JP5289799B2 - Linear motor - Google Patents

Description

  The present invention relates to a linear motor used in industrial machines such as machine tools.

  Conventionally, in an industrial machine such as a machine tool, a linear motor has been used as a means for realizing high speed and high accuracy. Among such linear motors, particularly in a long stroke machine, a patent document that realizes cost reduction of the motor by reducing the amount of permanent magnets used by disposing an expensive permanent magnet on the mover side. There is a linear motor as disclosed in No. 1 and Patent Document 2.

  FIG. 4A is a diagram showing a configuration of a conventional linear motor, and a stator 52a formed by laminating a mover 51 in which permanent magnets 59 and 64 are arranged in a moving direction and electromagnetic steel plates. , 52b. The stators 52a and 52b are fixed to a machine tool bed, for example, and stator salient poles 50 are formed at intervals of a pitch P so as to protrude from the stator magnetic yoke 61. The stators 52a and 52b are The P / 2 pitch corresponding to an electrical angle of 180 degrees is shifted in the illustrated X-axis direction. Further, the movable element 51 is fixed to a table of a machine tool, for example, and is supported so as to be movable in the X-axis direction of FIG. 4A by a rolling guide or the like provided between the bed and the table. Further, the U, V, and W phase mover blocks 53, 55, and 54 formed by laminating electromagnetic steel sheets to reduce iron loss due to the change in magnetic flux are respectively X-axis that is the traveling direction of the mover 51. Relative to the direction, the electrical angle of the magnetic pole pitch P of the stators 52a and 52b is shifted by P / 3 corresponding to 120 degrees. Further, U, V and W phase three-phase AC windings 56, 58 and 57 are wound around the mover blocks 53, 55 and 54, respectively. 59 and 64 are alternately arranged and arranged in the order of S and N. As shown in FIGS. 4B and 4C, the permanent magnets 59 and 64 have a pair of permanent magnets with S and N arranged at a pitch P as shown in FIG.

  Now, when a current is applied to the three-phase AC windings 56, 58, and 57 in the U → V and W directions, that is, a current is supplied to the three-phase AC winding 56 in the winding direction shown in FIG. When a current is passed through the windings 58 and 57 in the direction opposite to the winding direction shown in the drawing, the magnetic flux of the permanent magnets arranged in the same magnetic direction as the excitation direction of the three-phase AC winding is strengthened among the permanent magnets 59 and 64. Since the magnetic flux of the permanent magnet arranged in the magnetic direction opposite to the excitation direction is weakened, the mover block 53 in FIG. 4A has the SIDE-A side as the S pole and the SIDE-B side as the N pole. Conversely, the mover blocks 55 and 54 are excited with the N pole on the SIDE-A side and the S pole on the SIDE-B side. And the magnetic flux which passed each mover block and the stator side forms a magnetic path as shown to 62 of Fig.4 (a). Then, the magnetic attractive force acts on the SIDE-A side and the SIDE-B side of the mover 51 in the same direction of the X axis to generate thrust. The three mover blocks 53, 55, 54 are provided on the SIDE-A side and the SIDE-B side of the same mover block even if the magnetic mover block coupling portion 60 is provided as shown in FIG. The magnetic flux densities of the N and S poles that are generated are the same and are magnetically balanced, so there is little leakage of magnetic flux to adjacent mover blocks and there is almost no reduction in thrust.

  Further, in the above-described conventional linear motor, particularly when realizing a long stroke movable range, a simple structure of stator blocks formed by laminating inexpensive electromagnetic steel plates is repeatedly arranged as shown in FIG. Just do it. Furthermore, since the expensive permanent magnets 59 and 64 can be arranged on the mover side and the amount of permanent magnets used can be reduced, the production cost of the linear motor can be kept low.

  FIG. 6A is a diagram showing a conventional linear motor having a configuration different from that in FIG. In FIG. 6A, the stator 12 is formed by laminating electromagnetic steel plates, for example, and the stator salient poles 10 are arranged on the surface at intervals of the pitch P so as to protrude from the stator magnetic yoke 21. . Similarly to the stator 12, the mover 11 is formed by laminating electromagnetic steel plates, for example, and has a mover magnetic yoke 20, U, V, and W-phase mover teeth 13, 15, and 14. Each of these three mover teeth is arranged so as to be shifted from the stator salient pole 10 by P / 3 corresponding to an electrical angle of 120 degrees relative to the X-axis direction. U, V and W phase three-phase AC windings 16, 18 and 17 are wound around the mover teeth, and permanent magnets 19 are alternately arranged in the order of S and N on the teeth surface of the mover 11. As shown in FIG. 6B, permanent magnet pairs having S and N as one set are arranged at a pitch P. The magnetic path 22 in FIG. 6A represents the state of the magnetic flux in a state where a current is applied to the three-phase AC windings 16, 18, and 17 in the U → V and W directions, as shown in FIG. 4A. Similar to the linear motor, among the permanent magnets 19, the magnetic flux of the permanent magnets arranged in the same magnetic direction as the excitation direction of the three-phase AC winding is strengthened, and the magnetic flux of the permanent magnets arranged in the magnetic direction opposite to the excitation direction. Each tooth is excited as one magnetic pole by weakening the magnetic field, and a large magnetic path 22 is formed over the entire mover 11. As a result, a magnetic attractive force acts in the X-axis direction on the stator 12 side of the mover 11 to generate a thrust. In addition, in the conventional linear motor shown in FIG. 6 (a) as well as the conventional linear motor shown in FIG. 4 (a), an inexpensive electromagnetic steel sheet is laminated in order to realize a long stroke movable range. This can be realized simply by repeatedly arranging the stator blocks having a simple structure formed in this manner. Furthermore, since the permanent magnet 19 can be disposed only on the mover side and the amount of expensive permanent magnets used can be reduced, the production cost of the linear motor can be kept low.

