JP5365171B2 - motor - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a motor that simultaneously achieves reduction in cogging and ripple. <P>SOLUTION: A motor 1 has a stator 2, in which a plurality of teeth 21 are formed at equal intervals in a specific direction, and a moving element 3 supported freely movably in the specific direction with respect to the stator 2. The motor is configured such that magnetic fluxes are successively generated in each gap G formed between the moving element 3 and each tooth 21 so as to move the moving element 3 relative to the stator 2. Each tooth 21 is formed with a cutout part 21b that communicates with a slot 22 being a void between the teeth 21 adjacent to each other and partially narrows a cross-sectional shape of each tooth 21. <P>COPYRIGHT: (C)2009,JPO&amp;INPIT

Description

  The present invention relates to a motor (engine) such as a linear motor or a rotary motor.

  The present applicant has so far formed a plurality of teeth (tooth portions) along a specific direction at predetermined intervals on the stator, and moved the stator in the direction of teeth alignment in the stator using the mover as a magnetic flux generator. Inventions relating to motors such as linear motors that are freely supported have been made (for example, see Patent Documents 1 and 2). In these motors, pole teeth and groove portions are alternately formed at half the interval between teeth adjacent to each end face of the mover facing each tooth in the stator, and the adjacent polarities in each groove portion. Permanent magnets are inserted and arranged in opposite directions, and magnetic flux is sequentially generated in the gaps formed between the magnetic poles around which the coils of the mover are wound and the teeth of the stator. The mover is configured to move relative to the stator.

  With regard to all motors including such linear motors, there is a problem of how to reduce cogging and thrust ripple during driving. Various technologies relating to cogging and ripple reduction have been proposed. For example, in a rotary motor, auxiliary grooves are formed at predetermined angular intervals on the gap surface of the teeth in the stator field core facing the rotor. The technique of reducing a cogging torque and a torque ripple by this is disclosed (for example, refer patent document 3).

  In addition, in some motors, in particular, there are slots in which a fixed interval exists between adjacent teeth in the stator, but since a number of slots having a narrow opening width are arranged. In particular, in a linear motor in which the slot is open upward, there is a problem that it is difficult to remove dust or a damaged workpiece that falls in the slot. However, such a problem that it is difficult to remove dust and the like in the slots between the teeth can occur not only in a linear motor but also in a rotary motor. Therefore, conventionally, for example, in a linear motor, a resin material such as epoxy resin melted into a slot in a stator is poured and cured to form a resin mold, and such a problem is caused by filling a slot that is a deep groove between teeth in appearance. (For example, refer nonpatent literature 1, the 2nd page, etc.).

Japanese Examined Patent Publication No. 7-59144 Japanese Patent Laid-Open No. 10-174419 JP-A-10-042531 "Shinko HD Motor" catalog, published by Shinko Electric Co., Ltd., 2005

  However, when an auxiliary groove is formed on the gap surface of the teeth as described in Patent Document 3, or such a technique is applied to a stator of a linear motor, for example, and the auxiliary groove is formed on the gap surface of the teeth in the stator. However, it is considered that cogging and ripple reduction can be realized, but further reduction of cogging and ripple is desired in these rotary motors and linear motors. Further, it is considered that the thrust is reduced by the magnetic resistance.

  In addition, if dust or a damaged workpiece falls in the auxiliary groove formed on the gap surface of the teeth, it may be difficult to remove. Therefore, as described in Non-Patent Document 1, a method of filling the auxiliary groove formed in the gap surface of the teeth with a resin mold is also conceivable. However, in this method, a mold process is performed in which molten resin is poured into the slot and cured. In addition to taking a long time, depending on the type of resin, it may be distorted during molding, for example, to bulge. At this time, if the resin bulging from the gap surface of the teeth is not sufficiently removed by polishing or the like, a small gap between the stator and the mover cannot be secured sufficiently, and the size control of the gap is difficult. There may be problems that are difficult. In this case, as described in Non-Patent Document 1, the technique of filling the slot between the teeth of the stator of the linear motor with a resin mold causes time loss and cost increase. In particular, in the case of a linear motor in which teeth are formed on both sides of the stator, resin is poured into the slot between the teeth on one side of the stator and waits for curing, and then between the teeth on the other side. Since a long process of pouring a resin into the slot and waiting for curing again is required, it can be said that the time loss is particularly large. Regardless of whether the teeth are on one side or both sides, when disposing of the stator, the labor and cost of separating the stator main body, which is a metal member, and the mold, which is a resin member, are enormous and recyclable. There was also a problem that was relatively low.

