JP2010057338A - Mover, armature, and actuator - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an actuator which reduces the weight of a mover, eliminates a complicated winding structure of an armature, and obtains high-speed responsiveness. <P>SOLUTION: The mover 1 is configured by adhering 4 kinds of cylindrical magnets (a magnet magnetized outside in diameter direction, a magnet magnetized in height direction, a magnet magnetized inside in diameter direction, and a magnet magnetized in height direction) to an outer peripheral surface of a cylindrical inner yoke 3 alternately. The armature 4 is configured by arranging a first unit (U pole) 5 and a second unit (bar U pole) 6 alternately. The actuator 10 is obtained by penetrating the mover 1 through the armature 4. The second unit 6 is obtained by rotating the first unit 5 by 90 degree, and positions of cores of two spots are shifted by 90 degree between both units. A winding 7a and a winding 7b are wound on the core of the first unit 5 collectively. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a mover formed by stacking a plurality of cylindrical permanent magnets, an armature through which the mover passes, and an actuator formed by combining these mover and armature (stator).

  High-speed movement and high precision in vertical movement devices for drills used in drilling machines such as electronic circuit boards, or vertical movement mechanisms in pick-and-place (grabbing and placing parts) robots Positioning is required. Therefore, the conventional method in which the output of the rotary motor is converted into parallel motion (vertical motion) with a ball screw cannot satisfy such a requirement because the moving speed is low.

Therefore, for such vertical movement, use of an actuator (linear motor) capable of directly extracting a parallel motion output has been promoted. Various types of actuators have been proposed in which a permanent magnet magnetic pole member having a large number of permanent magnets is used as a mover, an armature having a current-carrying coil is used as a stator, and a mover is passed through the stator. (For example, Patent Documents 1, 2, and 3).
JP 11-41905 A JP 2007-43878 A JP 2008-79358 A

  Conventional actuators have a faster response than ball screws, but because the mass of the mover is large, sufficient thrust can be secured, but the required response speed cannot be achieved. The structure of the actuator suitable for speeding up is a movable magnet type, but if the magnetic pole pitch is large, the amount of magnetic flux that wraps around the yoke on the back of the magnet increases, the volume of the yoke increases, and the mover becomes heavy. On the other hand, when the magnetic pole pitch is reduced, the armature side wire structure is complicated, and it is difficult to reduce the size and increase the power density.

  The present invention has been made in view of such circumstances, and an object of the present invention is to provide a mover that generates a large amount of magnetic flux and is lightweight.

  Another object of the present invention is to provide an armature that does not have a complicated wire structure even when the magnetic pole pitch is small.

  Still another object of the present invention is to provide an actuator that has a structure in which magnetic saturation is unlikely to occur, can achieve high-speed response, and can increase the conversion efficiency of the motor and increase the power density.

  The mover according to the present invention is an actuator mover in which a plurality of cylindrical permanent magnets are stacked, and a cylindrical magnet magnetized in the radial direction and a cylindrical magnet magnetized in the overlapping direction are alternately stacked. The cylindrical magnets magnetized in the radial direction are arranged alternately with cylindrical magnets magnetized radially outward and cylindrical magnets magnetized radially inward. The magnetized cylindrical magnet is characterized in that it is magnetized in a direction from a cylindrical magnet magnetized in the radially inward direction to a cylindrical magnet magnetized in the radially outward direction.

  In the mover of the present invention, a cylindrical magnet magnetized radially outward, a cylindrical magnet magnetized in the overlapping direction (height direction), a cylindrical magnet magnetized radially inward, and stacked Cylindrical magnets magnetized in the direction (height direction), and a plurality of cylindrical permanent magnets are stacked in this order, and the cylindrical magnet magnetized in the overlapping direction (height direction) The magnet is magnetized in the direction from the cylindrical magnet magnetized in the direction toward the adjacent cylindrical magnet magnetized outward in the radial direction. With such a configuration, the cylindrical magnet magnetized in the overlapping direction (height direction) acts as a flux return path, so that the magnetic flux generated inside can be reduced. The child ensures a sufficient amount of magnetic flux even if it is lightweight.

