JP2585764Y2 - Connection structure of mover of linear motor - Google Patents

Description

[Detailed description of the invention]

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a connecting structure for a mover of a linear motor.

[0002]

2. Description of the Related Art A linear motor has been developed in which a movable element is guided by a guide rail provided with a curved portion which bends in a vertical direction or a horizontal direction so as to travel in a three-dimensional space. A transfer device using this linear motor has been put to practical use. By adding a plurality of movers, the thrust of the transfer device can be increased. In this case, in the curved portion of the guide rail, it is necessary for the plurality of movers to travel while changing their postures along the curvature of the curved portion.

[0003]

SUMMARY OF THE INVENTION The present invention has been made in view of the above points, and has a movable element of a linear motor in which a plurality of connected movable elements can smoothly travel along a curved portion of a guide rail. It is an object of the present invention to provide a connection structure.

[0004]

In order to achieve the above object, a connecting structure of a mover of a linear motor according to the present invention includes a guide rail having a curved portion and a traveling roller guided by the guide rail. A connecting structure for a mover in a linear motor, comprising: a rotating shaft protruding from a center of a mover frame of the mover; a connecting bar rotatably mounted on the rotating shaft; And an end of the connecting bar of another mover are rotatably connected to each other by a connecting pin inserted in a direction perpendicular to the rotation axis on a line connecting the rotation axes of the mover. Then, a plurality of movers are connected.

[0005]

In the linear motor connecting structure having the above-described structure, the ends of the connecting bar, which is pivotally mounted on the rotating shaft protruding from the center of the mover frame, are placed on a line connecting the rotating shafts of the mover. It is rotatably connected to a shaft by a connecting pin inserted in a direction perpendicular to the rotating shaft, and also in a curved portion provided on the guide rail, a plurality of movable elements connect the rotating shaft or the connecting pin. It turns around the center and runs smoothly along the guide rail.

[0006]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described with reference to the accompanying drawings. FIG. 1 is a perspective view showing a state in which three movers 21a, 21b, and 21c guided by the guide rail 1 are connected. A mounting hole 22a drilled at the center of the ceiling of the mover frame 22, which is open on the lower surface and straddles the guide rail 1.
, A vertical rotating shaft 31 is provided. As shown in FIG. 2, the rotation shaft 31 is inserted through the upper and lower surfaces of the connection bar 35,
A pair of bearings 32 for rotatably supporting the connecting bar 35
a, 32b, mounting bolts 33, and nuts 34.

The movable elements 21a on both sides of the three connected elements,
The connection bar 35 axially mounted on the connection bar 21c is formed at one end with a bearing hole 36 through which the pair of bearings 32a and 32b are inserted. At the other end, a connecting vertical groove 37 is formed, and a bearing hole 38 in a direction orthogonal to the bearing hole 36 is formed. Two connecting bars 39 are pivotally attached to the middle mover 21b by the rotating shaft 31 having the above-described configuration. The connection bar 39 has a thickness from the upper surface or the lower surface.
A shaft attachment portion 40 having a thickness of is formed at one end,
A bearing hole 41 is formed in the shaft attachment portion 40. At the other end, a connecting portion 42 that fits into the connecting vertical groove 37 of the connecting bar 35 is formed, and a connecting hole 43 that matches the bearing hole 38 is formed.

The connecting portion 42 of the connecting bar 39 is fitted into the connecting vertical groove 37 of the connecting bar 35 so that the bearing hole 38 and the connecting hole 43 match. Then, a pair of bearings 44 a and 44 b are inserted from both left and right sides of the bearing hole 38, and the bearings 44 a and 44 b are further inserted.
The connecting pin 45 is inserted into the a and 44b, and the retaining ring 46 is fitted to the protruding end to connect the shaft. Connection bar 35,3
The length of the magnet 9 is determined by the distance between the movable elements 21a, 21b, and 21c in the traveling direction (the X-axis direction in FIG. 1) of the magnets 26a and 26b to be described later divided by the magnetic pole pitch (the length of the magnet in the X direction) × n (n is an integer)}.

