JP3430770B2 - Door opening / closing linear motor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a linear motor having stable thrust for a door in the case of using for a long period with low noise and small cogging at a stop or in motion. SOLUTION: A stator block A is disposed in a stator case 1 at least at two predetermined intervals of an armature block A1 having three armatures 2 as one unit, four or six units are suitably sequentially arranged in the order of exciting phases of exciting coils 2d of the armatures 2 of the respective units at a molding 3 at a predetermined interval, and the cogging operating at the yoke 2a of the armature 2 by a field permanent magnet 7 is canceled between the units.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a door opening / closing linear motor used for door transportation.

[0002]

2. Description of the Related Art Conventionally, a rotary motor has been widely used as a power source for opening and closing an automatic door, but recently, a linear motor has also been often used for downsizing the shape and simplifying the mechanism. As this type of linear motor, a door opening / closing linear motor having a structure shown in FIGS. 14 and 15 using a permanent magnet for a mover is known. FIG. 14 is an elevational view of a conventional door opening / closing linear motor, and FIG. 15 is a sectional view taken along line AA of FIG.

This linear motor for opening and closing a door is a door frame 1
On the upper surface of the stator, the armature 2 including the yoke 2a having a convex shape and the exciting coil 2b is arranged at a predetermined interval in the longitudinal direction, and on the upper surface of the door 5, the yoke 6a and the yoke 6a Permanent magnets that are magnetized with different poles in the thickness direction and have different poles alternately in the longitudinal direction at predetermined intervals, and face the facing surface of the yoke 2a of the armature 2 of the stator.
6 and a movable element.

The permanent magnets 6 are arranged so as to generate a magnetic flux in the vertical direction, and the pitch thereof is 1.5 times the pole pitch of the armature 2. The yoke 6a to which the permanent magnet 6 is attached has an L-shaped cross section and is fixed to the upper surface of the door 5 on its horizontal surface, and the shaft of the wheel 7 of the door 5 is fixed to its vertical surface. There is. Two orbits 1b for guiding the wheels 7 are provided on the upper and lower sides with the wheel 7 interposed therebetween, and the lower orbit has a strength capable of withstanding the total weight of the mover and the door 5,
In the upper track, the entire door 5 is attracted by the attraction force acting between the armature 2 and the permanent magnet 6 of the mover, and the permanent magnet 6
And has a function of preventing the gap between the yoke 2a from becoming smaller.

In the door opening / closing linear motor having the above-described structure, a three-phase alternating current is sequentially supplied to the exciting coils 2b of the armatures 2 arranged in the longitudinal direction of the door in sequence.
Alternatively, the phase order is switched to generate a traveling magnetic field to the left or right in the figure. The door 5 moves at the same predetermined synchronous speed as this traveling magnetic field, and when the phase between the permanent magnet 6 and the traveling magnetic field has a predetermined relationship, a propulsive force that coincides with the traveling direction acts, and the wheels 7 and the track 1b. Thus, the synchronous speed of the door 5 is maintained by overcoming the drag force such as the friction resistance of the door. Also, the door 5
In order to generate an effective propulsive force in the moving direction of the armature, in general, the position of the permanent magnet 6 is detected by a magnetic detection sensor (not shown), and the armature is arranged in such a phase that the propulsive force is generated in the predetermined direction at that position. A method of supplying a current to the two exciting coils 2b is adopted.

The attraction force generated between the convex magnetic poles of the armature 2 and the permanent magnet 6 is a component force in the vertical direction that changes depending on the position of the permanent magnet 6 and a component force in the horizontal direction, that is, the x direction. It consists of power. This horizontal component force is applied to the armature 2
In addition, a force applied from the permanent magnet 6 regardless of the magnetic field of the exciting coil 2b, which is referred to as a cogging force. In the door opening / closing linear motor, in order to reduce the cogging force and improve the positional accuracy of the stop position, the armature 2
In the closed position of the door, that is, in the section B in the drawing, the gap D1 is formed to be larger than the gap D2 between the convex magnetic pole of the armature 2 and the permanent magnet 6 for the mover in the remaining section C. . As a result, as shown in the graph of the cogging force acting in the moving distance and the moving direction in FIG. 16, the cogging force in the section B becomes smaller than the cogging force in the remaining section C, and the positional accuracy of the stop position is secured. To be done.

[0007]

The above-described linear motor for opening and closing the door of the automatic door can secure the positional accuracy of the stop position by reducing the cogging force.
The cogging force is working in the section other than the stop position. Therefore, when the door is opened and closed, the cogging force causes the door itself to vibrate and generate noise. Further, due to this cogging force, if the gap between the convex magnetic poles of the armature 2 and the permanent magnet 6 for the mover changes widely over the years due to long-term use, the propulsive force at the door stop position decreases and The position accuracy was sometimes reduced.