  The mover according to the present invention is characterized in that the cylindrical magnet magnetized in the radial direction and the cylindrical magnet magnetized in the overlapping direction are bonded to an outer peripheral surface of a cylindrical yoke made of a soft magnetic material. And

  In the mover of the present invention, the cylindrical magnet as described above is bonded to the outer peripheral surface of a cylindrical yoke made of a soft magnetic material. Since the leakage of magnetic flux generated on the inside is reduced, the magnetic flux around the magnet is increased by the cylindrical yoke, the amount of magnetic flux generated on the outer periphery of the magnet can be increased, and the thickness of the cylindrical yoke can be reduced. Weight reduction can be achieved.

  An armature according to the present invention comprises an armature of an actuator through which a cylindrical mover passes, a ring-shaped magnetic pole portion through which the mover passes, a yoke portion arranged outside the magnetic pole portion, A first unit made of a soft magnetic material having a yoke part and a plurality of core parts connecting the magnetic pole part, a ring-shaped magnetic pole part through which the mover passes, and a yoke disposed outside the magnetic pole part And a second unit made of a soft magnetic material, which is provided at a position rotated by a predetermined angle with respect to the core portion of the first unit and has a plurality of core portions connecting the yoke portion and the magnetic pole portion. A plurality of core portions of the first unit and / or a plurality of core portions of the second unit are wound around each other.

  The armature of the present invention has a ring-shaped magnetic pole portion through which the mover passes, a yoke portion arranged outside the magnetic pole portion, and a plurality of core portions that connect the yoke portion and the magnetic pole portion. The first unit has the same member as the first unit, and a plurality of core units alternately overlapped with the second unit provided at a position rotated by a predetermined angle compared to the first unit, A winding line is wound around the plurality of core portions of one unit or the plurality of core portions of the second unit all together. Since the winding is collectively applied to the core portion of one unit without separately providing the winding for each magnetic pole, the structure of the winding is simple and the size can be easily reduced.

  In the armature according to the present invention, the predetermined angle is 90 degrees.

  In the armature of the present invention, the plurality of core portions of the first unit and the plurality of core portions of the second unit are in a positional relationship rotated 90 degrees. Therefore, even when current is passed through the winding wound around the core portion of one unit, magnetomotive force is applied to the core portions of both units.

  In the actuator according to the present invention, a cylindrical magnet magnetized in the radial direction and a cylindrical magnet magnetized in the overlapping direction are alternately stacked, and the cylindrical magnet magnetized in the radial direction is radially outward. Are alternately arranged, and the cylindrical magnets magnetized in the overlapping direction are magnetized in the adjacent radial inward direction. A mover that is magnetized in a direction toward a cylindrical magnet that is magnetized radially outward from the cylindrical magnet, a ring-shaped magnetic pole part, a yoke part that is disposed outside the magnetic pole part, A first unit made of a soft magnetic material having a yoke part and a plurality of core parts connecting the magnetic pole part, a ring-shaped magnetic pole part, a yoke part arranged outside the magnetic pole part, and the first unit The core portion is provided at a position rotated by a predetermined angle, and the yoke portion and the magnetic And a plurality of soft magnetic second units having a plurality of cores connecting the first and second units, and a plurality of cores of the first unit and / or a plurality of cores of the second unit. The armature wound with the winding wire is penetrated through the magnetic pole part of the first unit and the magnetic pole part of the second unit.

  In the actuator of the present invention, the movable element as described above is configured to penetrate the armature as described above. Since the magnetic flux generated inside the mover can be reduced and the weight of the mover can be reduced, the response speed of the mover increases. In addition, the wire structure in the armature is simple and the size can be reduced.

  In the actuator according to the present invention, the mover has a cylindrical yoke made of a soft magnetic material in which a cylindrical magnet magnetized in the radial direction and a cylindrical magnet magnetized in the overlapping direction are bonded to an outer peripheral surface. It is characterized by that.

