JPH02131350A - Pulse motor - Google Patents

Abstract

PURPOSE:To produce a large thrust by leading flux entered from a secondary scale into the magnetic pole at one end of a specific splitted core to adjoining split cores through a permanent magnet then forming a main flux loop communication between the magnetic pole at the other end of the split cores the secondary scale. CONSTITUTION:When current is fed to a phase-A coil 26, magnetomotive force directing from phase-A magnetic poles 27a-27d toward phase-A magnetic poles 27a-27d is induced in split cores 24a-24d. Flux associated with the magnetomotive force and flux of permanent magnets 25a-25c form a main flux loop phi1. Consequently, the positions where the phase-A magnetic poles 27b, 27d face with a tooth section 21a and where A' magnetic poles 28a, 28c (29a, 29c) face with a tooth section 21b (21c) are stabilized magnetically. When current is fed to phase-B coil 36, main flux phi2 is produced. Then current is fed in a reverse direction through phase-A and phase-B coils 26, 36 to produce main fluxes phi3, phi4. When repeating this operation, a slider 22 moves to the right on the drawing.

Description

DETAILED DESCRIPTION OF THE INVENTION "Industrial Application Field" The present invention is a pulse generator suitable for use in F'A (factory automation) equipment that requires a relatively large thrust, such as industrial robots, for example. It is related to motors.

``Prior Art'' As is well known, a linear pulse motor moves a slider or a secondary scale (hereinafter simply referred to as scale) in steps based on a pulse signal supplied to the slider. The configuration of the magnetic circuit is as shown in FIG. 11. In this figure, 1 is a scale made of a long plate-like magnetic material, and its upper surface has uneven teeth 1 a, 1 a, . . . along the longitudinal direction (horizontal direction in the drawing). They are formed at equal intervals.

A slider 2 is placed on the upper surface of the scale 1 so as to be movable in the longitudinal direction of the scale 1 by a support mechanism including rollers (not shown). Slider 2
are the U-shaped A-phase iron core 4 and B-phase iron core 5, the coils 6a and 6b wound around the A-phase magnetic pole 4a and the in-phase magnetic pole 4b, respectively, of the A-phase iron core 4, and the B-phase iron core 5 of the B-phase iron core 5. Coils 7a and 7 wound around the magnetic pole 5a and the n-phase magnetic pole 5b, respectively.
b, permanent magnets 8 and 9 attached to the top surfaces of iron cores 4 and 5 with the polarities shown in the figure, and a back plate IO made up of a plate-shaped magnetic body attached to the top surfaces of permanent magnets 8 and 9. has been done. Three pole teeth 14a having the same pitch as the pitch P of the teeth 1a of the scale l are formed on the lower surface of the magnetic pole 4a.
b. 5 a. Similarly, there are pole teeth 14b on each lower surface of 5b.
, 15a, 15b are formed respectively. In addition, these pole teeth 15b, I4b, 15a are arranged sequentially shifted by F/4 with respect to the pole tooth 14a, and the pole tooth l4
a, l 4b. The lower surfaces of I 5a and I 5b and the tooth portion 1a
A predetermined gap G is formed between each of the upper surfaces.

And coils 6a, 6b, 7a, 7b
By sequentially supplying a predetermined pulse signal to the magnetic poles 4a, 4b, the magnetic flux generated by the coils 6a, 6b, 7a, 7b and the magnetic flux generated by the permanent magnets 8, 9 are connected to each magnetic pole 4a, 4b.
．． 5a and 5b, the magnetic stability position of the slider 2 with respect to the scale l is sequentially moved by increasing and subtracting the force in sequence, and thereby the slider 2 moves along the longitudinal force direction of the scale l.

Here, two sets of coils 6a, 6b and 7a, ?
An example will be explained in which the slider 2 is driven by a two-phase excitation method in which a current is constantly supplied to b.