The present invention has been made in view of the above circumstances, and an object thereof is to provide a small cogging force at a stop position or a running position, low noise, and stable door propulsion force during long-term use. It is to provide a linear motor for opening and closing a door.

[0009]

In order to achieve the above object, a door opening / closing linear motor according to a first aspect of the present invention constitutes a door frame, and has a substantially L-shaped cross section and extends long. A stator case having a track portion formed below, an armature having exciting coils wound around opposite ends of a substantially C-shaped yoke, and the armature at predetermined intervals in the longitudinal direction. A stator block having a molded body to be arranged and a magnetic sensor for detecting a change in the magnetic field and controlling the feeding direction of the exciting coil, and a stator block arranged on the upper surface of the door. And a movable base that is provided with a flat permanent magnet magnetized with different poles and alternately magnetized to different poles in the longitudinal direction at predetermined intervals so that its side surface faces the center of the end face of the yoke. A roller that is substantially integrated with the base and is movably guided to the track portion. In a door opening / closing linear motor having a mover block that moves according to a change in a magnetic field of an exciting coil of the armature, the stator block includes 4 or 6 units in which 3 of the armatures are 1 unit. The arrangement order of the excitation phases U, V, and W of the armature of each one unit is UVW-UVW-UVW in the case of four units.
-VWU, and in the case of 6 units, UVW-
UVW-VWU-VWU-VWU-WUV arranged in the molded body and arranged in one unit of the armature
If D is expressed by the following formula (1) and there are 4 units,
Arrangement of armatures located at the ends between units that meet each other
If the distance D1 is expressed by the following equation (2) and there are 6 units,
Is a unit of 3 units
Positioned at the end of the adjacent unit between the three units in the
The arrangement distance D2 between the armatures to be placed is expressed by the following equation (3).
3 units adjacent to each other in the same lump
The arrangement interval D3 between the armatures located at the ends of
An electric machine in which each armature is arranged as represented by the equation (4).
A child block is arranged in the stator case. D = 2L · i / 3 + 2L · k (1) D1 = D + L / 4 (2) D2 = D + L / 3 (3) D3 = D + L / 6 (4) k: 0, 1, 2, 3, ... 2L = pitch dimension between the same poles of permanent magnets, other than a multiple of i = 3
Natural number Accordingly, the cogging force acting on yokes of the armature by the mover permanent magnets are canceled at between units.

According to a second aspect of the present invention, there is provided a linear motor for opening and closing a door, wherein the two armature blocks according to the first aspect are arranged at approximately the center of the stator case. As a result, a suction force acts on the mover block from the armature block provided in the approximate center of the stator block.

In the door opening / closing linear motor according to claim 3, the armature according to claim 1 or 2 is supplied with power via a printed circuit board. As a result, the excitation direction of the armature is determined by the pattern arrangement on the printed board.

[0012]

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of a door opening / closing linear motor of the present invention will be described below with reference to FIGS. FIG. 1 is a cross-sectional view of a door opening / closing linear motor. FIG. 2 is a front view showing an installation state of the door opening / closing linear motor. This linear motor for opening and closing a door has a stator block A constituting a door frame and a mover block B arranged on the upper surface of the door as basic constituent members.

The stator block A includes a stator case 1 and
The armature 2, the molded body 3, the magnetic sensor 4, and the printed circuit board 5 are provided. The stator case 1 is made of a non-magnetic metal material such as aluminum and has a substantially L-shaped cross section. The stator case 1 has a track portion below and is formed by extrusion or the like. It is formed to have a length that is approximately twice the lateral length of the portion. Specifically, as shown in FIG. 1, a track portion 1b is provided below the vertical surface 1a, and a molded body 3 to be described later is locked substantially inside the vertical surface 1a and inside the upper surface side. The protrusions 1c and 1c are provided along the longitudinal direction.