  In the actuator of the present invention, the cylindrical magnet as described above is bonded to the outer peripheral surface of the cylindrical yoke made of the soft magnetic material of the mover. Reduces the leakage of magnetic flux generated inside the mover, increases the amount of magnetic flux that wraps around the magnet by the cylindrical yoke, and increases the amount of magnetic flux generated on the outer periphery of the magnet, reducing the thickness of the cylindrical yoke As a result, the weight can be reduced.

  In the mover of the present invention, a cylindrical magnet magnetized in the radially outward direction, a cylindrical magnet magnetized in the overlapping direction (height direction), a cylindrical magnet magnetized in the radially inward direction, and the overlapping direction (high A plurality of cylindrical permanent magnets in this order, and the cylindrical magnet magnetized in the overlapping direction (height direction) was magnetized inward in the adjacent radial direction. Since the configuration is such that the magnet is magnetized in the direction from the cylindrical magnet toward the cylindrical magnet that is magnetized radially outward next to the cylindrical magnet, the magnetic flux generated inside can be reduced. It is possible to reduce the weight while securing the amount.

  In the mover according to the present invention, even when a cylindrical yoke made of a soft magnetic material to which the cylindrical magnet is bonded as described above is provided, leakage of magnetic flux generated inside is reduced, and the magnet is formed by the cylindrical yoke. Since the amount of magnetic flux flowing into the magnet can be increased and the amount of magnetic flux generated on the outer periphery of the magnet can be increased, the thickness of the yoke can be reduced and the weight can be reduced.

  In the armature of the present invention, a soft magnetic body having a ring-shaped magnetic pole portion through which the mover penetrates, a yoke portion arranged outside the magnetic pole portion, and a plurality of core portions connecting the yoke portion and the magnetic pole portion. The first unit and the second unit, and the positions of the plurality of core portions of both units are shifted by 90 degrees from each other and are alternately stacked, and the plurality of core portions of the first unit and / or the plurality of second units Since the winding is wound around the core in a lump, there is no need to wire each magnetic pole individually, the winding structure is simple, and the size can be reduced. .

  In the armature of the present invention, since the plurality of core portions of the first unit and the plurality of core portions of the second unit are in a positional relationship rotated 90 degrees, they are wound around the core portion of one unit. A magnetomotive force can be applied to the cores of both units even when the wire is energized.

  In the actuator of the present invention, since the movable element as described above is made to penetrate the armature as described above, the magnetic flux generated inside the movable element can be reduced, and the weight of the movable element is reduced. Therefore, the response speed of the mover can be increased, and the armature strand structure can be simplified to reduce the size.

  In the actuator of the present invention, even when the mover is provided with a cylindrical yoke made of a soft magnetic material to which the cylindrical magnet as described above is bonded, leakage of magnetic flux generated inside is reduced, and the cylindrical yoke is reduced. As a result, it is possible to increase the amount of magnetic flux that wraps around the magnet and increase the amount of magnetic flux generated on the outer periphery of the magnet, so that the thickness of the cylindrical yoke can be reduced and the weight of the mover can be reduced.

  Hereinafter, the present invention will be described in detail with reference to the drawings illustrating embodiments thereof. FIG. 1 is a perspective view showing a configuration of a mover according to the present invention.

  The mover 1 of the present invention has a configuration in which four types of cylindrical magnets 2a, 2b, 2c, and 2d are alternately bonded in this order in the axial direction to the outer peripheral surface of an inner yoke 3 made of a cylindrical soft magnetic material. There is no. In FIG. 1, white arrows indicate the magnetization directions of the cylindrical magnets 2a, 2b, 2c, and 2d. The cylindrical magnet 2a is a cylindrical magnet (radially anisotropic magnet) magnetized radially outward, and the cylindrical magnet 2c is a cylindrical magnet (radially anisotropic magnet) magnetized radially inward. ). Therefore, the magnetization direction of the cylindrical magnet 2a and the cylindrical magnet 2c is opposite in the radial direction.