JP 2005-137140 A JP 2000-31464 A

  However, the above-described conventional linear motor has problems as described below. 4A and 6A, the three-phase AC current applied to the three-phase AC windings 56, 58, 57 or 16, 18, 17 while the movers 51, 11 move by the pitch P. 7 is changed as shown in FIG. 7, and the magnetic paths 62, 22 generated in the mover blocks 53, 55, 54 and the stators 52a, 52b and the mover teeth 13, 15, 14 and the stator 12 are increased. Change. On the other hand, when the stator blocks are arranged side by side in the moving direction of the mover as shown in FIG. 5, if there is a gap in the boundary surface 65 of the stator block, the magnetic resistance in the gap is smaller than that in the electromagnetic steel plate of the stator block. Becomes higher. Therefore, a thrust ripple is generated because the amount of magnetic flux generated in the linear motor changes depending on whether the slider moves and the magnetic path is generated so as to cross the boundary surface 65 or not.

  The mechanism that generates thrust ripple will be described in more detail. FIGS. 8A to 8D are diagrams showing a case where a stator block boundary surface exists near the center of the W-phase mover block 54 of FIG. 4A. The stator 52a and the stator 52b are the stator of FIG. 4A, the mover blocks 53, 55, and 54 show the mover block of FIG. 4A, and other components are shown in FIG. Same as a) but omitted for simplicity of illustration. Now, when the mover moves by the pitch P, the current applied to the three-phase AC windings 56, 57, 58 is (1) U → V, W, (2) U → W, (3 ) U, V → W, (4) V → W, (5) V → W, U, (6) V → U, (7) V, W → U, (8) W → U, (9) W → U, V, (10) W → V, (11) W, U → V, (12) U → V, (13) U → V, W. For example, in the state (3), as shown in FIG. 8 (a), the magnetic path 62 is generated so as to avoid the boundary surface, so that a desired thrust is output. ), The magnetic path 62 and the boundary surface completely intersect with each other, so that the thrust is minimized. Subsequently, when the state transitions to the state (9), the magnetic path 62 is generated again so as to avoid the boundary surface as shown in FIG. 8C, so that a desired thrust is output. In the state (12), FIG. As shown in d), since the magnetic path 62 and the boundary surface completely intersect, the thrust becomes the lowest. Thus, while the mover moves by the pitch P, the thrust is reduced twice, so that a thrust ripple of P / 2 pitch is generated. The thrust ripple of P / 2 pitch is generated by the intersection of the magnetic path 62 and the boundary surface. Therefore, the stator and the mover that have been widely used in the past are inclined diagonally in the moving direction of the mover. Even if skewing is performed by / 2 pitches, the phenomenon that the magnetic path 62 and the boundary surface cross each other cannot be avoided, so that the thrust ripple cannot be removed.

  FIG. 9 shows an example in which a plurality of movers are connected in series to obtain a high thrust. In FIG. 9, two movers 51a and 51b are connected to one servo control device 66. Shows the case. Here, the movers 51a and 51b need to be shifted by an integral multiple of the pitch P in order to efficiently generate thrust in the same direction. At this time, the same magnetic flux is formed in the movers 51a and 51b, and each of them intersects with the boundary surface 65 in the same phase, so that there is a problem that thrust ripple increases in proportion to the number of sliders.

  FIG. 10 shows a technique for leveling the thrust ripple disclosed in Patent Document 2, in which the two movers 51a and 51b are shifted from each other by an integer multiple of the pitch P by ± P / 4. As a result, the thrust ripple of the P / 2 period can be canceled because the phase generated by the mover 51a is different from that generated by the mover 51b by 180 degrees. However, since the mover 51a and the mover 51b need to be controlled with an electrical angle of 90 degrees corresponding to P / 4, two servo control devices 66a and 66b are required.

In order to solve the above problems, the linear motor of the present invention includes salient poles arranged at intervals P on opposite surfaces, and includes two stators extending in parallel and a three-phase AC winding. with 3 and one of the slider blocks of a pole of a three-phase, respectively, and a permanent magnet arranged in the alternating polarity 2 surfaces respectively facing the two stators of the slider blocks, the two fixed A linear motor having a movable element movable along the direction in which the stator extends between each of the stators, each stator being in a state in which the salient poles are maintained at a distance P in the moving direction of the movable element. A plurality of stator blocks having a total length L0 are arranged side by side, and the two stators are arranged such that a boundary surface formed between the stator blocks constituting each stator is located at the same position in the moving direction. is, the mover is set the interval Disposed Te has been m (m is a natural number) constitutes a movable element group composed of pieces of the movable element, the rear end block located most the moving direction rear end side of the three mover blocks constituting each movable element The distance L between the rear end surface and the front end surface of the front end block located closest to the front end in the moving direction is L ≦ L0 / m, or the mover Mn (n = 1, 2,... M) Li−Lj = k × L0 ± (1 / d) × L0 × Δ, where Ln is the distance between the rear end surface of the rear end block and the boundary surface located immediately on the front end side of the rear end surface. (i, j is a natural number not exceeding m, k is an integer, d is a divisor of m other than 1, delta is a real number of 0.8 ≦ Δ ≦ 1.2) that are arranged such that the relationship, it It is characterized by.