The armature 2 has a substantially C-shaped yoke 2a made of a magnetic metal material such as a silicon steel plate, and an exciting coil wound around bobbins 2c and 2c around the ends 2b and 2b of the yoke 2a. 2d and 2d. The yoke 2a is made of the above-mentioned thin plate material at the center of one side of a rectangle having a substantially uniform width.
It is formed into a substantially C shape having an end surface facing a side surface of a permanent magnet of a mover block B, which will be described later, with a predetermined gap, and laminating and adhering a predetermined number of thin plate members processed by punching or the like. To be done. The exciting coil 2d has a bobbin 2c made of synthetic resin and having an inner peripheral shape of a winding body substantially the same as the outer circumferences of the ends 2b and 2b of the yoke 2a, and an annealed copper wire whose surface is covered with an insulating layer. Formed by turning. This exciting coil 2
Two d and 2d having the same winding direction are combined into one set, and fixed to the end portions 2b and 2b of the yoke 2a by press fitting or the like. The winding ends of the exciting coils 2d and 2d are connected to the connector 5a of the printed circuit board 5 described later via the connector 2e. Then, the pattern wiring of the printed circuit board 5 connects the end of one coil and the start of the other coil, and DC is fed from the start of one coil and the end of the other coil to excite the yoke 2a. The armature 2 is formed. Depending on the direction of the exciting current of this coil, the magnetic poles of the end portions 2b, 2b of the yoke 2a become the S pole when one is the N pole and the other pole when the one is the S pole. Further, the armature 2 has a mover block B, which will be described later, in which the laminated thickness of the yoke 2a and the outer shape of the coil around which the exciting coil 2d is wound.
⅓ of the same pole pitch dimension 2L in the longitudinal direction
It is set appropriately so as to have a smaller value. The exciting coils 2d and 2d may be formed by winding the annealed copper wire directly around the end 2b of the yoke 2a without using the bobbins 2c and 2c. Further, the yoke 2a may be formed by directly molding a magnetic metal material by cutting or sintering.

The molded body 3 is provided with the armature 2, and
For example, it is made of non-magnetic material such as synthetic resin material,
It has a U-shaped cross section and is formed to have a predetermined length.
Specifically, as shown in the perspective view of FIG. 3, it has both a spacer between adjacent armatures 2 and attachment of the armatures 2,
It has a U-shaped cross section having an inner dimension slightly larger than the outer dimension of the pair of exciting coils 2d, 2d provided at the ends 2b, 2b of the yoke 2a. Then, the groove portions 3a and 3a having an inner method having a width substantially the same as the laminated thickness of the yoke 2a and a height and a depth substantially the same are formed at predetermined equal intervals in the longitudinal direction.
Have one. Further, sensor placement portions 3b of the magnetic sensor 4 for detecting the position of a mover block B described later are appropriately provided between the groove portions 3a at the same intervals as the groove portions 3a. The molded body 3 may be made of a non-magnetic metal material such as aluminum instead of the above synthetic resin material. The processing means may be cutting.

The magnetic sensor 4 detects the position of a mover block B, which will be described later, by the change of the magnetic field, and the exciting coil 2d,
A magnetic-electrical conversion element that outputs a detection signal for controlling the feeding of 2d and the current direction of the feeding, for example, a magnetic diode element is used. The magnetic sensor 4 is, for example, the molded body 3
Of the permanent magnet 7 of the mover block B in the longitudinal direction of the permanent magnet 7 is detected by detecting the change of the magnetic flux in the vicinity of the position where the two adjacent armatures 2 are appropriately fixed and fixed to the inner vertical plane of the. The displacement is detected, and a detection signal is output to a signal processing circuit including a comparison circuit and the like (not shown). The magnetic sensor 4 outputs a voltage signal according to the magnitude of the magnetic flux, that is, a change in the magnetic flux density, and the voltage signal is processed by a signal processing circuit to detect (recognize) the position of the permanent magnet 7. Since the magnetic diode element can obtain a detection signal in units of V, a change in magnetic flux due to the permanent magnet 7 can be detected with high sensitivity. The magnetic sensor 4 may use a magnetic resistance element or a Hall element instead of the magnetic diode element to detect a change in magnetic flux as a change in output voltage.

The printed circuit board 5 supplies electric power to the exciting coils 2d and 2d of the armature 2 and has a wiring pattern for changing the phase of the current flowing through the exciting coils 2d and 2d so as to have a predetermined arrangement, which will be described later. Input connector (not shown) for inputting drive currents with different phases from the controller
And an output connector 5a connected to the exciting coils 2d and 2d. More specifically, as shown in the wiring diagram of FIG. 4, the wiring pattern of the printed circuit board 5 is sequentially arranged through the connector 5a with three exciting coils 2d and 2d of the armature 2 of the stator block A as one unit. A, b, c The phase for exciting the exciting coil is 4 in (a).
In case of unit, UVW-UVW-UVW-VWU
In the case of 6 units in (b), UVW-UV
Armature block A1 in which 4 or 6 units are arranged so as to be W-VWU-VWU-VWU-WUV.
The armature 2 is formed so as to appropriately change the arrangement order of the excitation phases. The printed circuit board 5 is appropriately formed with a wiring pattern (not shown) for inputting a detection signal from the magnetic sensor 4 to the controller.