  The cylindrical magnets 2b and 2d are magnetized in the direction from the adjacent cylindrical magnet 2c magnetized radially inward to the adjacent cylindrical magnet 2a magnetized radially outward. That is, in FIG. 1, the cylindrical magnet 2b is magnetized in the direction from the left adjacent cylindrical magnet 2c to the right adjacent cylindrical magnet 2a, and the cylindrical magnet 2d is left from the right adjacent cylindrical magnet 2c. It is magnetized in the direction toward the adjacent cylindrical magnet 2a. Therefore, the magnetization direction of the cylindrical magnet 2b and the cylindrical magnet 2d is opposite in the height direction (overlapping direction).

  FIG. 2 is a perspective view showing the configuration of the armature according to the present invention. FIGS. 2A to 2C are partial configuration diagrams, and FIG. 2D is an overall configuration diagram.

  The armature 4 has a configuration in which first units (U poles) 5 shown in FIG. 2A and second units (bar U poles) 6 shown in FIG. 2B are alternately arranged. (See FIG. 2 (c)). The first unit (U pole) 5 is formed of a soft magnetic material, and is connected to the ring-shaped magnetic pole part 5a through which the mover 1 passes and the magnetic pole part 5a to connect the magnetic flux from the magnetic pole part 5a. It has a yoke part 5b as a frame disposed on the outside, and two core parts 5c, 5c connecting the yoke part 5b and the magnetic pole part 5a. The two core portions 5c and 5c are provided at positions separated by 180 degrees.

  The second unit (bar U pole) 6 is formed of a soft magnetic material, and connects the ring-shaped magnetic pole part 6a through which the mover 1 passes, and the magnetic pole to connect the magnetic flux from the magnetic pole part 6a. It has a yoke part 6b as a frame disposed outside the part 6a, and two core parts 6c and 6c that connect the yoke part 6b and the magnetic pole part 6a. The two core portions 6c and 6c are provided at positions separated by 180 degrees. The first unit 5 and the second unit 6 have the same constituent members, but the second unit 6 is rotated 90 degrees around the center of the ring-shaped magnetic pole part 5a of the first unit 5 as the rotation center. Is. Therefore, the formation position of the core portion 6c in the second unit 6 (the position at 3 o'clock and 9 o'clock in FIG. 2B) is the formation position of the core portion 5c in the first unit 5 (at 0 o'clock in FIG. 2A). , 6 o'clock position).

  Then, such first units 5 and second units 6 are alternately arranged and overlapped as shown in FIG. Here, in the adjacent first unit 5 and second unit 6, the yoke portion 5b and the yoke portion 6b are in contact with each other, but the magnetic pole portion 5a and the magnetic pole portion 6a, the core portion 5c and the core portion 6c, Are not in contact with each other, and a gap exists between them.

  The winding wire 7a is wound around the core portions 5c and 5c of one of the two first units 5 and 5 (position at 12 o'clock). Further, the winding wire 7b is wound around the other core portions 5c and 5c of the other first units 5 and 5 (at the 6 o'clock position). Then, the two wire 7a and 7b are connected so that the energization directions of the wire 7a and the wire 7b are reversed (see FIG. 2D). White arrows in FIG. 2 (d) indicate the energization directions on the winding lines 7a and 7b.

  1 is passed through the hollow portion 8 formed by connecting the magnetic pole portions 5a and 6a of the armature 4 shown in FIG. 2D, so that the single-phase drive according to the present invention is performed. An actuator (single-phase actuator) 10 is configured. FIG. 3 is a perspective view showing the configuration of the actuator 10 according to the present invention, and FIG. 4 is a partially broken perspective view of the actuator 10.

  In the case of the actuator of the present invention, the armature 4 functions as a stator. Then, by applying a current in the reverse direction to the winding wires 7a and 7b, the mover 1 penetrating through the hollow portion 8 of the armature 4 performs a reciprocating linear motion with respect to the armature 4 (stator).