FIG. 3 is a perspective view showing a state in which a resin mold coil 10 is installed at a required portion of a straight portion of the guide rail 1. As shown in FIG. The guide rail 1 is an extruded product such as an aluminum material in which a horizontal installation portion 2 on which the resin mold coil 10 is installed and traveling rail portions 3a and 3b are integrally formed at both left and right end portions. An insertion hole 4 is formed at an appropriate position in the center of the installation portion 2 in the longitudinal direction. Traveling rail portions 3a, 3b formed at both left and right end portions of the guide rail 1 are upper traveling rails 5a, 5b obliquely descending toward an outer end portion, and are approximately 90 degrees from the lower ends of the upper traveling rails 5a, 5b. It consists of lower traveling rails 6a and 6b which fall diagonally inward.

As shown in FIG. 4, a resin molded coil 10 is formed by arranging three flat coils 11 at a predetermined interval and performing resin molding 12 by insert resin molding to integrate them. At the lower end of the resin molded coil 10, a circuit board mounting portion 13 extending horizontally horizontally and case fixing portions 14a and 14b are integrally formed at both ends of the circuit board mounting portion 13. On the circuit board mounting part 13, a circuit board 16 constituting an energization switching control circuit 15 for the three flat coils 11 is mounted. Then, the motor case 1 for housing the lower portion of the resin molded coil 10 from the circuit board mounting portion 13
7 is fitted and fixed to the outside of the case fixing portions 14a and 14b. The longitudinal opening of the motor case 17 is closed with a lid 18 to be screwed.

Further, in the resin mold coil 10, three Hall elements 19, which are magneto-sensitive elements, are arranged at predetermined intervals corresponding to the three flat coils 11. Flat coil 1
1 and the Hall element 19 and the electrical connection switching control circuit 15 are electrically connected together with the mounting of the circuit board 16.
The resin-molded coil 10 having the above-described configuration is configured such that the lower part of the resin-sealed flat coil 11 is provided on the installation portion 2 of the guide rail 1.
And the upper part of the motor case 17 is fitted into the installation part 2 and fixed. Since the insertion hole 4 is formed at an appropriate position in the longitudinal direction in the straight portion of the guide rail 1, the resin mold coil 10 can be inserted into any one of the insertion holes 4 and installed. A control signal line (both not shown) from the central processing unit is connected to the energization switching control circuit 15.

FIG. 5 shows the guide rail 1, the resin mold coil 10 and the three movers 21a, 21b, 21c.
FIG. 2 is a cross-sectional view of a movable magnet type linear DC motor A configured from FIG. The mover frame 22 of each mover 21a, 21b, 21c is a flat coil 1 of the resin mold coil 10.
The magnet mounting portions 23a and 23b corresponding to both sides of the vehicle 1 and the traveling roller mounting portions 24a and 24b are formed integrally and symmetrically. The length of the mover frame 22 in the longitudinal direction is at least equal to or greater than the length of the resin molded coil 10 in the longitudinal direction. Inside the magnet mounting parts 23a and 23b,
The yokes 25a and 25b are fixed, and a plurality of magnets 26a and 26b magnetized in the thickness direction are mounted. Then, the magnets 26a, 26 corresponding to the flat coil 11 are sandwiched.
The polarity of b and the polarities of the adjacent magnets 26a and 26b are different from each other.

A pair of traveling rollers 27a and 27b, which are obliquely arranged, are attached to the traveling roller attaching portions 24a and 24b, respectively. The obliquely upward running rollers 27a, 27a are brought into contact with the upper running rails 5a, 5b of the guide rail 1, and the obliquely downward running rollers 27b, 27b are made to correspond to the lower running rails 6a, 6b. 2
1b and 21c are held so that they can run. The magnet 28 for detecting the magnetic pole corresponding to the Hall element 19 is
a and 26b are arranged at an arrangement pitch interval.

The outline of the operation of the linear DC motor having the above configuration will be described below. The energization switching control circuit 1 detects the magnetic pole of the magnetic pole detecting magnet 28 detected by the Hall element 19.
Enter 5 The energization switching control circuit 15 is provided for each flat coil 1.
The direction of current supply to the first effective winding units 11a and 11b is switched and controlled. Then, from the relationship between the respective magnetic pole detection signals and the arrangement pitch of the Hall elements 19, the movable elements 21a, 21b, 21c
Between the magnets 26a and 26b mounted on the flat coil 11 and the effective winding portions 11a and 11b of the flat coils 11 at all times.
The thrust based on Fleming's left hand rule acts in the traveling directions of a, 21b, and 21c. Therefore, the size of the flat coil 11, the pitch of the effective winding portions 11a and 11b, the arrangement interval of the adjacent flat coils 11, and the like are determined by the magnet 2
6a and 26b are determined by the relationship with the magnetic pole pitch.
When stopping the movers 21a, 21b, 21c, the flat coils 1 are moved so that thrust acts in the direction opposite to the running direction.
The direction of current supply to 1 is switched and controlled. The switching control of the energization direction is performed based on a control signal of a central control device (not shown).