In the stator block A composed of the above-mentioned components, first, the magnetic sensor 4 is fixedly mounted on the sensor mounting portion 3b by adhesion or the like. Then, as shown in the perspective view of the armature block A1 in FIG. 5, the groove portion 3a of the molded body 3 is formed.
Then, the three armatures 2 are inserted so that the end portions 2b, 2b are in the same direction as the U-shaped opening end, and are fixed by, for example, bonding, and the mounting substrate 3c is bonded to the vertical surface of the molded body 3. The armature block A1 is formed by fixing the armature block A1. The mounting board 3c of the armature block A1 is mounted on the mounting board 3c through the mounting hole 3d,
As shown in FIG. 3, the protrusion 1c of the stator case 1 is tightly fixed and fixed to the stator case 1 by being fixed to the separately provided narrowing plate 1d by screwing or the like to form the stator block A. . The armature 2 may be fixed to the molded body 3 by simultaneous molding, press fitting, or the like as appropriate. In addition, although the molded body 3 and the mounting substrate 3c are configured as separate members in the present embodiment, they may be integrated.

The mover block B has a movable table 6, a permanent magnet 7, and a roller 8. The movable table 6 is for mounting a door in a vertical direction for transportation, has a substantially L-shaped cross section by a non-magnetic material such as an aluminum material, for example, by extrusion molding, and has a longitudinal length of a door that is a transported object. It is formed to have a length dimension substantially equal to the directional length.
As shown in the partial perspective view of FIG. 6, the movable table 6 includes a permanent magnet 7 to be described later, and a side surface of the permanent magnet 7 faces the end surface of the end 2b of the yoke 2a of the armature 2 described above. An opening is formed in the permanent magnet arranging portion 6a arranged so as to be the central portion.
The door 8 is conveyed in the longitudinal direction by the roller 8 which is substantially integrated and is movably guided by the traveling track portion 1b and the mounting portion 6b for mounting on the upper surface of the door.

The permanent magnets 7 are formed to have substantially the same length as the movable table 6 so that different poles are alternately present in the longitudinal direction of the mover block B. It is fixed by adhesion or the like. The permanent magnets 7 are magnetized in the thickness direction (horizontal width direction in FIG. 1) as shown in FIG. 6, and become the opposite directions at regular intervals, and when viewed from the lateral direction, they are alternately different as described above. There will be a pole. In this embodiment, the length of one magnet piece consisting of N pole and S pole is L
The dimensions of the related members such as the arrangement interval of the armatures 2 are set as.

The rollers 8 are substantially integrated with the movable table 6, and at least two or more rollers 8 are arranged at intervals in the longitudinal direction of the movable block B and are movably guided by the track portion 1b of the stator case 1. To be done. The roller 8 penetrates the roller shaft 8a, and the other end of the roller shaft 8a is fixed to the movable table 6 to rotatably support the roller 8 and is attached to the attachment portion 6b of the movable table 6. Guide the horizontal transport of the.

Next, the relationship between the arrangement size and operation of each part of the permanent magnet 7 and the armature 2 of this door opening / closing linear motor will be described with reference to FIGS. 7 and 8. FIG. 7 is an explanatory diagram of the positional relationship between the armature 2 and the permanent magnet 7 for explaining the operation principle. 8A and 8B are explanatory diagrams of the static thrust and the cogging force. FIG. 8A is a graph showing the relationship between the static thrust by one armature and the relative position of the permanent magnet, and FIG. 8B is the graph for one armature. A graph of the relationship between the cogging force and the relative position of the permanent magnet, (c) is a graph of the relationship between the static thrust of the entire unit and the relative position of the permanent magnet.

The armature 2 of this embodiment is arranged with three units as one unit. In addition, the three magnetic sensors 4
Only one unit is arranged at a predetermined position at the same interval as the armature 2. The arrangement interval D of the armature 2 in one unit is calculated by the following equation (1). D = 2L · i / 3 + 2L · k k: 0, 1, 2, 3, ... (1) However, 2L = pitch dimension between the same poles of the permanent magnet 7, i = 3
A natural number other than a multiple of. In the door opening / closing linear motor configured as described above, when a DC voltage is applied to the exciting coil 2d from the controller whose circuit diagram is shown in FIG. 9, an exciting current flows in the exciting coil 2d. The exciting coil 2d is wound around the end 2b of the yoke 2a in the same direction. Therefore, the end 2 of the yoke 2a on the front side of FIG.
When a counterclockwise current flows through the exciting coil 2d of b, a counterclockwise current also flows through the exciting coil 2d of the other end 2b. When a counterclockwise current is passed through the one exciting coil 2d, the end portion 2b around which the exciting coil 2d is wound has a surface facing the side surface of the permanent magnet that is an S pole, and the other exciting coil 2d. Also, a current flows in the counterclockwise direction, and the surface of the end portion 2b around which the exciting coil 2d is wound, which is opposed to the side surface of the permanent magnet, is an N pole.