  FIG. 5 is a cross-sectional view showing the energized state and magnetomotive force in the armature 4. In FIG. 5, “● (flow from the back of the paper to the front)” and “× (flow from the front to the back of the paper)” indicate the flow direction to the winding lines 7 a and 7 b. The white arrow indicates the direction of the magnetomotive force applied to the core portions 5c and 6c by energization of the coil. In the present invention, an alternating magnetic field is generated in all the core portions 5c and 6c of the first unit 5 and the second unit 6 by flowing reverse currents through the winding wire 7a and the winding wire 7b.

  As a conventional actuator, an actuator (Patent Document 1) in which a cylindrical magnet magnetized in the radial direction is bonded to a solid shaft that also serves as an inner yoke (Patent Document 1), a solid cylindrical magnet magnetized in the height direction is used. Actuators (Patent Documents 2 and 3) having a configuration in which they are combined in a repulsive direction and enclosed in a nonmagnetic cylindrical tube have been used. In such a configuration, the mass of the mover increases, and high-speed response cannot be realized.

  On the other hand, in the actuator of the present invention, even if the mover 1 has a hollow configuration, it is possible to secure the same amount of magnetic flux as that of the conventional solid configuration, so that the weight can be reduced. Further, since the cylindrical magnets 2b and 2d magnetized in the height direction act as a flux return path, the magnetic flux generated inside the mover 1 can be reduced, and the thickness of the inner yoke 3 is reduced. Therefore, the weight of the mover 1 can be reduced. Therefore, in the actuator of the present invention, since the weight of the mover 1 can be reduced, the response speed can be increased.

  By the way, as a method for thinning the inner yoke of the mover, it is conceivable to reduce the magnetic pole pitch of the cylindrical magnet. However, when the magnetic pole pitch is reduced, the winding of the winding wire is reduced in the conventional armature structure. The number of locations increased and the overall shape tended to increase in size.

  On the other hand, in the armature 4 of the actuator according to the present invention, the cores 5c and 5c are not bundled individually for each pole of the cylindrical magnet, but the cores 5c and 5c are collectively bundled. Since 7b is applied, the structure of the line is simple and downsizing can be easily realized.

  In the above-described embodiment, the movable element 1 is configured by alternately bonding the cylindrical magnets 2a, 2b, 2c, and 2d to the outer peripheral surface of the cylindrical inner yoke 3, but the inner yoke 3 is not necessarily provided. Alternatively, the mover 1 may be constituted by only four types of cylindrical magnets. Further, the thickness ratio between the inner yoke and the cylindrical magnet may be appropriately selected according to the characteristics required by the ratio between the thrust and the mass of the mover.

  In the above-described embodiment, the winding lines 7a and 7b are wound around the core portion 5c of the first unit 5 at once. However, the winding lines 7a are collectively wound around the core portion 6c of the second unit 6. 7b may be wound. Further, the winding wires 7 a and 7 b may be wound around both the core portion 5 c of the first unit 5 and the core portion 6 c of the second unit 6.

  In the above-described embodiment, five sets of four types of cylindrical magnets 2a, 2b, 2c, and 2d are stacked. However, this is an example, and the number of sets may be any number. In addition, although two sets of the first unit 5 and the second unit 6 are alternately arranged, this is an example, and the number of sets may be any number.

  Also, a single-phase actuator has been described. For example, in the case of configuring a three-phase drive actuator, the above-described three armatures are replaced with magnetic pole pitch × (n + 1/3) or magnetic pole pitch × (n + 2/3) ( However, n may be arranged in a straight line with an interval of an integer), and the movable element may be passed through them. In this case, an integer n may be set in consideration of a space in which the line is accommodated.

  Although the core part 5c in the first unit 5 and the core part 6c in the second unit 6 are arranged in a positional relationship rotated by 90 degrees, the core parts are in a positional relation rotated by 120 degrees each. When an armature is configured by stacking a plurality of three units, three-phase driving can be realized with one armature.

(Example)
Hereinafter, a specific configuration of the actuator manufactured by the present inventor and characteristics of the manufactured actuator will be described.