The three movers 21a, 21b, 21c connected by the connecting bars 35, 35 and 39, 39 are provided when the guide rail 1 is curved in the Y-axis direction shown in FIG.
It turns around each rotation shaft 31 and travels along the guide rail 1. When the guide rail 1 is curved in the Z-axis direction, the vehicle travels around each connecting pin 45. For this reason, the guide rail 1 and the traveling rollers 27a,
It is possible to run smoothly with less play between 27b.

Further, each of the movers 21a, 21b, 21c
The corresponding interval in the traveling direction (X-axis direction in FIG. 1)
{Pole pitch of magnets 26a and 26b (length of magnet in X direction) × n (n is an integer)}. Therefore, each mover 2
When 1a, 21b, and 21c correspond to the flat coil 11 of the resin molded coil 10, the relationship between each of the magnets 26a, 26b and the effective winding portions 11a, 11b of each flat coil 11 is determined uniformly, and is based on this. Flat coil 11
Thrust can be generated stably by switching control of the direction of current supply to the motor. In addition, in FIG.
Even if the magnets 26a, 26b and the effective winding portions 11a, 11b of the flat coils 11 are uniformly connected to each other even if the magnets 26a, 26b are laid on the guide rail 1 while being rotated 180 ° while the a, 21b, 21c are connected. Since it is determined, so-called reverse running becomes possible.

In the above embodiment, the guide rail 1
In the case where the armature itself or the curved portion or the bent portion of the guide rail 1 is distorted or twisted, or the connecting bar mounting surface of the mover frame 22 is replaced with three movers 21a to 21
If it is not possible to regulate the movable elements c on one plane, the three movable elements 21a to 21c cannot travel smoothly along the guide rail 1. Therefore, the bearing holes 36,
41, tolerance of fitting of the rotating shaft 31 with respect to 41, bearing hole 3
8. The tolerance of the fitting of the connecting pin 45 and the like into the connecting hole 43 and the tolerance of the fitting of the connecting vertical groove 37 and the connecting portion 42 are respectively increased to ensure smooth movement of the mover.

The above-mentioned linear DC motor A has three movable elements 21a, 21 by a connecting bar 35 and a connecting bar 39.
b and 21c can be connected to travel on a guide rail 1 provided with a curved portion or a curved portion in a three-dimensional space,
Since the number of connections can be increased, a three-dimensional traveling transfer device can be provided using the mover as a carrier.

[0019]

According to the present invention, the end of the connecting bar, which is pivotally mounted on the pivot shaft protruding from the center of the mover frame, is placed on the line connecting the pivots of the mover. In this configuration, the movable pins are rotatably connected to each other by a connecting pin inserted in a direction perpendicular to the rotation axis, so that the plurality of connected movers can smoothly travel along the curved portion or the curved portion of the guide rail.

[Brief description of the drawings]

FIG. 1 is a perspective view showing a connected state of a mover.

FIG. 2 is an exploded perspective view of a connection structure.

FIG. 3 is a perspective view of a guide rail in a state where a resin mold coil is installed.

FIG. 4 is a front view of a resin mold coil.

FIG. 5 is a sectional view of a linear DC motor.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Guide rail 21a, 21b, 21c ... Mover 22 ... Mover frame 27a, 27b ... Running roller 31 ... Rotating shaft 35, 39 ... Connection bar 45 ... Connecting pin A ... Linear DC motor Line segment ... L

──────────────────────────────────────────────────続 き Continued on front page (58) Field surveyed (Int.Cl. ⁶ , DB name) H02K 41/02 B60L 13/02

Claims (1)

(57) [Scope of request for utility model registration] 1. A connecting structure of a mover in a linear motor having a guide rail provided with a curved portion and a traveling roller guided by the guide rail, wherein the mover rotates about the center of a mover frame. A shaft is protruded, and a connecting bar is rotatably mounted on the rotating shaft. An end of the connecting bar and an end of a connecting bar of another movable element are connected to each of the rotating axes of the movable element. Are pivotally connected by a connecting pin inserted in a direction perpendicular to the rotation axis on a line connecting
A mover connecting structure for a linear motor, wherein a plurality of movers are connected.