Now, at a position where the armature 2 of the stator block A and the permanent magnet 7 of the mover block B are shown in FIG. 7A, at this time, the exciting coil 2d of the armature 2 denoted by a and c is excited. An electric current flows and the armature 2 with the symbols a and c
The polarities of the end surfaces 2b, 2b of the yoke 2a facing the permanent magnet 7 are set to the state shown in FIG. 7 (a). Therefore, the armature 2 and the permanent magnet 7 denoted by a and c generate an attractive force between the opposing magnetic poles and a repulsive force between the adjacent magnetic poles, which causes the permanent magnet 7 to move to the right in the figure. Propulsive force works in the direction. This propulsive force is called static thrust, and its change is shown in FIG. The horizontal axis of the graph of FIG.
And the relative position dimension of the permanent magnet 7, and the vertical axis represents the static thrust.
The horizontal axis of the graph in (b) is the armature 2 and the permanent magnet 7.
And the vertical axis represents the cogging force. As can be seen from this graph, the change in static thrust is twice the cycle of change in cogging force.

Next, when this propulsive force moves the permanent magnet 7, that is, the mover block B to the right and moves to the position shown in FIG. 7B, the output from the magnetic sensor 4 is switched and b
And c, an exciting current flows in the exciting coil 2d of the armature 2 and the end portions 2 of the yoke 2a of the armature 2 of b and c.
The polarities of the surfaces b and 2b facing the permanent magnet 7 are set to the state shown in FIG. 7 (b). Therefore, the armature 2 and the permanent magnets 7 denoted by b and c generate an attractive force between the magnetic poles facing each other and a repulsive force between the magnetic poles adjacent to each other, as in the case described above, and the permanent magnets. Propulsive force to the right in the figure acts on 7.

As described above, the relative positions of the magnetic poles of the yoke 2a of the armature 2 of the stator block A and the permanent magnet 7 of the mover are detected by the output of the magnetic sensor 4, and a, b, and a of the exciting coil 2d are detected. By switching c and exciting,
Six states shown in (f) to (f) are formed. In any case, as in the case described above, an attractive force is generated between the magnetic poles facing each other and a repulsive force is generated between the magnetic poles adjacent to each other, so that the permanent magnet 7
That is, the moving element block B continues to receive a propulsive force on the right side. FIG. 8C shows a graph of the relationship between the static thrust of the entire unit and the position of the permanent magnet. The horizontal axis of this graph represents the relative position dimension of the armature 2 and the permanent magnet 7, and the vertical axis represents the static thrust. As shown in this graph, in accordance with the above six states, the static thrust of the three exciting coils 2d a, b, c of the armature of one unit of the door opening / closing linear motor is maximized. An almost linear thrust can be obtained by constantly passing a current through the coil. When the thrust is obtained in the left direction in the figure, that is, in the opposite direction, the timing of the excitation switching by the controller is switched to deal with it.

Next, the controller of the linear motor for opening and closing the door will be described with reference to FIG. FIG. 9 is a schematic explanatory diagram of a controller that drives the door opening / closing linear motor. This controller has an exciting coil 2d
Power source V which is a DC power source for exciting the
And a control unit C. The output section D is a bridge circuit for switching and outputting the excitation phase of the excitation coil 2d, and is composed of a switch element Q and a back electromotive prevention diode. The control unit C controls the output unit D, has, for example, a CPU circuit, receives a detection signal of the position of the mover block B from the magnetic sensor 4, and switches the output unit D via the output voltage controller. The element Q is opened and closed. By this controller, by always passing a current through the two of the three exciting coils 2d of the armature of one unit of the door opening / closing linear motor having the maximum static thrust among a, b, and c,
A roughly linear thrust can be obtained.

Next, the above-mentioned one unit is arranged at a predetermined interval to reduce the cogging force acting on the permanent magnet 7 of the mover block B from the armature 2 of the stator block A in the case of 4 units and 6 units. For placement conditions in the case of
This will be described with reference to FIGS. 10 to 13.

[Case of 4 Units] FIG. 10 is an explanatory view showing the relationship between the relative positions of the armature 2 and the permanent magnet 7 in the case of 4 units. FIG. 10A shows the case where the unit pitch is the same. (B) is a layout drawing when the pitch between units is changed, and (c) is a layout drawing when the pitch between units is changed.
FIG. 6 is a layout diagram in which the arrangement order of the excitation phases of the armature of the unit is changed under predetermined conditions.