  Therefore, in view of such problems, the present invention can realize reduction of cogging and ripple, and can efficiently prevent dust and workpieces from dropping into slots between teeth in the stator. The main purpose is to provide

That is, the motor according to the present invention includes a stator having a plurality of teeth formed at equal intervals along a specific direction, and a mover supported so as to be movable in a specific direction with respect to the stator. In a motor that moves the mover relative to the stator by sequentially generating magnetic flux in each gap formed between the teeth of the stator , an A-phase magnetic pole, a B-phase magnetic pole, And an iron core having a C-phase magnetic pole, and a coil is wound around each magnetic pole, and functions as a primary side magnetic flux generator, and at each of the magnetic poles, at an end surface facing the stator teeth at regular intervals. Polar teeth and grooves are formed alternately, and each groove is inserted and arranged so that the polarities of adjacent permanent magnets are opposite to each other, and applied to each tooth of the stator. only, adjacent to tea Is characterized in that the cross-sectional shape of the teeth along a particular direction to form a cutout portion narrowing partially communicated with the gap a is the slot between the scan.

Here, examples of the motor to which the present invention is applied include a linear motor that obtains a linear motion using a force generated by an interaction between a magnetic field and a current, and a rotary motor that outputs a rotational motion. The specific direction, which is the alignment direction of the teeth formed on the stator, is a predetermined linear direction in the case of a linear motor, and in the case of a rotary motor, a predetermined circle centered on the rotation center of the mover. In the circumferential direction. In addition, with respect to the notch formed in each tooth of the stator, if the condition that the cross-sectional shape of the tooth is partially narrowed along the specific direction is satisfied, the shape, the depth in the specific direction, etc. Can be set as appropriate, and a plurality of cutout portions for each tooth may be formed as long as the number is one or more.

  As described above, in the motor according to the present invention, the mechanism of action is not necessarily clear by forming the above-described notch portion in the teeth of the stator, but the cogging reduction that has been a problem in the motor conventionally has been reduced. It has been found that ripple reduction, magnetic attraction force reduction, and inductance reduction can be achieved without reducing the thrust of the motor.

  The motor of the present invention further includes a cover member that is made of a nonmagnetic or weak magnetic material and is attached to the stator and covers a slot that is a gap between adjacent teeth. A projecting end portion positioned in the portion, and a lid portion that seals the slot communicating with the notch portion. For the non-magnetic material that can constitute the cover member, for example, an appropriate material selected from resin, wood, aluminum, SUS (stainless steel), glass, ceramic, carbon, glass epoxy, etc., and for the weak magnetic material, a magnet An appropriate material selected from wedges, weak magnetic SUS, and the like can be used according to the purpose and convenience.

  In the motor according to the present invention configured as described above, by adopting a simple structure in which each tooth of the stator is formed with a notch communicating with a slot adjacent to the tooth, the notch By positioning and attaching the protruding end portion of the cover member, which is a separate member from the stator, to the portion, the slot can be sealed with the lid portion of the cover member. For this reason, it is possible to efficiently prevent the dust and the broken work from dropping into the slot, so that it is not necessary to form a resin mold for closing the slot, which has been conventionally performed. As a result, the process required to form the resin mold can be eliminated to shorten the process, reduce costs, reduce the weight of the motor, and easily manage the dimensions of the gap between the stator and the mover. Will be able to do. In particular, in a linear motor, since the slot between the teeth is normally open upward, the effect of the present invention that prevents entry of dust into the slot without a resin mold is remarkable. Furthermore, in the linear motor of the type having teeth on both the front and back sides of the stator, the effect of the present invention that can omit the resin molding step is remarkable. Of course, in the case of a rotary motor, the effect of preventing dust and broken workpieces from entering the slot is useful. Further, in the conventional configuration in which the resin mold is applied to the stator slot, it is difficult to separate the stator main body from the resin mold. However, according to the present invention, if the cover member is removed from the stator, Therefore, it is possible to improve the workability at the time of disposal and the recycling performance. Therefore, the present invention has the above-described configuration, and at the same time, various effects such as reduction of cogging and ripple, and improvement of motor performance, and at the same time, various effects by attaching a cover member to the stator instead of the resin molding. It can be said that this is an unprecedented excellent motor.

  Further, if the lid of the cover member is covered with the gap surface facing the gap in a pair of teeth sandwiching the slot sealed by the cover member, the cover of the cover member is covered. Since the slot is almost completely closed by the portion and almost no step is formed between the gap surfaces of adjacent teeth, it is possible to almost completely suppress the fall of dust or the like into the slot. If the cover member is configured so that the cover member is positioned at a position slightly lower than the gap surface of the adjacent teeth, the portion of the slot exposed to the gap is very shallow. Therefore, even if dust or the like enters the portion, the removal of the dust or the like is much easier than in the case where the slot is completely exposed.