Further, the linear motor of the present invention includes salient poles arranged at intervals P on mutually facing surfaces, and three kinds of magnetic poles each having three phases by two stators extending in parallel and three-phase AC windings. and the movable element blocks, and a permanent magnet arranged in the alternating polarity 2 surfaces respectively facing the two stators of the slider blocks, the extending direction of the stator between the two stator Each of the stators includes a plurality of stator blocks having a total length L0 in a state in which the salient poles are maintained at a distance P in the moving direction of the mover. The two stators are arranged in such a manner that a boundary surface formed between the stator blocks constituting each stator is shifted by ( 1/2) × L0 in the moving direction , and the mover is , m, which are disposed with the interval (m is a natural number) Configure the movable element group consisting of the movable element, the most the rear end surface of the rear end block located in the moving direction rear end side of the three mover blocks constituting each mover, most the moving direction tip end side The distance L from the tip surface of the tip block located at L is L ≦ (1/2) × L0 / m, or after the mover Mn (n = 1, 2,..., M) of the mover group. Li−Lj = k × L0 ± (1/2) × (1 / d) × L0 ×, where Ln is the distance between the rear end surface of the end block and the boundary surface located immediately on the front end side of the rear end surface. delta (i, j is a natural number not exceeding m, k is an integer, d is a divisor of m other than 1, delta is a real number of 0.8 ≦ Δ ≦ 1.2) that are arranged such that the relationship, It is characterized by that.

Further, the linear motor of the present invention includes salient poles arranged at intervals P on mutually facing surfaces, and three kinds of magnetic poles each having three phases by two stators extending in parallel and three-phase AC windings. and the movable element blocks, and a permanent magnet arranged in the alternating polarity 2 surfaces respectively facing the two stators of the slider blocks, the extending direction of the stator between the two stator a linear motor having a movable element movable along, each stator, while maintaining the pre-Symbol salient poles spacing P, and a stator block of the overall length L0 in the moving direction of the mover side-by-side ones, are constituted by superposed two-step in a direction perpendicular to the moving direction of the mover, the first-stage stator block and the stator block in the second stage, between neighboring Ri fit stator block position of the formed boundary surface, in the moving direction of the mover (1 2) are offset by × L0, the mover is arranged m (m is provided between septum constitutes the movable element group consisting of a natural number) of the movable element, the three constituting each movable element The distance L between the rear end surface of the rear end block located closest to the rear end side in the movement direction and the front end surface of the front end block located closest to the front end side in the movement direction is L ≦ (1/2) × L0 / m, or the rear end face of the rear end block of the mover Mn (n = 1, 2,..., M) of the mover group, and the boundary located on the front end side immediately than the rear end face L−Lj = k × L0 ± (1/2) × (1 / d) × L0 × Δ (i and j are natural numbers less than m, k is an integer, d is an integer other than 1, and the distance from the surface is Ln . divisor of m, delta is that is arranged so that the relation of real number) of 0.8 ≦ Δ ≦ 1.2, and wherein the.

Further, the linear motor of the present invention has three types of movable elements , each of which has a salient pole arranged along a straight line at an interval P and a three-phase magnetic pole facing each of the salient poles by a three-phase AC winding. linear with the child teeth, and a permanent magnet arranged in alternating polarity surface facing the stator of the mover teeth, and a movable element movable along the extending direction of the stator a motor, the stator in a state where the salient pole kept at intervals P in the moving direction of the movable element is constituted by arranging a plurality of stator blocks of the full-length L0, the mover is the interval A movable element group consisting of m (m is a natural number) movable elements arranged and arranged, of the three types of teeth constituting each movable element, of the rear end teeth positioned closest to the rear end side in the moving direction A rear end surface and a tip end located closest to the tip end in the moving direction The distance L from the tip end surface of the sleeve is L ≦ L0 / m, or the rear end surface of the rear end teeth of the mover Mn (n = 1, 2,..., M) of the mover group, and the rear Li−Lj = k × L0 ± (1 / d) × L0 × Δ (i, j are m) where Ln is a distance from the boundary surface formed between the stator blocks located immediately on the tip side from the end surface. the following natural number, k is an integer, d is a divisor of m other than 1, delta is arranged such that the relation of real number) of 0.8 ≦ Δ ≦ 1.2, it is characterized.