As described above, the cogging force changes with 8 peaks between the dimension 2L of the relative position between the armature 2 and the permanent magnet 7. Therefore, the distribution of the cogging force is 2L between the units when the above 1 unit is arranged in series.
By displacing by / 8, that is, L / 4, it is possible to cancel each other by the magnetic poles. Therefore, the arrangement interval D1 between the armatures 2 located at the ends between the adjacent units is calculated by the following equation (2). D1 = 2L · i / 3 + L / 4 + 2L · k k: 0, 1, 2, 3, ... (2) However, 2L = pitch dimension between the same poles of the permanent magnet 7, i = 3
A natural number other than a multiple of. Then, it has been found that the effect of canceling the cogging force is particularly remarkable by connecting four or more units as shown in FIG.
FIG. 11 is a graph showing changes in the number of units with three armatures as one unit and the rate of reduction of the cogging force, where the horizontal axis represents the number of units and the vertical axis represents 1 when the unit is 1 unit. Is the relative value of. This graph shows that the effect of reducing the cogging force does not change when the number of units is 4 or more.

Further, as described above, by arranging the units by shifting the pitch between the units, the armatures 2 that are excited in the same direction as the units distant from the armature 2 are arranged.
Then, the magnetic field of the same magnetic pole of the permanent magnet 7 causes a phase difference. Therefore, since the static thrusts of the armatures 2 are not reduced by this phase difference, the arrangement order of the excitation phases of the armatures 2 of each one unit is changed and arranged in the molded body. This phase difference is D = 2L · i / 3 = 20 mm, 2L = 60 mm, i
In the case of = 1 and k = 0, the unit arranged in the fourth position in which the units are arranged by shifting the pitch between the units as shown in FIG. There is a deviation of 135 degrees at various phase angles. Therefore, the arrangement of the excitation phases is changed to UVW-UVW-UVW-UVW.
By changing the order from UVW-UVW-UVW-VWU in order, the electrical phase angle of the fourth unit shown in (c) changes to 120 degrees before and the phase difference becomes 15 degrees. It will be suppressed. As a result, the static thrust was improved by approximately 34% as compared with the case of the arrangement of (b) phase before changing the arrangement order of the excitation phases of the armature.

FIG. 12 is a graph showing the distribution of cogging force and static thrust resulting from the above improvement. In the graph of FIG. 12, the graph of (a) is the improvement of the cogging force, the horizontal axis represents the relative position dimension of the armature and the permanent magnet, the vertical axis represents the cogging force, and the graph of A shows the cogging force of the improved product, and the graph of B. Graph of 1
It shows the transition of 4 times the cogging force of the unit. Also,
The graph of (b) is the improvement of static thrust, the horizontal axis represents the relative position dimension of the armature and the permanent magnet, the vertical axis represents static thrust, the graph of A is the static thrust of the improved product, and the graph of B is 1 unit. It shows four times the static thrust. As can be seen from this graph, it can be seen that the changes in the static thrust and the cogging force are leveled compared with four times as much as one unit.

[In the case of 6 units] Next, the arrangement conditions in the case of 6 units for reducing the cogging force acting from the armature 2 of the stator block A to the permanent magnets 7 of the mover block B will be described with reference to FIG. Explain. FIG. 13 shows 6
In the case of a unit, it is an explanatory view showing the relationship of the relative position of the armature and the permanent magnet, (a) is a layout diagram when the unit pitch is the same, and (b) is a layout diagram when the unit pitch is changed. The layout drawing (c) shows a layout drawing in which the arrangement order of the excitation phases of the armature of each one unit is changed under a predetermined condition by changing the pitch between the units.

