram frontal shape. As a result, a so-called skew effect is obtained,
It is possible to reduce the harmonics of the induced voltage in the coil and smooth the thrust.

In order to realize the structure shown in FIG. 13, the coil pieces 11a ', 11c', 11e 'on one side and the coil pieces 11b', 11d ', 11f' on the opposite side are formed on the upper side and It is necessary to reverse the angle with respect to the lower side and then combine the coil pieces. Although the embodiment of FIG. 13 is based on the structure of the armature of FIG. 1, it is possible to construct an armature by combining a plurality of skewed coil pieces also in the other embodiments. Further, such a coil piece can be manufactured by the method shown in FIGS.

[0055]

As described above in detail, according to the present invention, since the space factor of the coil conductor in the space can be easily improved, it is possible to realize a linear electromagnetic actuator which is smaller in size and larger in thrust than the prior art. it can.

[Brief description of drawings]

FIG. 1 is a three-view drawing showing an overall configuration of a first embodiment of the present invention.

FIG. 2 is a three-view drawing of a coil piece according to the first embodiment of the present invention.

FIG. 3 is a trihedral view of another coil piece according to the first embodiment of the present invention.

FIG. 4 is a three-view drawing showing an overall configuration of a second embodiment of the present invention.

FIG. 5 is a trihedral view of a first coil piece according to a second embodiment of the present invention.

FIG. 6 is a three-view drawing of a second coil piece according to a second embodiment of the present invention.

FIG. 7 is a three-view drawing showing an overall configuration of a third embodiment of the present invention.

FIG. 8 is a bottom view showing an armature according to a fourth embodiment of the present invention.

FIG. 9 is a bottom view showing an armature according to a fifth embodiment of the present invention.

FIG. 10 is a perspective view showing a manufacturing process of a three-dimensional coil piece according to each embodiment of the present invention.

FIG. 11 is a perspective view showing a manufacturing process of a three-dimensional coil piece according to each embodiment of the present invention.

FIG. 12 is a perspective view showing a manufacturing process of a three-dimensional coil piece according to each embodiment of the present invention.

FIG. 13 is a front view of an armature showing a sixth embodiment of the present invention.

FIG. 14 is an explanatory diagram of a first conventional technique.

FIG. 15 is an explanatory diagram of a second conventional technique.

FIG. 16 is an explanatory diagram of a third conventional technique.

FIG. 17 is an explanatory diagram of the fourth related art.

[Explanation of symbols]

1,1 ', 3,3' Armature (mover) 3A, 3B Armature component 11, 11a, 11b, 11c, 11d, 11e, 11
f, 11a ', 11b', 11c ', 11d', 11
e ', 11f', 12, 31, 31a, 31b, 31
c, 31a ', 31b', 31c ', 32, 32a, 3
2b, 32c, 32a ', 32b', 32c 'Coil piece 11' Coil material 11A, 11B, 11C, 11D, 12A, 12B, 1
2C, 12D coil piece material 111, 112, 121, 122, 321, 322
Side portions 113, 123, 323 Upper side portions 114, 124, 324 Lower side portions 115, 125, 312, 325 Window portion 2 Stator 21, 22 Magnetic substrate 23a, 23b, 23c, 23d, 23e, 24a, 2
4b, 24c, 24d, 24e permanent magnet 25 connecting plate 310 peripheral part 311 side part

Claims (10)