Further, the linear motor of the present invention has three types of movable elements, each of which has a salient pole arranged along a straight line at an interval P and a three-phase magnetic pole facing each of the salient poles by a three-phase AC winding. linear with the child teeth, and a permanent magnet arranged in alternating polarity surface facing the stator of the mover teeth, and a movable element movable along the extending direction of the stator a motor, the stator, the pre-Symbol salient poles while keeping the distance P, and that arranged stator blocks of the full-length L0 in the moving direction of the mover, perpendicular to the moving direction of the mover such direction is configured by superimposing two stages, the first stage stator block and the stator block in the second stage, the position of the boundary surface formed between the stator blocks fit Ri next, of the mover The mover is arranged so as to be shifted by ( 1/2) × L0 in the moving direction. Is placed m provided interval (m is a natural number) constituting the movable element group composed of pieces of the movable element, the most the moving direction rear end side of the three mover teeth constituting each movable element The distance L between the rear end surface of the rear end tooth positioned at the front end and the front end surface of the front end tooth positioned closest to the front end in the moving direction is L ≦ (1/2) × L0 / m, or the movable group is movable. When the distance between the rear end surface of the rear end teeth of the child Mn (n = 1, 2,..., M) and the boundary surface located immediately on the front end side from the rear end surface is Ln , Li−Lj = k × L0 ± (1/2) × (1 / d) × L0 × Δ (i, j are natural numbers less than or equal to m, k is an integer, d is a divisor of m other than 1, Δ is 0.8 ≦ Δ ≦ that are arranged so that the relation of the real 1.2), characterized in that.

Further, in the linear motor of the present invention, the mover group is arranged such that the magnetic pole directions of the permanent magnets are opposite to each other between the movers adjacent to each other, and the magnetic poles formed by the three-phase AC windings. Are arranged so that the directions of the magnets are reversed, or the movable elements adjacent to each other are arranged so that the magnetic pole directions of the permanent magnets are reversed, and the movable elements adjacent to each other, wherein q salient poles spacing P of the stator (q is an integer) are arranged at intervals of multiples ± P / 2 structure or, in the movable element adjacent to each other, the orientation of the magnetic poles by the three-phase alternating-current winding is reversed are connected such that the direction, and that has a structure, which is arranged disposed between the q salient poles spacing P of the stator (q is integer) ± P / 2 the mover spacing Features.

Furthermore, in the linear motor of the present invention, a stator row in which a plurality of the stators are arranged is formed, and the movable element group is arranged over the stator rows.
Another linear motor of the present invention includes a stator having salient poles arranged at intervals P, three kinds of mover blocks or teeth that become three-phase magnetic poles by a three-phase AC winding, and the salient poles. A linear motor having permanent magnets arranged on opposite surfaces with alternating polarities and movable along a direction in which the stator extends, wherein the stator includes a plurality of stators. The stator blocks are arranged side by side so that the boundary surface formed between the stator blocks is positioned at a distance L0 in the moving direction, and the number of the movable elements is m (m is a natural number) arranged at a distance. Of the three movable element blocks or teeth that constitute each movable element, and the rear end surface of the movable element block or teeth that is located closest to the rear end side in the movement direction, Possible to be located on the tip side in the moving direction The distance L from the distal end surface of the child block or teeth is L ≦ L0 / m, or the rear end surface of the movable member Mn (n = 1, 2,..., M) of the movable member group and the rear end surface Li−Lj = k × L0 ± (1 / d) × L0 (i, j are natural numbers less than or equal to m, k is an integer, d is 1) where Ln is the distance from the boundary surface located immediately on the tip side. Other than the divisor of m).

  According to the present invention, without requiring a plurality of servo control devices, the reduction in thrust generated by the boundary between the stator block and the stator block intersecting the magnetic path is distributed among the plurality of movers, There is an effect that thrust ripple can be reduced.

  Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1A is a diagram illustrating the linear motor according to the first embodiment. The movers 51a and 51b have the same structure as that of the mover 51 shown in FIG. 4A, and the U, V, and W-phase mover blocks constituting the movers 51a and 51b are arranged side by side. In this state, the distance between the end faces is L. On the other hand, the stators 52a and 52b are composed of stator blocks whose overall length is defined by L0, and have stator salient poles arranged at predetermined intervals on surfaces facing each other, and arranged side by side in the moving direction of the mover. Has been. Here, the movers 51a and 51b are arranged at an interval n (n is an integer) times the salient pole interval P of the stator in order to generate thrust in the same direction.

Now, the distance between the rear end surface of the rear end block located closest to the rear end side in the movement direction among the three types of mover blocks of the mover 51a and the boundary surface located closer to the front end side than the rear end surface is set as follows. L1, the most the rear end surface of the rear end block located in the moving direction rear end side of the three slider blocks of the mover 51b, the distance between the interface located just distal than the rear end surface When L 2, L1-L2 = in FIG 1 (a) - (1/2) movable element 51a such that the relationship × L0, 51b are arranged. At this time, when the mover moves by the pitch P, the magnetic flux changes as shown in FIGS. 8A to 8D occur between the mover 51a and the stators 52a and 52b, and FIG. 8B. In FIG. 8D, the boundary surface 65 and the magnetic path 62 intersect in the two states. This reduces the amount of magnetic flux, resulting in thrust ripple. However, since there is a relationship of L1−L2 = − (1/2) × L0 between the movable element 51a and the movable element 51b, the movable element 51b is arranged at a position not affected by the boundary surface 65. The problem that the thrust ripple increases in proportion to the number of sliders can be avoided.