  In such a motor of the present invention, it is desirable that the notch portion formed in the teeth of the stator is formed in the tip portion that is the open end side of each tooth. When the notch is formed at the tip of each tooth that faces the gap, the notch opens into the gap between the teeth and the stator, so that the protrusion of the cover member May be mounted on the notch and appropriately attached to the stator, and the arrangement and shape of the lid of the cover member may be set so as not to reduce the gap dimension. Further, in the case where a notch portion is formed in a region that is not exposed to the gap on the distal end side from a substantially central portion between the proximal end and the distal end (open end) of the teeth among the distal end portions of the teeth, a cover member It is also possible to attach the cover member to the stator by engaging the protruding end portion with the notch portion.

  Further, when the notch formed in each tooth is formed so as to communicate with a pair of slots sandwiching the tooth, that is, at least one notch is formed in each tooth on one side of the slot. When the portion is formed and communicated, a configuration in which the protruding end portion of the cover member is attached to the cutout portions on both sides is possible, and the attachment state of the cover member to the stator can be stabilized.

Further, the cover member is formed with a plurality of protruding end portions that are respectively attached to the respective notches of the plurality of teeth, and further, a plurality of lid portions for sealing the plurality of slots are formed, and the plurality of protruding end portions and the lids are formed. A configuration in which a plurality of sets of parts are integrally provided in a comb-like shape may be employed. In this case, since a plurality of slots can be closed simultaneously by a single operation of attaching the cover member to the stator, the efficiency of attaching the cover member can be improved.

  Further, in the present invention as described above, if the cover member can be attached to and detached from the stator, replacement when the cover member is damaged after the start of use of the motor, and the stator and cover at the time of disposal are discarded. Separation from the member can be facilitated.

  According to the motor of the present invention, as a result of forming such a notch portion in the teeth of the stator, reduction of cogging and ripple, reduction of magnetic attractive force and inductance, which are problems in various motors, This can be realized without degrading the original driving force. Furthermore, by forming a notch portion that communicates with the slot in the teeth of the stator and attaching the cover member using this notch portion, the cover member can be replaced with a cover member instead of closing the slot with a resin mold. Since it can be closed, it is possible to reduce the weight of the stator, shorten the manufacturing process of the stator, facilitate the separation of parts, and facilitate the dimensional management of the gap between the stator teeth and the mover. In addition, it is possible to prevent dust from falling into the slot or falling of a damaged workpiece.

  Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a longitudinal sectional view showing an outline of a linear motor 1 according to an embodiment of the motor of the present invention. First, the outline of the linear motor 1 will be described with reference to FIG. The linear motor 1 is an example of a three-phase linear pulse motor, and mainly has a scale 2 that is a stator fixed to a floor surface or the like that linearly moves the slider 3 linearly, and linearly along the scale 2. The slider 3 is a movable element that can be relatively moved, and the slot cover 4 is a cover member attached to the scale 2.

  As shown in FIGS. 1, 2 (a schematic perspective view of the scale 2), FIG. 3 (a schematic plan view of the scale 2), and FIG. 4 (a cross-sectional view taken along line AA in FIG. 3). A member that is long in one direction along the floor surface or the like, and a plurality of teeth (tooth portions) 21 are formed at a predetermined pitch along the longitudinal direction M at the center of the upper surface. Here, a gap between adjacent teeth 21 and 21 is referred to as a slot 22, and an upper surface of each tooth 21 is referred to as a gap surface 21 a that faces a gap G that is a constant gap between the slider 3. A slot cover 4 that covers the slot 22 is attached to the scale 2. As a structure for the attachment, as shown in FIG. 5 as an enlarged vertical cross-sectional view, each tooth 21 of the scale 2 has a longitudinal direction M of the scale 2 at a position not exposed to the gap surface 21a at the upper end portion thereof. A pair of front and rear cutout portions 21b and 21b are formed in a direction orthogonal to each other (in other words, the longitudinal direction of each tooth 21) so as to reduce the thickness of each tooth 21. In the present embodiment, the notches 21 b and 21 b are U-shaped in a side sectional view, and are formed at substantially the same height in the tooth 21. When such a notch 21b is viewed in relation to the slot 22 between the adjacent teeth 21, 21, the notch 21b, 21b formed in the front and rear teeth 21, 21 communicates with one slot 22, respectively. Will be.

  In the present embodiment, a rectangular plate member made of a nonmagnetic material is applied to the slot cover 4 as an example. As the nonmagnetic material, an appropriate material having no magnetism selected from resin, wood, aluminum, SUS, glass, ceramic, carbon, glass epoxy and the like can be used. As shown in an enlarged view in FIG. 5, the width dimension of the slot cover 4 along the longitudinal direction of the scale 2 is the sum of the opening width dimension of one slot 22 and the notch depths of the two notch portions 21b and 21b. It corresponds approximately to. Further, the thickness of the slot cover 4 along the height direction of the teeth 21 substantially corresponds to the notch height dimension of each notch portion 21b. Further, the longitudinal dimension of the slot cover 4 substantially corresponds to the longitudinal dimension of the teeth 21 of the scale 2. When attaching such a slot cover 4 to the scale 2, the slot cover 4 is positioned in one slot 22, and a slot in the direction M is formed in a pair of notches 21 b and 21 b that open to communicate with the slot 22. Both ends 41, 41 of the cover 4 are inserted and engaged. That is, both end portions 41 and 41 in the direction M of the slot cover 4 function as projecting end portions that are positioned and attached in the notches 21b and 21b, and regions other than the both end portions 41 and 41 of the slot cover 4 are The slot 22 functions as a lid portion 42 that seals the upper end portion of the slot 22. When the slot cover 4 is attached to the scale 2 in such a configuration, the upper surface of the slot cover 4, that is, the upper surface 42 a facing the gap G of the lid portion 42 is positioned slightly lower than the gap surface 21 a of each tooth 21. That is, a part of the upper end portion side of the slot 4 is very shallowly exposed to the gap G.