  First, as the mover 1 used for the actuator, a permanent magnet magnetic pole member having a shape as shown in FIG. 6 was produced. This permanent magnet magnetic pole member (mover 1) is composed of four types of cylindrical magnets 2a, 2b, 2c, 2d made of rare earth magnets (for example, Fe-Nd-B magnets) and the outer peripheral surface of the cylindrical inner yoke 3. Are alternately bonded in the axial direction. Each of the cylindrical magnets 2a and 2c has an outer diameter of 9 mm, an inner diameter of 7 mm, and a height of 3 mm. The cylindrical magnet 2a is magnetized radially outward, and the cylindrical magnet 2c is magnetized radially inward. It is magnetized. Each of the cylindrical magnets 2b and 2d has an outer diameter of 9 mm, an inner diameter of 7 mm, and a height of 1 mm, and is cylindrically magnetized from the adjacent radially inwardly magnetized cylindrical magnet 2c to the adjacent radially outwardly. It is magnetized in the direction toward the magnet 2a. The direction of magnetization of each of these cylindrical magnets 2a, 2b, 2c, 2d is the same as the example (open arrow) shown in FIG.

  As the inner yoke 3, an iron pipe having an outer diameter of 9 mm and an inner diameter of 7 mm was used. Further, 16 types of cylindrical magnets 2a, 2b, 2c, and 2d were used, and the total length of the magnet array on the iron pipe (inner yoke 3) was 128 mm.

  Next, the armature 4 was produced. 7 pieces of armature material having a shape as shown in FIG. 7 are cut out from a 0.5 mm-thick silicon steel plate and stacked, and only the frame portion of FIG. 7 (25 mm × 25 mm, width 1.5 mm) is further formed thereon. Two pieces were cut out and overlapped to produce an armature monopolar unit. The two frames having only the frame portion function as spacers that prevent the core portions of adjacent monopolar units from contacting each other. The magnetic pole pitch is 4 mm (= 0.5 mm × 8). By laminating four such armature single-pole units sequentially while rotating 90 degrees, a laminate having a length of 25 mm, a width of 25 mm, and a height of 16 mm was obtained. In this example, two first units (U poles) 5 and two second units (bar U poles) 6 are alternately arranged.

  Next, the conductors (strand wires 7a and 7b) are collectively bundled 100 times at two core portions of one of the two armature single-pole units (two first units 5 or second units 6). I wrapped it. Then, these two sets of conducting wires were connected in series so that magnetomotive forces in opposite directions were given to the core portion when energized.

  Three armatures 4 prepared in this way are prepared, and the three armatures 4 are arranged and fixed in a straight line at intervals of 13.3 mm (= 4 mm × (3 + 1/3)), respectively. The mover 1 produced as described above was passed through the three armatures 4 to constitute a three-phase drive actuator.

  FIG. 8 is a diagram illustrating a circuit configuration for performing position control of a three-phase driving actuator. A linear scale 21 having a fine periodic structure with a change in light reflectance is attached to the tip of the mover 1. Further, a linear encoder 22 having a laser light generation mechanism, a reflected light detection mechanism, an optical lens, and the like is provided facing the linear scale 21. The linear encoder 22 functions as a position sensor that detects the intensity pattern of the reflected light that accompanies the movement of the mover 1, and outputs the sensor output (received result of the reflected light) to the position pulse calculator 23.

  The position pulse calculation unit 23 calculates position information and velocity information of the movable element 1 by counting the intensity pattern of the reflected light as pulses, and outputs the position information of the movable element 1 to the subtractor 24. 1 speed information is output to the subtractor 26. Further, the position pulse calculation unit 23 outputs the phase information to the drive unit 28.

  The subtractor 24 calculates a difference between the input target position signal and the position information, and outputs the difference result to the position control unit 25. The position control unit 25 performs position control based on the difference result and outputs a target speed signal to the subtractor 26. The subtractor 26 obtains a difference between the target speed signal and the speed information, and outputs the difference result to the speed control unit 27. The speed control unit 27 performs speed control based on the difference result and outputs a control signal to the drive unit 28.