  Further, in the state where the movers 51a and 51b are moved by (1/2) × L0 in FIG. 1A, the mover 51a is disposed at a position not affected by the boundary surface 65, while only the mover 51b is provided. Will generate thrust ripple. The relationship between L1 and L2 at this time can be expressed as L1−L2 = − (½) × L0. Further, the movable elements 51a and 51b can obtain the same effect even when the interval of an integral multiple of L0 is increased from the state shown in FIG. That is, when this relationship is generalized, it is expressed as L1−L2 = k × L0 ± (1/2) × L0 using the integer value k.

Here, the effect of dispersing the thrust ripple is not strictly required to maintain the relationship of L1−L2 = k × L0 ± (1/2) × L0, and the two movers 51a and 51b are connected to the boundary surface 65. If the relative displacement is approximately (1/2) × L0, the effect can be sufficiently obtained. Furthermore, in FIG. 1A, the case where there are two movers has been described for the sake of simplicity, but the same applies to the case where the number of movers is m, and the boundary surface 65 and the end face of each mover are the same. If the distances are L1, L2,..., Lm, Li−Lj = k × L0 ± (1 / d) × L0 × Δ (i, j are natural numbers less than or equal to m, k is an integer, and d is m other than 1. It is only necessary to maintain a relationship of a divisor of Δ, Δ is a real number of 0.8 ≦ Δ ≦ 1.2. That is, when the number of movable elements is three, the movable elements may be arranged so that each movable element is relatively displaced from the boundary surface 65 by approximately (1/3) × L0. The number of movable elements is four. In this case, the movable elements may be arranged so as to be relatively displaced by approximately (1/4) × L0 or (1/2) × L0. When individual movers are arranged so as to satisfy this relational expression, when one mover is affected by the boundary surface 65, another mover is not affected by the boundary surface 65. It becomes. Further, depending on the position of the mover, it is considered that a plurality of movers are simultaneously affected by the boundary surface 65. However, since the relative position of the boundary surface 65 with respect to the mover differs for all the movers, The phase is also obtained as a different one. As a result, thrust ripples in the individual movers are canceled out, and a leveled thrust can be obtained when viewed as a mover group. In order to reduce the thrust ripple of the P / 2 pitch generated by each mover, the rearmost position located on the rear end side in the moving direction among the three kinds of mover blocks constituting each mover 51a, 51b. and the rear end face of the end block, the most the distance between the tip surface of the tip block located in the moving direction tip end side L (hereinafter, between the end surfaces of the distance L) and relates to the total length L0 of the stator block, the L ≦ L0 Although it is desirable to have a relationship, it is not always necessary to apply the technology of this patent.

  In the case where the relationship of L ≦ L0 / m is given, m movers can be arranged between the gaps L0 of the boundary surface 65, and the movers affected by the boundary surface 65 are affected. The number can be kept to a minimum. Therefore, in this case, the thrust ripple of the entire mover can be reduced without satisfying the relational expression of Li−Lj = k × L0 ± (1 / d) × L0 × Δ.

  Further, in FIG. 1 (a), the stator blocks constituting the stators 52a and 52b are shown with the same shape having the entire length L0 arranged side by side. However, the positions of the boundary surfaces 65 are not necessarily maintained at exactly equal intervals. It is not necessary to sag, and the total length of each stator block does not need to be kept at L0 uniformly. Further, the position of the boundary surface 65 formed on the stators 52a and 52b is not in the vicinity of the facing position as shown in FIG. 1A, and is about half the total length L0 of the stator block as shown in FIG. That is, even when the stators 52a and 52b are configured such that the boundary surface 65 is formed at an interval of about (1/2) × L0, the thrust ripple reduction effect can be obtained by the same principle. However, since the interval of the boundary surface 65 is not (L0) but (1/2) × L0, with respect to the distances L1, L2,..., Lm between the boundary surface 65 and the end surfaces of the movable elements, Li−Lj = k × L0 ± (1/2) × (1 / d) × L0 × Δ, or L ≦ (1/2) × L0 / m (where i and j are natural numbers less than or equal to m, k is an integer, d is a divisor of m other than 1, Δ is a real number of 0.8 ≦ Δ ≦ 1.2, and L is a distance between the end faces of the mover block).

  On the other hand, the stator 12 shown in FIG. 1C has salient poles arranged at predetermined intervals, the boundary surface 65 is divided into two stages, and is relatively (1/2) × L0 in the moving direction of the mover. It is a diagram illustrating a stacked structure that is shifted by a certain amount. When the stator 12 shown in FIG. 1C is replaced with the stators 52a and 52b shown in FIGS. 1A and 1B, the distance between the boundary surfaces 65 is (1/2) × L0. Since they are arranged so as to correspond to each other, Li−Lj = k with respect to the distances L1, L2,..., Lm between the boundary surface 65 and the end surfaces of the movable elements, as in the case of FIG. × L0 ± (1/2) × (1 / d) × L0 × Δ relationship or L ≦ (1/2) × L0 / m relationship (i and j are natural numbers less than m, k is an integer, d Is a divisor of m other than 1, Δ is a real number of 0.8 ≦ Δ ≦ 1.2, and L is a distance between the end faces of the mover block), so that an effect of reducing thrust ripple can be obtained.