  Further, when both end portions 41, 41 of the slot cover 4 are inserted into and engaged with the notches 21b, 21b and attached to a pair of adjacent teeth 21, 21, the slot cover 4 is further stabilized against the scale 2. However, if it is necessary to stabilize carefully, both end portions 41 and 41 may be fixed in the corresponding cutout portions 21b and 21b by means such as adhesion. If the material of the slot cover 4 is relatively hard, the slot cover 4 may be attached from the side of the scale 2 (in the longitudinal direction of the teeth 21). It is also possible to attach the teeth 21 from the gap surface 21a side by bending 4.

  In addition, as a modified example of the slot cover 4 corresponding to the notch portion 21b of the tooth 21 described above, it is also possible to adopt the one shown in an enlarged manner in FIG. The slot cover 4 ′ according to this modification is a member having a cross-sectional shape of a square shape and having a longitudinal dimension equivalent to that of the slot cover 4, and is fitted into one slot 22. A pair of leg portions 41 ′ and 41 ′ having a height dimension substantially equal to the depth dimension, and a flat lid that connects the upper ends of these leg sections 41 ′ and 41 ′ and substantially corresponds to the opening width dimension of the slot 22. The part 42 'is integrally formed. The pair of legs 41 ′ and 41 ′ protrude outwardly at positions where they are inserted and engaged with the notches 21 b and 21 b of the pair of teeth 21 sandwiching the slot 22 covered with the slot cover 4 ′. Protruding end portions 41a ′ and 41a ′, which are small projections, are formed. When such a slot cover 4 ′ is fitted into the slot 22 and the projecting end portions 41 a ′ and 41 a ′ are positioned and attached to the notches 21 b and 21 b, respectively, unlike the slot cover 4 described above, the lid portion 42 ′. Since the upper surface 42 a ′ is substantially flush with the gap surfaces 21 a and 21 a of the pair of adjacent teeth 21 and 21, it is possible to cover the slot 22 almost completely without exposing the slot G to the gap G.

  As shown in FIG. 1, the slider 3 has a function as a primary magnetic flux generator, and is supported so as to be movable in the longitudinal direction M of the scale 2 by a support mechanism (not shown) such as a roller. The slider 3 includes an iron core 31 having an A-phase magnetic pole 31A, a B-phase magnetic pole 31B, and a C-phase magnetic pole 31C, and coils 32A, 32B, and 32C wound around the magnetic poles 31A, 31B, and 31C, respectively. Has been. In each of the magnetic poles 31A, 31B, and 31C, pole teeth 31Aa, 31Ba, and 31Ca and concave grooves (reference numerals omitted) are formed at regular intervals P / 2 on the end surfaces of the scale 2 facing the teeth 21. The permanent magnets 31Ab, 31Bb, and 31Cb are inserted and arranged so that the polarities of adjacent ones thereof are opposite to each other. In this case, each of the magnetic poles 31A, 31B, and 31C has a distance P in the longitudinal direction M of the scale 2 in order of the magnetic pole 31A located on one side, the magnetic pole 31B located on the center, and the magnetic pole 31C located on the other side. / 3 is displaced by three. As a result, in a state where the pole teeth 31Aa of the A-phase magnetic pole 31A are opposed to the teeth 21 of the scale 2, the pole teeth 31Ba of the B-phase magnetic pole 31B are displaced from the teeth 21 in the direction M by a distance P / 3, and C Each pole tooth 31Ca of the phase magnetic pole 31C has a positional relationship in which the distance 21 · P / 3 is displaced from the tooth 21 in the direction M.