■As shown in Figure 12(a), coils 6a, 6b
A predetermined current is passed from terminal 6c to 6d, and
By passing a predetermined current through the coils 7a and 7b from the terminals 7d to 7C, the magnetic flux generated by the coil 6a and the magnetic flux generated by the permanent magnet 8 are added to each other at the A-phase magnetic pole 4a, and the human-phase magnetic pole 4b, the magnetic flux generated by the coil 7a and the magnetic flux generated by the permanent magnet 9 add to each other at the B-phase magnetic pole 5a, and cancel each other at the 0-phase magnetic pole 5b, so the solid line φ is shown in the figure.
, a main magnetic flux is generated, and as a result, the position where the pole teeth 14a and 15a of the A-phase magnetic pole 4a and the B-phase magnetic pole 5a and the tooth portion 1a of the scale l are vertically opposed is a magnetically stable position. becomes.

■As shown in FIG. 12(b), a predetermined current is passed through the coils 6a and 6b in the same direction as ■, and the coils 7a and 7b are
By passing a predetermined current in the direction opposite to ■, a main magnetic flux is generated as shown by the solid line φ in the figure, and as a result, each pole tooth 14a
The position where the tooth portion 15b and the tooth portion 1a vertically face each other is a magnetically stable position.

■As shown in Fig. 12(c), by passing a predetermined current through the coils 6a and 6b in the opposite direction to ■, and at the same time passing a predetermined current through the coils 7a and 7b in the same direction as ■, the A main magnetic flux indicated by the solid line φ is generated, and as a result, the position where each of the pole teeth 14b and 15b and the tooth portion 1a are vertically opposed becomes a magnetically stable position.

■As shown in Figure 12(d), coils 6a, 6b
A predetermined current is passed in the same direction as ■, and the coils 7a,
By passing a predetermined current through 7b in the opposite direction to ■, a main magnetic flux shown by the solid line φ4 in the figure is generated, and as a result, each pole 11
The positions where the teeth 4b and 15a are vertically opposed to the tooth portion 1a are magnetically stable positions.

By repeating the pulse excitation in the order of the above excitation modes ■1■1■→■, the slider 2 moves to the right in the drawing, that is, in the direction from the magnetic pole 4a to 5b, and ■1■
By repeating pulse excitation in the order of each excitation mode 1■1■, the slider 2 moves toward the left in the drawing, that is, toward the magnetic pole 5.
Move in the direction from b to 4a. In addition, slider 2
The same applies to the case where scale 1 is moved while fixed.

"Problems to be Solved by the Invention" Generally speaking, linear pulse motors are used for driving carriages of printers in OA (office automation) equipment because they are capable of high-precision positioning in oven loops, but they are not used very often. Since a large thrust force cannot be obtained, it has been difficult to apply it to FA equipment that requires a relatively large thrust force, such as industrial robots. That is, in the linear pulse motor described above, as shown in FIGS. 12(a) to 12(d), the magnetic flux generated by the coil 6a or 7a at one A-phase magnetic pole 4a or B-phase magnetic pole 5a and the permanent magnet 8, 9 is added to the magnetic flux generated by the coil 6b or 7b, and during the period when thrust is generated, the magnetic flux generated by the coil 6b or 7b and the permanent magnet 8.9 are generated in the other phase input magnetic pole 4b or n-phase magnetic pole 5b. The structure is such that the magnetic flux cancels each other out and no thrust is generated. Conversely, during the period when thrust is generated in the human-phase magnetic pole 4b or the B-phase magnetic pole 5b, the A-phase magnetic pole 4a
Alternatively, the B-phase magnetic pole 5a is configured so that no thrust is generated. Therefore, the thrust generation area that actually contributes to thrust generation is the area of each magnetic pole 4 facing the scale 1.
Of the total area of a, 4 b, 5 a, 5 b, 5
It is only 0%, and expanding this thrust generating area has become an important issue when trying to improve thrust. In addition, when putting into practical use a pulse motor with improved thrust, it is important to have a structure that is as simple as possible, easy to manufacture, and has sufficient rigidity. It had become.

This invention was made in view of the above-mentioned circumstances, and it is possible to effectively utilize the total area of each magnetic pole facing the scale for thrust generation, obtain a large thrust, and have a simple configuration that can be easily used. The object of the present invention is to provide a valsmotor that can be manufactured and has sufficient rigidity and strength.