Note that this thrust ripple reduction technique can achieve the effect even in the linear motor having the configuration shown in FIG. That is, when the entire length of one Atari as stator 12 shown in FIG. 6 (a) is constructed by arranging a plurality of stator blocks defined by L 0 is the distance between the boundary surface 65 between the end surfaces of the armature teeth As for L1, L2,..., Lm, the relationship of Li−Lj = k × L0 ± (1 / d) × L0 × Δ or the relationship of L ≦ L0 / m may be satisfied. In the case where the stator is replaced with the stator of (c), Li−Lj = k × L0 ± (1 / of the distances L1, L2,..., Lm between the boundary surface 65 and the end surfaces of the mover teeth. 2) × (1 / d) × L0 × Δ or L ≦ (1/2) × L0 / m (i, j are natural numbers less than m, k is an integer, d is an integer other than 1) By satisfying the divisor, Δ is a real number of 0.8 ≦ Δ ≦ 1.2, and L is the distance between the end faces of the mover block), the effect of reducing thrust ripple is obtained. It is possible.

  FIG. 2 is a diagram illustrating the linear motor according to the second embodiment. The basic configuration is the same as that of the first embodiment, but is different in that a stator row in which a plurality of stators 52a and 52b are arranged is formed, and a plurality of movers are arranged with the stator row separated. . Note that FIG. 2 shows a case where two movers are arranged in two sets of stator rows for the sake of simplicity. Even in such a case, as in the first embodiment, when the stators 52a and 52b are configured such that the boundary surface 65 is formed at an interval of about L0 as shown in FIG. 1A, Li−Lj = In order to satisfy the relationship of k × L0 ± (1 / d) × L0 × Δ, or the relationship of L ≦ L0 / m, the stators 52a and 52b are as shown in FIG. 1B and FIG. In the case where the boundary surface 65 is formed at intervals of about 1/2) × L0, the relationship Li−Lj = k × L0 ± (1/2) × (1 / d) × L0 × Δ, Or L ≦ (1/2) × L0 / m (i, j are natural numbers less than or equal to m, k is an integer, d is a divisor of m other than 1, Δ is 0.8 ≦ Δ ≦ 1.2 The effect of reducing thrust ripple can be obtained by arranging m movers so that the real number, L is the distance between the end faces of the mover block).

FIG. 3 is a diagram illustrating the linear motor according to the third embodiment. In the first embodiment and the second embodiment, the m movers are arranged with an interval n (n is an integer) times the salient pole interval P of the stator in order to generate thrust in the same direction. It was assumed. However, in the mover group consisting of m movers, one has the structure of the mover, and one is the reverse direction of the magnetic pole of the permanent magnet provided on the mover or by three-phase AC winding When having a structure in which the magnetic poles are connected in the opposite direction, the latter mover is n (n is an integer) times ± P / 2 intervals of the stator salient pole interval P as shown in FIG. It is possible to generate thrust in the same direction by arranging and arranging. The case of forming the two kinds mover group by combining the mover of having such a structure and arrangement conditions also, in the case where the interface 65 in the L0 intervals of about the stator side is formed Li- The boundary surface 65 is formed at an interval of about (1/2) × L0 so as to satisfy the relationship of Lj = k × L0 ± (1 / d) × L0 × Δ or the relationship of L ≦ L0 / m. In this case, Li−Lj = k × L0 ± (1/2) × (1 / d) × L0 × Δ, or L ≦ (1/2) × L0 / m (i and j are less than m M is a natural number, k is an integer, d is a divisor of m other than 1, Δ is a real number of 0.8 ≦ Δ ≦ 1.2, and L is a distance between end surfaces of the mover block). The effect of reducing the thrust ripple can be obtained by arranging.

  Regarding the two types of movers, one has the structure of the mover, and one has the reverse direction of the magnetic pole of the permanent magnet provided on the mover and the reverse of the direction of the magnetic pole by the three-phase AC winding. In the case of a structure that is wired so as to be oriented, m pieces are arranged so as to satisfy the same relational expression after being arranged with an interval n times (n is an integer) times the salient pole interval P of the stator. The effect of reducing thrust ripple can be obtained by arranging the mover.

It is a figure which shows Example 1 of the linear motor of this invention. It is a figure which shows Example 1 of the linear motor of this invention. It is a figure which shows Example 1 of the linear motor of this invention. It is a figure which shows Example 2 of the linear motor of this invention. It is a figure which shows Example 3 of the linear motor of this invention. It is a figure which shows schematic structure of the conventional linear motor. It is the figure which showed the mode of the arrangement | sequence of the permanent magnet arrange | positioned at the needle | mover block surface. It is the figure which showed the mode of the arrangement | sequence of the permanent magnet arrange | positioned at the needle | mover block surface. It is a figure which shows schematic structure of the needle | mover in the conventional linear motor. It is a figure which shows arrangement | positioning of the stator in the conventional linear motor. It is a figure which shows schematic structure of the conventional linear motor. It is the figure which showed the mode of the arrangement | sequence of the permanent magnet arrange | positioned on the teeth surface. It is the figure which showed the electric current which flows into a three-phase alternating current winding. It is a figure which shows the magnetic flux when an electric current is applied to U and V-> W. It is a figure which shows the magnetic flux when an electric current is applied to V-> U. It is a figure which shows the magnetic flux when an electric current is applied to W-> U and V. FIG. It is a figure which shows the magnetic flux when an electric current is applied to U-> V. It is a figure which shows the arrangement | positioning and drive system of the needle | mover in the conventional linear motor. It is a figure which shows the arrangement | positioning and drive system of the needle | mover in the conventional linear motor.