  In the above configuration, with the excitation sequence as shown in FIG. 7, operation is performed when so-called bipolar driving is performed by supplying a pulse current that reverses magnetism to the A-phase coil 32A, B-phase coil 32B, and C-phase coil 32C. explain. FIG. 8 is a diagram illustrating thrust vectors generated between the magnetic poles 31 </ b> A, 31 </ b> B, 31 </ b> C of the slider 3 and the teeth 21 of the scale 2. In the drawing, A indicates a thrust vector generated when a drive current is supplied to the A-phase coil 32A in the positive direction, and A ′ indicates a thrust vector generated when a drive current is supplied to the A-phase coil 32A in the negative direction. . Similarly, B and C in the figure indicate thrust vectors generated when a drive current is supplied in the positive direction to the B-phase coil 32B and the C-phase coil 32C, respectively, and B ′ and C ′ are the B-phase coils 32B and C ′. The thrust vectors respectively generated when the drive current is supplied to the phase coil 32C in the negative direction are shown. In the period indicated by (1) in FIG. 7, the drive current is supplied in the positive direction to the A-phase coil 32A, and the drive current is supplied in the negative direction to the B-phase coil 32B and the C-phase coil 32C. As shown in FIG. 8, a vector obtained by combining the vector A, the vector B ′, and the vector C ′ becomes a thrust vector and acts between the scale 2 and the slider 3. Thereafter, when drive current is supplied to the coils 32A, 32B, 32C in the order of (2) → (3) →... → (6), the magnetic poles 31A, 31B, 31C of the slider 3 and the teeth 21 of the scale 2 are obtained. 8 changes in the order of (2) → (3) →... → (6) in FIG. 8, and the magnetic stable point of the slider 3 with respect to the scale 2 changes. Thus, the excitation modes in the order of (1) → (2) → (3) →... → (6) or the excitation modes of (6) → (5) →... → (2) → (1) By repeating pulse excitation in this order, the slider 3 moves.

  Here, the result of having verified the reduction effect of the thrust ripple in the linear motor 1 of this embodiment is shown in FIG. This figure is a graph showing changes in thrust ripple due to magnetic field analysis. The horizontal axis indicates the movement position of the slider 3 in electrical angle, and the vertical axis indicates thrust. In this test, the magnetic pole position was changed by the movement of the slider 3, and the thrust value when a three-phase current having a constant effective value was passed was obtained in synchronization with this change. The solid line in the figure is the measurement result by the linear motor 1 of this embodiment, and the broken line is the measurement result by the conventional linear motor 1 applied as a comparison. This conventional linear motor does not have a notch 21b formed in the tooth 21 of the scale 2 as in the linear motor 1 of the present embodiment, and the cross-sectional shape along the longitudinal direction of the scale in the linear motor is Teeth are rectangular. As shown in the figure, in the conventional linear motor, thrust ripple (pulsation) is greatly generated in accordance with the change in the electrical angle (moving position of the slider), whereas in the linear motor 1 of the present embodiment, The thrust value itself is almost the same as that of the conventional linear motor, but the thrust ripple is greatly suppressed. Thus, although the mechanism that can reduce the thrust ripple is not necessarily clear, the ripple can be reduced without reducing the thrust by forming the notch portion 21b as in the present embodiment in the tooth 21 of the scale 2. It has been confirmed as a phenomenon that can be reduced.

  As described above, according to the linear motor 1 of the present embodiment, the notch portion 21b is formed in the tooth 21 of the scale 2 that is a stator without reducing the original propulsive force of the linear motor 1. Further, it is possible to reduce the thrust ripple. In addition, as other excellent effects, it has been confirmed that the cogging is reduced and the magnetic attraction force and the inductance are reduced. Therefore, this embodiment is extremely useful as this type of linear motor 1. I can say that. In addition, a notch 21b communicating with the slot 22 is formed in the tooth 21 of the scale 2 as a stator, and an end 41 formed on the slot cover 4 is inserted into and engaged with the notch 21b. Compared with the prior art in which the slot 22 of the scale 2 is opened with respect to the gap G by adopting a simple configuration of closing the slot 2 with the lid portion 42, dust in the slot 22, debris of the work, etc. When the above described slot cover 4 ′, which is a modified example of the slot cover 4, is used, the upper surface 42 a ′ of the lid portion 42 ′ can be reduced. Since it becomes substantially flush with the gap surface 21a of the tooth 21, such a problem can be solved. Compared with the conventional technique in which the slot 22 is closed with a resin mold, the scale 2 side is reduced in weight, the manufacturing process of the scale 2 is shortened, and the scale 2 and the slot cover 4 are easily separated. In addition, the dimensional management of the gap G between the tooth 21 of the scale 2 and the slider 3 as the mover can be facilitated.

  In the present invention, the shape and number of notches formed in the teeth of the scale that is the stator, the shapes of the teeth and slots, etc. are not limited to the above-described embodiments, and correspondingly. The configuration of the slot cover attached to the scale is not limited to the embodiment. 10 to 19 show examples of scales (stator) having various configurations. In the example of the scale shown in FIGS. 10 to 13, the overall configuration of the scale is the same as that of the above embodiment, and thus the description thereof is omitted.