``Means for Solving the Problems J'' This invention includes a secondary scale in which teeth are formed at equal intervals along a specific direction, and a support that is movable in a specific direction with respect to the secondary scale. By sequentially generating magnetic flux in each gap formed between each magnetic pole of the primary side magnetic flux generating section (iq) and each tooth portion of the secondary side scale (iq), In the pulse motor that moves the primary side magnetic flux generation part relative to the secondary side scale, the primary side magnetic flux generation part is divided into a plurality of parts in a specific direction corresponding to the formation interval of the toothed part, and , a group of divided cores each having a shape in which the edges of each magnetic pole at both ends face the tooth forming surface of the secondary side scale, and the adjacent divided cores are respectively inserted and arranged so that the polarities of the adjacent cores are opposite to each other. It is characterized by comprising a permanent magnet and a coil wound around the divided iron core group.

"Operation" According to the above configuration, when current is passed through the coil in a fixed direction, the magnetic flux flows from the secondary scale to the magnetic pole at one end of a specific split core, or flows into the adjacent split core via the permanent magnet. A main magnetic flux loop is formed that flows into the secondary scale from the magnetic pole at the other end of the split core, so the total area of each magnetic pole facing the secondary scale is effectively used for thrust generation. This allows a large thrust to be obtained,
Furthermore, the shape of the split core group is such that the end faces of each magnetic pole at both ends face the tooth forming surface of the secondary scale (e.g., E-shape or U-shape), resulting in a simple configuration. Provides sufficient rigidity and strength.

"Embodiments" Hereinafter, embodiments of the present invention will be described with reference to the drawings.

FIG. 1 is an exploded perspective view showing the overall configuration of a linear pulse smoker according to a first embodiment of the present invention, FIG. 2 is a partially cutaway perspective view showing the configuration of main parts of the linear pulse smoker, and FIG. It is a figure for explaining the magnetic flux path when the same linear pulse motor is stationary.

In these figures, 21 is a fixed scale, and teeth 21a, 21a, . , also on both sides of the −1 plane of scale 2l,
Teeth 2 l b at intervals of pisochi P along its longitudinal direction
．． 2 l b, -... and tooth portions 21c, 21c are formed, respectively. In this case, the tooth portion 21a at the center and the tooth portions 2lb, 2.1c at both sides are formed to be shifted from each other by P/2.

On the other hand, 22 is a slider (primary side magnetic flux generation part), a
- The longitudinal force direction of the scale 21 (arrow M shown in the figure) is
direction).

The slider 22 is composed of an A-phase block 23 and a B-phase block 33, and the A-phase block 23 and the B-phase block 33 are attached to a frame 19, thereby defining their mutual positional relationship.

The A phase block 23 is divided into four parts in the moving direction M.
Character-shaped split cores 24a to 24d and each of these split cores 2
Between 4a and 24d, the polarities of the adjacent ones are in opposite directions (
It is composed of E-shaped permanent magnets 25a to 25c which are respectively inserted and arranged so that the magnets are arranged as shown in FIG. In this case, each of the divided cores 24a to 24d has a tooth portion 2
1a, 2lb, 21c are divided at intervals corresponding to the pitches P in which the teeth 21a, 21a, . . . are formed, and the central portion facing the teeth 21a, 21a, . ...and 21c, 21c, ...
Both side portions facing each other are in-phase magnetic poles 28a to 28d and 29a to 29d. As a result, as shown in FIG. 3, the central A-phase magnetic poles 27a and 27c are
1a, the human phase magnetic poles 2 on both sides
8b (29b) and 28d (29d) are teeth 2lb (21
The positional relationship is opposite to c).