[Claims] 1. Two long magnetic substrates made of a ferromagnetic material are arranged so as to face each other with a constant distance therebetween, and a magnetic flux density is along a longitudinal direction of the magnetic substrates in a gap sandwiched between the two magnetic substrates. A stator having a plurality of permanent magnets arranged on at least one of the opposing surfaces of the two magnetic substrates so as to periodically change with a substantially constant magnetic pole pitch; and a three-phase stator arranged in the magnetic field generated by the permanent magnets. A movable element that has a plurality of coil pieces through which an electric current flows, and is movable along the longitudinal direction of the magnetic substrate by the thrust generated by the interaction with the permanent magnet when flowing through these coil pieces. In a linear electromagnetic actuator including an armature, the coil piece has a frame shape in which a winding axis of the coil penetrates substantially the center of the window portion, and a width of a pair of side portions of the coil piece is equal to that of the window portion. Less than half the width And an upper side portion and a lower side portion that connect the pair of side side portions are formed by being displaced from each other in the coil winding axial direction by a length equal to or more than the thickness thereof, and an integer multiple of 3 of the coils The armatures are configured by sequentially arranging the pieces so that the side portions of the adjacent coil pieces and the central portion near the window are fitted to each other, and the side portions of the coil pieces forming the armature are arranged. A linear electromagnetic actuator in which an armature and a stator are arranged so that the permanent magnets of the stator face each other. 2. The linear electromagnetic actuator according to claim 1, wherein the width of the side of each coil piece is ½ of the width of the space of the window, and the side of the upper side and the lower side. A linear electromagnetic actuator characterized in that the amount of deviation with respect to the portion is made equal to the thickness of the coil piece. 3. Two long magnetic substrates made of a ferromagnetic material are arranged so as to face each other with a constant distance on average, and the magnetic flux density is along the longitudinal direction of the magnetic substrates in the air gap sandwiched between the two magnetic substrates. A stator in which a plurality of permanent magnets are arranged on at least one of the facing surfaces of the two magnetic substrates so as to periodically change with a substantially constant magnetic pole pitch; and a stator arranged in the magnetic field generated by the permanent magnets. As a mover having a plurality of coil pieces through which a phase current flows, and movable along the longitudinal direction of the magnetic substrate by a thrust generated by interaction with the permanent magnet when flowing through these coil pieces. In the linear electromagnetic actuator including the armature, the armature includes first coil pieces and second coil pieces of different types, and the first coil piece has a shaft around which a coil is wound. Penetrates almost the center of the part The second coil piece has a frame shape in which the winding axis of the coil penetrates substantially the center of the window, and the pair of side portions of the second coil piece has a first frame shape. A portion having a length equal to or less than the height of the window portion of the coil piece is deviated from the upper side portion and the lower side portion connecting the pair of side portions in the winding axis direction of the coil by the coil thickness or more, The width of the window of the first coil piece is equal to the width of the window of the second coil piece, and the width of the side portion of the first coil piece is equal to the width of the second side.
Of the coil piece is equal to the width of the side portion of the coil piece, and the width of each side portion is ½ or less of the width of each window portion. An armature is constructed by sequentially combining the first and second coil pieces so that the side edges of the two coil pieces fit together, and the stator is attached to the side edges of each coil piece forming the armature. A linear electromagnetic actuator in which an armature and a stator are arranged so that permanent magnets face each other. 4. An armature-constituting member comprising two armatures according to claim 3, wherein the surfaces of the two armature-constituting members on which the first coil pieces are juxtaposed are overlapped with each other to have the same phase and the same polarity. A linear electromagnetic actuator, characterized in that both armature constituting members are combined so as to face each other and the single armature is formed. 5. The linear electromagnetic actuator according to claim 4, wherein the coupling positions of the two armature constituting members are relative to each other along the movable direction of the armature by an integral multiple of 1/3 of the magnetic pole pitch of the stator. Linear electromagnetic actuator characterized by being shifted. 6. The linear electromagnetic actuator according to claim 4, wherein the coupling positions of the two armature constituent members are set relative to each other along the movable direction of the armature by a length of 1/3 or less of the magnetic pole pitch of the stator. The linear electromagnetic actuator is characterized in that a part of the coil pieces of the same phase and the same polarity are made to face each other at the coupling surface. 7. The linear electromagnetic actuator according to any one of claims 3 to 6, wherein a width of a side edge portion of the first coil piece and a width of a side edge portion of the second coil piece are set. The width of each of the windows is set to 1/2, and the amount of deviation in the coil winding axis direction with respect to the upper side and the lower side of the pair of side sides of the second coil piece is made equal to the thickness of the coil. A linear electromagnetic actuator, wherein the pair of side portions of the coil piece have a fitting length equal to the height of the window portion of the first coil piece. 8. The linear electromagnetic actuator according to any one of claims 1 to 7, wherein a three-dimensional coil piece is formed by bending near four corners of a window portion of a flat coil material. Is a linear electromagnetic actuator. 9. The linear electromagnetic actuator according to any one of claims 1 to 7, wherein the vicinity of four corners of the window portion of the flat plate coil material is bent, and the inside of each bent coil material is bent. A plurality of types of coil piece materials are formed so that the length between the wires is twice or more the thickness of each coil piece material and sequentially different, and these three or more coil piece materials are laminated in the coil winding axis direction to form a solid body. Linear electromagnetic actuator characterized by forming a typical coil piece. 10. The linear electromagnetic actuator according to any one of claims 1 to 9, wherein each coil piece is formed by relatively shifting an upper side portion and a lower side portion of each coil piece along a movable direction. A linear electromagnetic actuator characterized by skewing.