  Based on the control signal from the speed control unit 27, the drive unit 28 provides drive outputs to the U-phase, V-phase, and W-phase armature units in accordance with the phase information from the position pulse calculation unit 23 to the conductors. Apply current. By this energization control, the mover 1 is moved to a desired position at a desired speed.

  Hereinafter, the characteristics of the actuator of the present invention will be described. First, the influence of the surface magnetic flux density exerted by the arrangement of the cylindrical magnets in the mover will be described.

As described above, the mover according to the present invention in which the cylindrical magnet magnetized in the radial direction and the cylindrical magnet magnetized in the height direction are alternately bonded to the outer peripheral surface of the inner yoke, and the radial magnet When the magnetic field density of the magnet surface was measured with respect to the mover as a comparative example in which only the magnetized cylindrical magnet was bonded to the outer peripheral surface of the cylindrical inner yoke, the magnetic field density on the magnet surface was measured. In the comparative example, it was 0.56T. In addition, a cylindrical magnet magnetized in the radial direction and a cylindrical magnet magnetized in the height direction are alternately stacked (without an inner yoke), and a mover as an example of the present invention, and a cylindrical magnet magnetized in the radial direction When the magnetic field density on the magnet surface was measured with respect to a mover as a comparative example in which only magnets were stacked (no inner yoke), it was 0.35 T in the former present invention example and 0.22 T in the latter comparative example. . Measurement conditions at this time were as follows: cylindrical magnet: Fe—Nd—B magnet (inner diameter 7 mm, thickness 1 mm), maximum energy product: 380 kJ / m ³ , Br: 1.4T, inner yoke: pure iron (inner diameter 5 mm, The thickness was 1 mm).

  From these measurement results, it is understood that a large magnetic field density can be obtained on the magnet surface by sandwiching a cylindrical magnet magnetized in the height direction as in the present invention.

  Next, the relationship between the thickness of the inner yoke and the obtained thrust in the actuator of the present invention will be described. Thrust characteristics were measured for various three-phase actuators manufactured by changing the thickness of the inner yoke. The measurement results are shown in FIG. In FIG. 9, the thrust characteristics when the thickness of the inner yoke (outer diameter 7 mm) is 3.5 mm (solid configuration), 1.0 mm, 0.5 mm, 0.2 mm, and 0.0 mm (none), respectively. Represents.

  For example, when an actuator having an inner yoke thickness of 1.0 mm is taken as an example, a stable thrust up to about 30 N is obtained as shown in FIG. The mass of the mover in this example is about 45 g. Compared with the conventional example in which a mass of 100 g or more is required for the mover in order to obtain a thrust of 30 N, the present invention does not reduce the thrust and the mover Significant weight reduction has been achieved. Therefore, in the present invention, an actuator excellent in high-speed response can be provided.

  Further, based on the measurement result of the thrust characteristics, the ratio of thrust to the mass of the mover (= thrust (N) ÷ mass of the mover (g)) was calculated. The calculation result is shown in FIG. In FIG. 10, the ratio of the thrust to the mass of the mover when the magnitude of the three-phase drive current (drive current = supply current × number of coil turns) is 400 A is shown.

  In the actuator of the present invention, when the thickness of the inner yoke is 0.2 mm, the ratio of the thrust to the mass of the mover is maximized (see FIG. 10). However, since a large thrust cannot be obtained when the thickness of the inner yoke is 0.2 mm (see FIG. 9), the thickness of the inner yoke should be about 0.5 to 1.0 mm so that a large thrust can be obtained. Is also practical. Therefore, it is preferable to set the thickness of the inner yoke appropriately according to the desired acceleration and thrust priority.

  The inner yoke is described as a soft magnetic material in the embodiment, but may be a nonmagnetic material such as duralumin. This is because the inner yoke has only to fulfill the function of maintaining the shape of the mover and the function of reducing the weight of the mover.