In addition, like the A-phase block 23, the B-phase block 33 includes divided iron cores 34a to 34d, and each of these divided iron cores 34a.
Permanent magnets 35a to 35 inserted between 34d and 34d, respectively.
c and split core 3 4. Each of the divided cores 34a to 34d is divided at intervals corresponding to the pitch P, and the cores 34a to 34d are divided at intervals corresponding to the pitches P, and the cores 34a to 34d are divided at intervals corresponding to the pitches P. Partial B phase magnetic pole 3
7a to 37d, and the portions on both sides facing the teeth 2lb, 2lb... and 21c, 21c... are the n-phase magnetic poles 3.
8a to 38d and 39a to 39d. The B-phase block 33 is connected to the A-phase block 23 via a frame 19 in a state shifted by P/4 in the direction of the arrow M, so that the B-phase magnetic poles 37a to 37cl
and tooth portion 21a, and B-phase magnetic poles 38a to 38d (
39a to 39d) and the tooth portions 2lb (21c) are in the position shown in FIG.

In the above configuration, when no current is supplied to the A-phase coils 26 and 36, as shown by the dotted lines in FIG. A loop is formed and it remains stationary in this state.

Here, the operation when the slider 22 is driven by the l-phase excitation method in which current is supplied to one of the A-phase coil 26 and the B-phase coil 36 will be described with reference to FIG. 4.

■As shown in FIG. 4(a), when a predetermined current is passed through the A-phase coil 26 of the A-phase block 23 in the direction from the A from the A phase magnetic poles 27a to 27d to the human phase magnetic poles 28a to 28d.
A magnetomotive force is generated by the phase coil 26, and the magnetic flux accompanying this magnetomotive force and the magnetic flux generated by the permanent magnets 25a to 25c are distributed to the A-phase magnetic pole 27b27d and the in-phase magnetic poles 28a, 28c.
The A-phase magnetic poles 27a, 27c and the eight magnetic poles 28b, 28d cancel each other out, and as a result,
As shown by the dotted line φ1 in the figure, from the tooth portion 21a of the scale 2l to the A-phase magnetic pole 27b of the split iron cores 24b and 24c. 27d
The magnetic flux flowing into the adjacent divided iron cores 24a, . . . is guided by the permanent magnets 25a-25c. 24c, and from these eight magnetic poles 2 8a, 2 8c (2 9a, 2 9c), a main magnetic flux loop is formed that flows into the tooth portion 2lb (21c) of the scale 2l. As a result, A phase magnetic poles 27b, 27d
and tooth portions 21a are opposed to each other, and eight magnetic poles 28a. 28c (29
a, 29c) and the tooth portion 2lb (2IC) face each other is a magnetically stable position.

■As shown in Fig. 4(b), when a predetermined current is passed through the B-phase coil 36 of the B-phase block 33 in the direction from the Magnetic flux is generated, and as a result, the B-phase magnetic poles 37b, 37d and the tooth portion 21a face each other, and the r3 magnetic poles 38a, 38c (39a, 39c
) and the tooth portion 2lb (21c) face each other, which is a magnetically stable position.

■As shown in Fig. 4(c), when a predetermined current is passed through the A-phase coil 26 in the opposite direction to ■, a main magnetic flux is generated as indicated by the dotted line φ3 in the figure, and as a result, the A-phase magnetic poles 27a, 27c and tooth part 21
a are facing each other, human magnetic poles 28b, 28d (29b, 29d
) and the tooth portion 2lb (21c) face each other, which is a magnetically stable position.

(2) As shown in FIG. 4(d), when a predetermined current is passed through the B-phase coil 36 in the direction opposite to (2), a main magnetic flux is generated as indicated by the dotted line φ4 in the figure, and as a result, the B-phase magnetic poles 37a. 37c and tooth part 21
a and B magnetic poles 38b. 38d (39b, 39d
) and the southern part 2lb (21c) face each other, which is a magnetically stable position.

By repeating the pulse excitation in the order of the above excitation modes ■1■1■1■, the slider 22 moves toward the right in the drawing.
In other words, by moving in the direction from the A-phase block 23 to the B-phase block 33 and repeating pulse excitation in the order of each excitation mode of ■1■1■1■, the slider 22 moves toward the left in the drawing, that is, from the B-phase block 33. It moves in the direction toward the A-phase block 23.