  The tooth 121 of the scale shown in FIG. 10 is formed at the same position as the notch 21b formed in the tooth 21 of the above-described embodiment so that the notch 121b having a triangular shape in cross section is not directly exposed to the gap G. It is a thing. In this example, the upper surface of the notch 121b is substantially parallel to the gap surface 121a. The slot 122 communicates with the notches 121b and 121b of the teeth 121 and 121 on both sides thereof. In this case, for example, the above-described slot cover 4 ′ may be used, but like the slot cover 140 shown in the figure, it has a pair of legs 141, 141 and a lid 142 similar to the slot cover 4 ′. The leg portions 141 and 141 may be formed by forming the protruding end portions 141a each having a triangular shape in cross section corresponding to the notch portion 121b. According to such a configuration, once the slot cover 140 is attached, the effect of preventing the drop off from the scale is enhanced, and when the slot cover 140 is made of a material that can be elastically deformed, the downward inclined surface of the projecting end portion 141a. The slot cover 140 can be easily inserted into the slot 122 from the gap surface 121a side, and the protruding end 141a can be elastically engaged with the notch 121b.

  A tooth 221 of the scale shown in FIG. 11 is formed by forming a notch portion 221b having a cross-sectional shape in the shape of a butterfly blade having two partial arcs connected to an adjacent slot 222. As an example of the slot cover 240 applied to the teeth 221 having such a structure, a gap-shaped plate member having a hollow cross-sectional rectangular shape that is just inserted into the slot 222 and having an upper wall as a lid 242 is used. The protrusions 241a and 241a having shapes corresponding to the cutout portions 221b and 221b are formed on the upright walls 241 and 241 at positions corresponding to the cutout portions 221b and 221b. Even with such a configuration, it is possible to effectively prevent the slot cover 242 attached to the scale from falling off.

  The teeth 321 of the scale shown in FIG. 12 have a substantially trapezoidal shape in cross-section in view of the top side (gap surface 321a) and the bottom side being long, unlike the above-described teeth. That is, the slot 322 has a cross-sectional shape with a wide opening width and a short bottom width. For example, notches 321b and 321b similar to the teeth 21 of the above-described embodiment are formed in each of the teeth 321. A rectangular plate-like member can be applied to such a scale in the same manner as the slot cover 4. However, like the slot cover 340 shown in the figure, a rectangular plate-like member can be used as described above. Things can also be used. That is, both end portions 341 and 341 of the slot cover 340 function as projecting end portions that engage with the cutout portions 321 b and 321 b, and a region therebetween functions as the lid portion 342.

  In addition to the above, the notch formed in the scale may be formed at the upper end of the tooth so as to be directly exposed to the gap G. As an example, the scale shown in FIG. 13 has a tooth 421 having a convex shape in cross section. In other words, the upper end portion of each tooth 421 facing the slot 422 has a shape cut out in a rectangular shape in cross section, and the cut out portions serve as notches 421b and 421b. In other words, the width dimension of the gap surface 421a is narrower than the width dimension of the bottom portion of the teeth 421, and the slot 422 communicates with both the notches 421b and 421b and apparently forms a convex shape with the top and bottom inverted to form the gap G ( (Not shown). For such a scale, for example, a hollow convex shape (upper and lower) is formed as a slot cover 440 corresponding to a rectangular shape in a sectional view extending across a pair of cutout portions 421b and 421b across the upper end portion of the slot 422. Can be used. In this case, both end portions 441 and 441 of the upper wall of the slot cover 440 are placed on the cutout portions 421b and 421b to function as projecting end portions, and the central region of the upper wall excluding both end portions 441 and 441 is a lid. As a result of functioning as the portion 442, the slot 422 can be sealed. In this case, in order to prevent the slot cover 440 attached to the scale from shifting or falling off, it is preferable to fix the notch portion 421b and the end portion 441 of the slot cover 440 mounted thereon by bonding or the like.

  14 to 18 (FIG. 14 is a schematic perspective view of the scale 520, FIG. 15 is a schematic plan view of the scale 520, FIG. 16 is a side view of the scale 520, and FIG. FIG. 18 is a cross-sectional view taken along the line C-C of FIG. 15. In each of the teeth 521, the notch portions 521 b and 521 b are provided on the standing surfaces facing the longitudinal direction M of the scale 520. It is formed over the longitudinal direction of each tooth 521. The notch 521b is formed at the upper end of the tooth 521, similar to the notch 21b formed on the scale 2 described above, and is deeper from one end to the other end of the tooth 521 in the longitudinal direction. It is formed by changing the thickness continuously. Specifically, the cutout portion 521b has a right-angled triangular shape in a plan view from the depth of, for example, about 1/3 of the width dimension along the direction M of the tooth 521 to the standing surface (depth 0) of the tooth 521. There is no. Such notches 521b are formed on both standing surfaces of the teeth 521 in opposite directions. As a result, the width dimension along the direction M of the teeth 521 is always constant at the height position where the notches 521b and 521b are formed in each tooth 521, and the slot between the adjacent teeth 521 is constant at this height position. A space where 522 and the cutouts 521b on both sides thereof are continuous has a parallelogram shape in plan view. For example, an elongated parallelogram plate-shaped member as shown in FIG. 14 can be applied to the slot cover 540 that engages with the notches 521b and 521b and seals the slot 522. . In the slot cover 540, both end portions on the long side function as projecting end portions 541 and 541 that are inserted into and engaged with the cutout portions 521 b and 521 b, and a region between the lid portions 522 covers and seals the slot 522. Function as.