In this case, first, the three units are set to 2L.
/ 6 or L / 3 to shift the phase to cancel the cogging force, and the phase of the cogging force distribution reduced by these 3 units is further shifted by 2L / 12, that is, L / 6, and overlapped by 2 to make 6 units. Turned out to be even lower. Therefore, the arrangement interval D2 between the armatures 2 located at the end portions between the adjacent three units is calculated by the following equation (3). D2 = 2L · i / 3 + L / 3 + 2L · k k: 0, 1, 2, 3, ... (3) Further, the armature 2 located at the end between the adjacent three units.
The arrangement interval D3 between them is calculated by the following equation (4). D3 = 2L · i / 3 + L / 6 + 2L · k k: 0, 1, 2, 3, ... (4) where 2L = pitch dimension between the same poles of the permanent magnet 7, i = 3
A natural number other than a multiple of. As an example of calculation, D = 2L
When calculated with i / 3 = 20 mm, 2L = 60 mm, i = 1 and k = 0, D2 = 30 mm and D3 = 25 mm. Also in this case, as in the case of four units, the electrical phase angle of the units arranged after the third shown in (b) and the unit arranged first is displaced, Overall static thrust is reduced. Therefore, the excitation phase is set to UVW-UVW-UVW-UVW-UVW-UVW.
-From, UVW-UVW-VWU-VWU-VWU-W
By changing the order of UVs, the electrical phase angles of the third and subsequent units shown in FIG. 7C sequentially shift forward, and the phase difference is suppressed. As a result, the static thrust was improved by approximately 40% as compared with the case of the (b) phase arrangement before changing the arrangement order of the excitation phases of the armature. Also, the cogging force is shown in FIG.
It was 92% lower than that in which the armatures 2 were evenly arranged.

Next, a method of arranging the one block having the above arrangement in the stator case 1 at a predetermined interval will be described with reference to FIG.

Now, in order to obtain the thrust required to drive a door having a predetermined weight, the length dimension of the armature block A1 having the armatures 2 in multiples of 4 to 6 is set. a. When the door is driven by using the two armature blocks A1, the permanent magnets 7 of the mover block B fixed to the upper surface of the door have the entire length of the stator block A, that is, the entire travel stroke of the door. It is necessary to face A1. Further, the two armature blocks A1 must be arranged at the above-mentioned predetermined intervals that can reduce the cogging force.

Therefore, when the door width, that is, the length in the conveying direction is X, and the opening / closing stroke, that is, the length of the door frame is Y, the predetermined arrangement range S of the armature block A1 is the stator case of the stator block A. ± (X /
2 + a / 2). (However, Y <2X.) Then, the reference position of the two armature blocks A1, for example, the pitch dimension S1 of the interval between the armatures 2 at the ends is calculated by the following equation (5). S1 = 2L · k1 k1: Natural number (however, the values do not overlap the units) (5) However, 2L = the pitch between the same poles of the permanent magnet 7.

In the above embodiment, two armature blocks are arranged with a predetermined gap therebetween, but two or more armature blocks are continuously arranged with a predetermined gap. May be.

[0039] Then, the above embodiment of the linear motor door opening and closing, 4 or 6 units that three armature and 1 unit, the excitation phase of the armature of the one unit
If the order of U, V, W is 4 units, UVW
-UVW-UVW-VWU and 6 units
In the case of UVW-UVW-VWU-VWU-VWU-W
Units that are placed on the molded body so as to be UV and that are adjacent to each other
The armatures located at the ends of the
At least two of the armature blocks arranged so as to be different from the distance between the armatures are connected to each other in the unit.
By arranging and forming in the stator case with an interval different from the interval of, the cogging force acting on the armature yoke by the permanent magnet of the mover cancels out between the units, and the cogging force is significantly increased. It is possible to realize a linear motor for door opening and closing that is low in noise and low in noise. Further, the armature block A1 is separated from the armature block approximately at the center of the stator case.
By arranging the two armature blocks, a suction force acts on the mover block B from the two armature blocks A1 provided substantially at the center of the stator block A, and the mover block B is conveyed. Therefore, the weight of the stator block is lighter than that of the armature arranged over the entire length of the stator block. Further, the armature 2 is supplied with power via the printed circuit board 5, so that the excitation direction of the armature 2 is determined by the pattern arrangement of the printed circuit board. Therefore, there is no error in the order of wiring for determining the direction of the exciting current of the armature 2 during assembly.

[0040]

In the door opening / closing linear motor according to the first aspect of the present invention, the cogging forces acting on the yoke of the armature are canceled by the permanent magnets of the mover between the units, so that the cogging force is significantly reduced. It is possible to realize a low-noise linear motor for opening and closing doors.

Further, in addition to the effects of the linear motor for opening and closing the door according to the second aspect of the invention and the effect of the linear motor according to the first aspect of the invention, a suction force is applied to the mover block from the two armature blocks provided substantially in the center of the stator block. The stator block becomes light in weight because it acts and is transported.

Further, in the door opening / closing linear motor of the third aspect, in addition to the effect of the first or second aspect, the excitation direction of the armature is determined by the pattern arrangement of the printed circuit board. The wiring order for determining the direction of the exciting current of the child is correct.

[Brief description of drawings]

FIG. 1 is a transverse sectional view showing an embodiment of a door opening / closing linear motor of the present invention.

FIG. 2 is a front view showing an installed state of a door opening / closing linear motor.

FIG. 3 is a perspective view of a molded body component.