Here, when the slider 22 is driven by a two-phase excitation method that constantly supplies current to both the A-phase coil 26 and the B-phase coil 36, in the order shown in FIGS. 5(a) to 5(d), From the X mark shown in the figure to the A-phase coils 26 and 36,
All you have to do is to flow a predetermined current in the direction of the mark.

Next, a second embodiment of the present invention, which is applied to a double-sided linear pulse smoke, will be described with reference to FIGS. 6 and 7. In these figures, 43 indicates divided cores 44a to 44! ] Between the permanent magnets 45a to 45
A is formed by inserting and arranging the A-phase coils 46 and winding the A-phase coil 46.
A phase block 53 is a B-phase block in which permanent magnets 55a to 55g are inserted between divided iron cores 54a to 54h, respectively, and a B-phase coil 56 is wound around the permanent magnets 55a to 55g. The A-phase block 43 and the B-phase block 53 are connected to each other by a connecting plate 60 and face the upper and lower surfaces of the scale 51, respectively. Then, the connected A}■ block 43
The B phase block 53 is a linear bearing (cross roller bearing) consisting of a roller 6l and a retainer 62.
It is movable in the longitudinal direction of the scale 5l via the scale 5l. Further, on the upper surface of the scale 51, tooth portions 51a, 51a, . Tooth portions 5lb, 5lb,=- and toothed portions 51c51c- are respectively formed on the scale 5I, and similar toothed portions are formed on the lower surface of the scale 5I. however,
The teeth on the bottom surface of the scale 51 are shifted by P/4 with respect to the teeth on the top surface of the scale 51.
The phase block 43 and the B-phase block 53 are connected in a vertically matched positional relationship.

In addition, in the figure, 63 is a stopper, and 64 is an adjustment screw. In the second embodiment described above, the arrangement order of the magnetic poles N/S of the permanent magnets 45a to 45g of the A-phase block 43 and the B
Magnetic pole N/S of permanent magnet 548-54g of phase block 53
The arrangement order of can be the same or reversed.

Note that the present invention is not limited to the embodiments described above, and various modifications listed below are possible.

■ In the first embodiment described above, the permanent magnets 25a to 25
c and 35a to 35c do not need to be inserted throughout the entire divided core, and as long as sufficient magnetic flux can be obtained, a rectangular permanent magnet 70 may be inserted only in the magnetic pole portion as shown in Fig. 8. I don't mind. In this case, for example, a non-magnetic stainless steel plate may be inserted into the gap between each divided iron core to ensure mechanical strength.

■As shown in Fig. 9, the split iron core may be made into a U-shape and the coils 71 and 72 may be wound around it to form a bipolar shape; in this case,
The arrangement of the southern part of the primary scale is shown in Figure 10. Furthermore, the number of poles may be increased, for example, to form a four-pole type.

■It is not limited to a linear pulse motor, but may also be a rotary pulse motor. In this case, as can be easily inferred from the configuration shown in FIG. 2, both the primary side slider 22 and the secondary side scale 21 may be configured in a cylindrical shape.

■Since the magnetic pole pitch is relative, it is sufficient to shift either the negative side or the secondary side. For example, in the first embodiment described above, the A phase and the human phase (B phase and B phase) are in phase, and the teeth 21a and 2lb. are shifted by half a pitch on the secondary side scale 2l. 21c, the teeth on the scale 2l side are in phase, and the iron core shape on the slider 22 side is devised so that the phase A and the incoming phase or the phase B and the B phase are displaced by half a pitch. You may.

(2) In the first embodiment, it is of course possible to provide the slider 22 on the primary side with a sensor for detecting the amount of relative movement with respect to the scale 21 on the secondary side and drive it as a servo motor.