  If the notch 521b is formed in such a shape and the slot cover 540 as described above is attached, the same effect as prevention of falling of dust or the like into the slot 522 can be obtained as in the above embodiment. As a matter of course, the ripple reduction effect can be obtained without reducing the thrust, and the cogging reduction effect can also be obtained.

  In addition, as a modification of the scale 520 described above, for example, as shown in a scale shown in a side view in FIG. Forms a notch 521b 'similar to the above-described notch 521b, and forms a notch 521b' 'similar to the notch 21b formed in the scale 2 of the above embodiment on the other rising surface side. Can be mentioned. Although not shown, for example, a slot cover made of a plate-like member having a trapezoidal shape in plan view can be applied to such a scale.

  In addition, the specific configuration of each part including the scale and the slot cover is not limited to the above-described embodiment and various modifications. For example, a weak magnetic material can be applied as the material of the slot cover. In addition, the shape of the slot cover is not limited to the above-described plate shape, square shape, convex shape, etc., and various shapes such as a round shape, a T shape, a π shape, and a torii type should be adopted. Is possible. In addition, a slot cover in which a plurality of sets of lids and protruding ends are provided in a comb shape so as to cover a plurality of slots simultaneously can be applied. Can be reduced. Even if the cover member is not attached to the scale, the above-described notch is formed in the teeth of the scale, thereby reducing cogging, reducing thrust ripple, and reducing magnetic attractive force without reducing the thrust of the motor. Various effects such as inductance reduction can be realized.

  Furthermore, the present invention is not limited to the three-phase linear pulse motor as in the above embodiment, but is useful when applied to various motors such as various linear motors and rotary motors. Examples of useful motors to be applied include, for example, a variable reluctance type (VR type), a hybrid type stepping motor (pulse motor), a scale of a switched reluctance motor, etc. (corresponding to the “stator” in the present invention) in a specific direction. There is a motor in which teeth are formed at regular intervals along the line. As an example when applied to a rotary motor, a motor X1 shown in FIG. 20, that is, a stator X2 that is a stator and has a cylindrical shape and a plurality of teeth X21 formed on the inner peripheral surface at equal intervals along the circumferential direction. And a rotor X3 which is disposed in the stator X2 and functions as a magnetic flux generating part. The stator X2 is formed with a notch X21b at a predetermined location of each tooth X21 (in the illustrated example, in the vicinity of the gap surface X21a, that is, at the tip of the tooth X21). On the other hand, the rotor X3 includes an iron core X31 formed with magnetic poles of an A-phase magnetic pole X31A, a B-phase magnetic pole X31B, and a C-phase magnetic pole X31C, and coils X32A, X32B, In the magnetic poles X31A, X31B, and X31C, pole teeth (reference numerals omitted) are formed at equal intervals on the end faces of the magnetic poles X31A, X31B, and X31C, and concave grooves (reference numerals omitted) between the pole teeth are formed. The permanent magnets X31b are inserted and arranged so that the polarities of adjacent ones are opposite to each other. Such a rotor X3 is supported by the shaft X5. Further, by forming the notch portion X21b in the tooth X21 of the stator X2, the above-described effects such as reduction of cogging without reducing the thrust of the motor can be obtained. Further, it is possible to attach a cover member (not shown) similar to that shown in the above embodiment to the stator X2 using the notch portion X21b. When the cover member is attached, each tooth X21 By attaching the cover member (slot cover) described in the above embodiment, the slot X22 in the middle can be sealed, and dust and broken work can be prevented from dropping into the slot X22. Various effects can be obtained. In addition, also in a rotary motor, you may apply the various modifications mentioned above regarding the shape of a tooth | gear, a notch part, a cover member, etc. Note that a rotary motor in which the outer is a mover and the inner is a stator may be used. In this case, a plurality of teeth are formed at equal intervals along the circumferential direction on the outer peripheral surface of the stator. By forming a notch in the above, the various effects described above can be obtained, for example, cogging can be reduced without reducing the thrust of the motor.