FIG. 4 is a wiring diagram of a printed circuit board.

FIG. 5 is a perspective view of an armature block.

FIG. 6 is a perspective view of a permanent magnet portion that is a main part of a mover block.

FIG. 7 is an explanatory diagram of a positional relationship between an armature and a permanent magnet.

FIG. 8 is an explanatory diagram of static thrust and cogging force, where (a) is 1
A graph of the relationship between the static thrust by the two armatures and the position of the permanent magnet, (b) is a graph of the relationship between the cogging force and the position of the permanent magnet, and (c) is the static thrust of the entire unit and the position of the permanent magnet. It is a graph of the relationship with.

FIG. 9 is a schematic explanatory diagram of a controller that drives a door opening / closing linear motor.

FIG. 10 is an explanatory view showing the relationship of the relative positions of the armature and the permanent magnets in the case of four units, where (a) is a layout drawing when the unit pitch is the same and (b) is the unit pitch. FIG. 6C is a layout drawing in which the pitch between units is changed, and the arrangement order of the excitation phases of the armature of each one unit is changed under a predetermined condition.

FIG. 11 is an explanatory diagram showing the effect of reducing the cogging force.

FIG. 12 is a graph of distribution of cogging force and static thrust as a result of improvement in four units.

FIG. 13 is an explanatory diagram showing the relationship between the relative positions of the armature and the permanent magnets in the case of 6 units, where (a) is a layout drawing when the unit pitch is the same, and (b) is the unit pitch. FIG. 6C is a layout drawing in which the pitch between units is changed, and the arrangement order of the excitation phases of the armature of each one unit is changed under a predetermined condition.

FIG. 14 is an elevational view of a conventional door opening / closing linear motor.

FIG. 15 is a cross-sectional view thereof.

FIG. 16 is an explanatory diagram of a cogging force in each part thereof.

[Explanation of symbols]

A stator block A1 armature block 1 Stator case 2 armature 2a Yoke 2d excitation coil 3 molded body 4 Magnetic sensor B mover block 5 printed circuit boards 6 movable platform 7 Permanent magnet 8 roller

─────────────────────────────────────────────────── ─── Continuation of the front page (56) Reference JP-A-5-231068 (JP, A) Actual development Sho 62-172285 (JP, U) (58) Fields investigated (Int.Cl. ⁷ , DB name) H02K 41/03

Claims (3)

(57) [Claims] 1. A door frame, a stator case having a substantially L-shaped cross section, extending long and having a track portion formed below the stator case, and a substantially C-shaped yoke facing each other. An armature having an exciting coil wound around the end, a molded body for arranging the armature at a predetermined interval in the longitudinal direction, and detecting the change in the magnetic field to control the feeding direction of the exciting coil. Of a flat plate that is arranged on the upper surface of the door and has a different magnetic pole in the thickness direction and is alternately magnetized in the longitudinal direction at predetermined intervals. The permanent magnet has a movable base whose side surface is disposed so as to face the substantially central portion of the end surface of the yoke, and a roller which is substantially integrated with the movable base and is movably guided to the track portion. And a mover block that moves according to the change in the magnetic field of the excitation coil of the armature. In the linear motor for use in the stator block, 4 or 6 units, each of which has three of the armatures as one unit, are arranged so that the excitation phases U, V, and W of each one unit are arranged in four units. In the case of, it becomes UVW-UVW-UVW-VWU, and 6
In case of unit, UVW-UVW-VWU-VWU
Disposed in the molded body so as to be -VWU-WUV and, electrostatic
The arrangement distance D within one unit of the aircraft is expressed by the following equation (1).
In the case of 4 units, the edge between adjacent units
The interval D1 between the armatures located in
In the case of 6 units, 3 units
As a lump, between the 3 units in this lump
Arrangement of armatures located at the end between adjacent units
The space D2 is expressed by the following equation (3) and
An electric machine located at the end between three adjacent units in a bundle
The arrangement distance D3 between the children is expressed by the following equation (4).
A door opening / closing linear motor characterized in that an armature block on which each armature is arranged is arranged in the stator case. D = 2L · i / 3 + 2L · k (1) D1 = D + L / 4 (2) D2 = D + L / 3 (3) D3 = D + L / 6 (4) k: 0, 1, 2, 3, ... 2L = pitch dimension between the same poles of permanent magnets, other than a multiple of i = 3
Natural number of 2. The door opening / closing linear motor according to claim 1, wherein two armature blocks are arranged in a substantially central portion of the stator case and spaced apart from each other. 3. The door opening / closing linear motor according to claim 1, wherein the armature is supplied with power via a printed circuit board.