It is a perspective view which shows the structure of the needle | mover which concerns on this invention. It is a perspective view which shows the structure of the armature which concerns on this invention. It is a perspective view which shows the structure of the actuator which concerns on this invention. It is a partially broken perspective view of the actuator according to the present invention. It is sectional drawing which shows the energization state and magnetomotive force in an armature. It is a perspective view which shows the permanent magnet magnetic pole member used for manufacture of a needle | mover. It is a top view which shows the armature raw material used for preparation of an armature. It is a figure which shows the circuit structure for performing position control of the actuator of a three-phase drive. It is a graph which shows the measurement result of the thrust characteristic in an actuator. It is a graph which shows the calculation result of ratio of the thrust with respect to the mass of a needle | mover.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Movable element 2a, 2b, 2c, 2d Cylindrical magnet 3 Inner yoke 4 Armature 5 1st unit (U pole)
6 Second unit (Bar U pole)
5a, 6a Magnetic pole part 5b, 6b Yoke part 5c, 6c Core part 7a, 7b Stranded wire 10 Actuator

Claims (6)

In the mover of the actuator formed by stacking a plurality of cylindrical permanent magnets,
A cylindrical magnet magnetized in the radial direction and a cylindrical magnet magnetized in the overlapping direction are alternately stacked, and the cylindrical magnet magnetized in the radial direction is a cylindrical magnet magnetized radially outward. And cylindrical magnets magnetized inward in the radial direction are arranged alternately, and the cylindrical magnets magnetized in the overlapping direction are adjacent to the cylindrical magnets magnetized inward in the radial direction. A mover that is magnetized in a direction toward a cylindrical magnet that is magnetized outward in the direction.   The movable magnet according to claim 1, wherein the cylindrical magnet magnetized in the radial direction and the cylindrical magnet magnetized in the overlapping direction are bonded to an outer peripheral surface of a cylindrical yoke made of a soft magnetic material. Child. In the armature of the actuator through which the cylindrical mover passes,
A first magnetic soft magnetic body having a ring-shaped magnetic pole portion through which the mover penetrates, a yoke portion arranged outside the magnetic pole portion, and a plurality of core portions connecting the yoke portion and the magnetic pole portion. 1 unit, a ring-shaped magnetic pole portion through which the mover passes, a yoke portion disposed outside the magnetic pole portion, and a core portion of the first unit rotated at a predetermined angle, the yoke portion And a plurality of soft magnetic second units having a plurality of core portions connecting the magnetic pole portions, and a plurality of core portions of the first unit and / or a plurality of second units. An armature characterized in that a winding wire is wound around a core portion.   The armature according to claim 3, wherein the predetermined angle is 90 degrees. A cylindrical magnet magnetized in the radial direction and a cylindrical magnet magnetized in the overlapping direction are alternately stacked, and the cylindrical magnet magnetized in the radial direction is a cylindrical magnet magnetized radially outward. And cylindrical magnets magnetized inward in the radial direction are arranged alternately, and the cylindrical magnets magnetized in the overlapping direction are adjacent to the cylindrical magnets magnetized inward in the radial direction. A mover magnetized in a direction toward a cylindrical magnet magnetized outward in the direction
A first unit made of a soft magnetic material having a ring-shaped magnetic pole part, a yoke part arranged outside the magnetic pole part, and a plurality of core parts connecting the yoke part and the magnetic pole part; A magnetic pole portion, a yoke portion arranged outside the magnetic pole portion, and a plurality of core portions provided at positions where the core portion of the first unit is rotated by a predetermined angle and connecting the yoke portion and the magnetic pole portion. The armature of the armature, wherein the second unit made of soft magnetic material and alternately stacked, and a plurality of core portions of the first unit and / or a plurality of core portions of the second unit are wound with winding lines. An actuator, wherein the actuator is penetrated through the magnetic pole part of the first unit and the magnetic pole part of the second unit.   The movable element has a cylindrical yoke made of a soft magnetic material, wherein a cylindrical magnet magnetized in the radial direction and a cylindrical magnet magnetized in an overlapping direction are bonded to an outer peripheral surface. 5. The actuator according to 5.

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