  In the present invention, the specific direction that is the alignment direction of the teeth formed on the stator is a predetermined linear direction in the case of a linear motor, and is a predetermined center around the rotation center of the mover in the case of a rotary motor. The circumferential direction of the circle. Moreover, the aspect from which the depth direction of a slot is a horizontal direction from the gap surface in a stator may be sufficient. In this case, the whole stator takes a standing posture, and each tooth protrudes in the horizontal direction. By forming the cut portion in such a tooth, the above-described various effects can be obtained, for example, cogging can be reduced without reducing the thrust of the motor. Further, when the slot cover is attached to the cut portion formed in the teeth protruding in the horizontal direction, it is possible to prevent dust and damaged workpieces from entering the slot from the side of the stator.

Moreover, the teeth in the stator may be a laminated body in which iron and a magnet are layered. Note that a motor of a type in which teeth are formed on both sides of the stator or a motor in which teeth are formed only on one surface of the stator, any of these types of motors may be used. In addition, various modifications can be made without departing from the spirit of the present invention.

1 is a longitudinal sectional view showing an outline of a linear motor according to an embodiment of the present invention. The perspective view which shows the outline of the scale applied to the linear motor. The top view which shows the outline of the scale. The side view which shows the outline of the scale. The expanded longitudinal cross-sectional view which shows the outline of the state which attached the slot cover to the scale. The expanded sectional view which shows the outline of the state which attached the other slot cover to the same scale. Explanatory drawing of the excitation sequence in the same linear motor. Explanatory drawing of the thrust vector in each excitation mode of the linear motor. The figure which shows the reduction effect of the thrust ripple of the linear motor as a graph. The figure which shows the modification of the teeth and slot cover applied to the linear motor. The figure which shows the modification of the teeth and slot cover applied to the linear motor. The figure which shows the modification of the teeth and slot cover applied to the linear motor. The figure which shows the modification of the teeth and slot cover applied to the linear motor. The figure which shows the other modification of the scale applied to the linear motor, and a slot cover. The top view which shows the outline of the scale in the other modification. The side view which shows the outline of the scale. BB sectional drawing in FIG. 15 of the same scale. The CC sectional view taken on the line in FIG. 15 of the same scale. The side view which shows the further modification of the same scale. Sectional drawing which shows the outline of the stepping motor which concerns on one Embodiment of this invention.

Explanation of symbols

1 ... Linear motor 2,420, ... Stator (scale)
3. Mover (slider)
4, 4 ', 140, 240, 340, 440, 540 ... cover member (slot cover)
21, 121, 221, 321, 421, 521, 521 '... Teeth 21a, 121a, 221a, 321a, 421a, 521a ... Gap surface 21b, 121b, 221b, 321b, 421b, 521b, 521b', 521b '' ... Cut Notch 22, 122, 222, 322, 422, 522 ... Slot 41, 41 ', 141a, 241a, 341a, 441, 541 ... Projection end 42, 42', 142, 242, 342, 442, 542 ... Lid G ... Gap X1 ... Rotary motor X2 ... Stator
X3 ... Motor (rotor)
X21 ... Teeth X21a ... Gap surface X21b ... Notch X22 ... Slot XG ... Gap

Claims (7)

A stator having a plurality of teeth formed at equal intervals along a specific direction; and a mover supported so as to be movable in the specific direction with respect to the stator, each of the mover and the stator In the motor that moves the mover relative to the stator by sequentially generating magnetic flux in each gap formed between the teeth,
The mover includes an iron core having an A-phase magnetic pole, a B-phase magnetic pole and a C-phase magnetic pole, an A-phase coil wound around the A-phase magnetic pole, a B-phase coil wound around the B-phase magnetic pole, And a C-phase coil wound around the phase magnetic pole to function as a primary magnetic flux generator, and at each of the magnetic poles, pole teeth and concaves are formed at regular intervals on the end face of the stator facing the teeth. Grooves are alternately formed, and inserted into each concave groove so that the polarities of adjacent permanent magnets are opposite to each other,
A motor characterized in that only each tooth of the stator is formed with a notch portion that communicates with a slot that is a gap between adjacent teeth and partially narrows the cross-sectional shape of the tooth along the specific direction. . The cover member is made of a nonmagnetic or weak magnetic material and is attached to the stator and covers the slot. The cover member has a protruding end positioned in the notch, and the notch. The motor according to claim 1, further comprising a lid portion that seals the communicating slot. The lid portion of the cover member covers the slot substantially flush with a gap surface facing the gap in a pair of teeth sandwiching the slot covered by the cover member. Motor. The motor according to any one of claims 1 to 3, wherein the notch is formed at a tip portion that is an open end side of each tooth. 5. The motor according to claim 2, wherein in each of the teeth, the notch portion is formed so as to communicate with a pair of slots that sandwich the teeth. The cover member is formed with a plurality of protruding end portions that are respectively attached to the cutout portions of the plurality of teeth, and a plurality of lid portions that respectively cover the plurality of slots are formed, and the plurality of protruding end portions and the lid portions are formed. The motor according to any one of claims 2 to 5, wherein the set is integrally provided in a plurality of comb teeth . The motor according to claim 2, wherein the cover member is detachable from the stator.

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