"Effects of the Invention" As explained above, according to the present invention, the secondary scale is divided into a plurality of parts in the direction of relative movement in correspondence with the formation interval of the teeth of the secondary scale, and A group of split cores each having an end face of each magnetic pole facing the tooth forming surface of the secondary scale, and permanent magnets inserted between adjacent split cores so that the polarities of the adjacent ones are opposite to each other. and the coil wound around the split core group constitute the primary magnetic flux generating section, so when current is passed through the coil in a certain direction, the magnetic flux from the secondary scale to the magnetic pole at one end of the specific split core is The inflowing magnetic flux flows into the adjacent divided cores via the permanent magnets, and a main magnetic flux loop is formed which flows into the secondary scale from the magnetic pole at the other end of the divided cores,
As a result, the total area of each magnetic pole facing the secondary scale can be effectively used for thrust generation, making it possible to obtain twice the thrust of conventional systems. The effect is that it can be sufficiently applied to FA equipment that requires thrust, and furthermore, the shape of the split core group is such that the end faces of each magnetic pole at both ends are the teeth forming surface of the secondary scale. Since the shape is such that it faces the opposite direction (e.g., E-shape or U-shape), the structure can be simplified, manufacturing can be facilitated, and sufficient rigidity and strength can be obtained.

[Brief explanation of the drawing]

FIG. 1 is an exploded perspective view showing the overall configuration of a linear pulse motor according to a first embodiment of the present invention, FIG. 2 is a partially cutaway perspective view showing the configuration of main parts of the same linear pulse motor, and FIG. A diagram for explaining the magnetic flux path when the linear pulse motor is stationary; FIGS. 4(a) to 4(d) are diagrams for explaining the operation when the linear pulse motor is driven by a one-phase excitation method; 5(a) to 5(d) are diagrams for explaining the operation when the same linear pulse motor is driven by the two-phase excitation method, and FIGS. 6 and 7 are double-sided diagrams according to the second embodiment of the present invention. Partially cutaway front view and partially cutaway side view showing the configuration of the type linear valsmotor, Figures 8 to 1
Figure O is a diagram for explaining another modification of this invention, the first
Figure 1 is a diagram showing the magnetic circuit configuration of a conventional linear pulse motor, and Figures 12 (a) to (d) are diagrams for explaining the operation when the same linear pulse motor is driven by a two-phase excitation method. be. 4 a to 2 4 d (44 a to 44 h)...-divided iron core, 58 to 2 5 c (45 a to 45 g)... permanent magnet, 6 (46)... A phase coil, 7a~
27d...A phase magnetic pole, 8 a to 28 d, 29 a to 29 d--human phase magnetic pole, 3 (53)...B phase block, 4
a ~ 3 4 d (54 a ~ 54 h) --- Split core, 5 a ~ 3 5 c (55 a ~ 55 g) --- Permanent magnet, 6 (56) --- Phase B coil, 7 a ~
37d...B-phase magnetic pole, 8a-38d, 39a-39d...-B-phase magnetic pole.

Claims (1)

[Scope of Claims] 1) A secondary scale having teeth formed at equal intervals along a specific direction, and a primary magnetic flux generator supported movably in the specific direction with respect to the secondary scale. It consists of
By sequentially generating magnetic flux in each gap formed between each magnetic pole of the primary side magnetic flux generating section and each tooth section of the secondary side scale, the primary side magnetic flux generating section is made to move toward the secondary side scale. In the pulse motor, the primary side magnetic flux generating section is divided into a plurality of parts in the specific direction corresponding to the formation interval of the tooth portion, and the end face of each magnetic pole at both ends is aligned with the tooth of the secondary side scale. A group of divided iron cores having a shape facing the part forming surface, permanent magnets inserted between each of these divided cores so that the polarities of adjacent ones are opposite to each other, and a coil wound around the group of divided iron cores. A pulse motor characterized by comprising: 2) The tooth portions are formed on both sides of the secondary scale, and a pair of primary magnetic flux generating portions are provided that face the tooth portions on each surface, and these primary magnetic flux generating portions are connected to each other. Claim 1, wherein the secondary scale is supported movably in the specific direction relative to the secondary scale.
Pulse motor as described. 3) The pulse motor according to claim 1, wherein the permanent magnet is inserted and arranged only in the magnetic pole portion of the divided iron core group.