Explanation of symbols

  10, 50 Stator pole, 11, 51, 51a, 51b Movable element, 12, 52a, 52b Stator, 13, 14, 15 Movable tooth, 53, 54, 55 Movable block, 16, 17, 18, 56, 57, 58 Three-phase AC winding, 19, 59, 64 permanent magnet, 20 mover magnetic yoke, 21, 61 stator magnetic yoke, 22, 62 magnetic path, 60 mover block coupling portion, 65 interface, 66, 66a, 66b Servo control device.

Claims (8)

Two stators having salient poles arranged at intervals P on opposite surfaces and extending in parallel ;
A three-phase alternating-current windings by three mover blocks the magnetic poles of each three-phase, and a permanent magnet arranged in the alternating polarity 2 surfaces respectively facing the two stators of the slider blocks A mover movable between the two stators along a direction in which the stator extends ;
A linear motor having
Each stator is configured by arranging a plurality of stator blocks having a total length L0 in a state where the salient poles are kept at a distance P in the moving direction of the mover .
The two stators are arranged such that a boundary surface formed between the stator blocks constituting each stator is located at the same position in the moving direction,
The mover is arranged m provided interval (m is a natural number) constituting the movable element group composed of pieces of the movable element,
The distance L between the rear end surface of the rear end block located closest to the rear end side in the movement direction and the front end surface of the front end block located closest to the front end side in the movement direction among the three types of mover blocks constituting each mover. Is L ≦ L0 / m, or the rear end face of the rear end block of the mover group Mn (n = 1, 2,..., M) of the mover group, and the front end side immediately before the rear end face. Li−Lj = k × L0 ± (1 / d) × L0 × Δ (i, j are natural numbers less than or equal to m, k is an integer, d is a divisor of m other than 1 when the distance from the boundary surface is Ln. , delta is that is arranged so that the relation of real number) of 0.8 ≦ Δ ≦ 1.2,
A linear motor characterized by that. Two stators having salient poles arranged at intervals P on opposite surfaces and extending in parallel ;
A three-phase alternating-current windings by three mover blocks the magnetic poles of each three-phase, and a permanent magnet arranged in the alternating polarity 2 surfaces respectively facing the two stators of the slider blocks A mover movable between the two stators along a direction in which the stator extends ;
A linear motor having
Each stator is configured by arranging a plurality of stator blocks having a total length L0 in a state where the salient poles are kept at a distance P in the moving direction of the mover .
The two stators are arranged such that a boundary surface formed between stator blocks constituting each stator is shifted by ( 1/2) × L0 in the moving direction,
The mover is arranged m provided interval (m is a natural number) constituting the movable element group composed of pieces of the movable element,
The distance L between the rear end surface of the rear end block located closest to the rear end side in the movement direction and the front end surface of the front end block located closest to the front end side in the movement direction among the three types of mover blocks constituting each mover. L ≦ (1/2) × L0 / m, or the rear end face of the rear end block of the mover Mn (n = 1, 2,..., M) of the mover group, and the rear end face Li−Lj = k × L0 ± (1/2) × (1 / d) × L0 × Δ (i, j are natural numbers less than or equal to m), where Ln is the distance from the boundary surface located immediately on the tip side. is an integer, d is a divisor of m other than 1, delta is that is arranged so that the relation of real number) of 0.8 ≦ Δ ≦ 1.2,
A linear motor characterized by that. Two stators having salient poles arranged at intervals P on opposite surfaces and extending in parallel ;
A three-phase alternating-current windings by three mover blocks the magnetic poles of each three-phase, and a permanent magnet arranged in the alternating polarity 2 surfaces respectively facing the two stators of the slider blocks A mover movable between the two stators along a direction in which the stator extends ;
A linear motor having
Each stator, a pre-Symbol salient poles while maintaining the intervals P, 2 stage stator block full-length L0 those arranged in the moving direction of the mover, in a direction perpendicular to the moving direction of the mover It is composed of layers ,
First-stage stator block and the stator block in the second stage, the position of the boundary surface formed between the stator blocks fit Ri neighboring, in the moving direction of the mover by (1/2) × L0 Placed and
The mover is arranged m provided interval (m is a natural number) constituting the movable element group composed of pieces of the movable element,
The distance L between the rear end surface of the rear end block located closest to the rear end side in the movement direction and the front end surface of the front end block located closest to the front end side in the movement direction among the three types of mover blocks constituting each mover. L ≦ (1/2) × L0 / m, or the rear end face of the rear end block of the mover Mn (n = 1, 2,..., M) of the mover group, and the rear end face Li−Lj = k × L0 ± (1/2) × (1 / d) × L0 × Δ (i, j are natural numbers of m or less, k where Ln is the distance from the boundary surface located immediately on the tip side. is an integer, d is a divisor of m other than 1, delta is that is arranged so that the relation of real number) of 0.8 ≦ Δ ≦ 1.2,
A linear motor characterized by that. A stator having salient poles arranged at intervals P along a straight line ;
And three mover teeth serving as poles of each three-phase by opposing the three-phase alternating-current winding in the stator teeth, and permanent magnets arranged with the polarity alternately on opposite sides to the stator of the mover teeth and includes a movable armature in the direction of extension of said stator,
A linear motor having
The stator is configured by arranging a plurality of stator blocks having a total length L0 in a state where the salient poles are kept at a distance P in the moving direction of the mover.
The mover is arranged m provided interval (m is a natural number) constituting the movable element group composed of pieces of the movable element,
The distance L between the rear end surface of the rear end tooth positioned closest to the rear end side in the moving direction and the front end surface of the front end tooth positioned closest to the front end in the moving direction among the three types of teeth constituting each mover is L ≦ L0 / m or the rear end face of the rear end teeth of the mover Mn (n = 1, 2,..., M) of the mover group, and the fixed position located on the front end side immediately than the rear end face Li−Lj = k × L0 ± (1 / d) × L0 × Δ (i, j are natural numbers less than m, k is an integer, d is 1 and Ln is the distance from the boundary surface formed between the child blocks. Other than the divisor of m, Δ is a real number of 0.8 ≦ Δ ≦ 1.2) .
A linear motor characterized by that. A stator having salient poles arranged at intervals P along a straight line ;
And three mover teeth serving as poles of each three-phase by opposing the three-phase alternating-current winding in the stator teeth, and permanent magnets arranged with the polarity alternately on opposite sides to the stator of the mover teeth and includes a movable armature in the direction of extension of said stator,
A linear motor having
The stator has a pre-Symbol salient poles while maintaining the intervals P, 2 stage those arranged stator blocks of the full-length L0 in the moving direction of the mover, in a direction perpendicular to the moving direction of the mover It is composed of layers ,
First-stage stator block and the stator block in the second stage, the position of the boundary surface formed between the stator blocks fit Ri neighboring, in the moving direction of the mover by (1/2) × L0 Placed and
Before SL mover, it arranged m provided interval (m is a natural number) constituting the movable element group composed of pieces of the movable element,
The distance L between the rear end surface of the rear end tooth located closest to the rear end side in the moving direction and the front end surface of the front end tooth positioned closest to the front end side in the moving direction among the three types of mover teeth constituting each mover. L ≦ (1/2) × L0 / m, or the rear end face of the rear end teeth of the mover Mn (n = 1, 2,..., M) of the mover group, and the rear end face Li−Lj = k × L0 ± (1/2) × (1 / d) × L0 × Δ (i, j are natural numbers of m or less, k where Ln is the distance from the boundary surface located immediately on the tip side. is an integer, d is a divisor of m other than 1, delta is that is arranged so that the relation of real number) of 0.8 ≦ Δ ≦ 1.2,
A linear motor characterized by that. The linear motor according to any one of claims 1 to 5,
The mover group is
In the mover adjacent to each other, the magnetic pole direction of the permanent magnets are arranged such that the opposite, and orientation of the magnetic poles by the three-phase alternating-current windings are connected so as to be opposite structure or,
The movable elements adjacent to each other are arranged so that the magnetic pole directions of the permanent magnets are opposite to each other , and the movable elements adjacent to each other are multiplied by q ( q is an integer) times the salient pole interval P of the stator. arranged structure ± P / 2 intervals or,
The movable elements adjacent to each other are connected so that the direction of the magnetic poles by the three-phase AC windings are reversed, and q ( q is an integer) times ± P / 2 of the salient pole interval P of the stator. A structure in which an interval is provided between the movable element ,
Linear motor characterized by having The linear motor according to any one of claims 1 to 6,
A linear motor, wherein a stator row in which a plurality of the stators are arranged is formed, and the movable element group is arranged over the stator rows.   A stator with salient poles arranged at intervals P;
  The stator includes three kinds of mover blocks or teeth that become three-phase magnetic poles by a three-phase AC winding, and permanent magnets arranged alternately on the surfaces facing the salient poles, and the stator extends. A mover movable along the direction,
  A linear motor having
  The stator is configured by arranging a plurality of stator blocks such that a boundary surface formed between the stator blocks is positioned at an interval L0 in the movement direction,
  The mover constitutes a mover group composed of m (m is a natural number) movers arranged at intervals.
  Of the three types of mover blocks or teeth constituting each mover, the rear end surface of the mover block or teeth located closest to the rear end side in the movement direction, and the mover block or teeth located closest to the front end side in the movement direction The distance L from the front end surface of L is L ≦ L0 / m, or the rear end surface of the mover Mn (n = 1, 2,..., M) of the mover group and the front end that is closer than the rear end surface Li−Lj = k × L0 ± (1 / d) × L0 (i, j are natural numbers less than m, k is an integer, d is an integer other than 1 and Ln is the distance to the boundary surface located on the side. Divisor)
  A linear motor characterized by that.

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