JPH04125054A - Bidirectional linear motor - Google Patents
Bidirectional linear motorInfo
- Publication number
- JPH04125054A JPH04125054A JP24360590A JP24360590A JPH04125054A JP H04125054 A JPH04125054 A JP H04125054A JP 24360590 A JP24360590 A JP 24360590A JP 24360590 A JP24360590 A JP 24360590A JP H04125054 A JPH04125054 A JP H04125054A
- Authority
- JP
- Japan
- Prior art keywords
- axis
- axis direction
- magnetic
- winding
- yoke
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000002457 bidirectional effect Effects 0.000 title claims description 15
- 238000004804 winding Methods 0.000 claims abstract description 40
- 239000004020 conductor Substances 0.000 claims description 11
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 3
- 230000004907 flux Effects 0.000 abstract description 7
- 150000002505 iron Chemical class 0.000 abstract description 3
- 239000002131 composite material Substances 0.000 description 8
- 230000003993 interaction Effects 0.000 description 2
- 238000009954 braiding Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K2201/00—Specific aspects not provided for in the other groups of this subclass relating to the magnetic circuits
- H02K2201/18—Machines moving with multiple degrees of freedom
Landscapes
- Linear Motors (AREA)
Abstract
Description
【発明の詳細な説明】
「産業上の利用分野」
本発明は、被駆動体に二方向の推力を付与し得るリニア
モータに関する。DETAILED DESCRIPTION OF THE INVENTION "Field of Industrial Application" The present invention relates to a linear motor that can apply thrust in two directions to a driven body.
「従来の技術」
リニアモータを利用した輸送システムにおいて、搬送路
に分岐路等が存在する場合、被駆動体に二方向の推力を
付与し得る二方向性リニアモータを使用すると便利であ
る。このような二方向性リニアモータとしては、例えば
第５図に示すものが知られている。``Prior Art'' In a transportation system using a linear motor, when a branch path or the like exists in a transportation path, it is convenient to use a bidirectional linear motor that can apply thrust in two directions to a driven body. As such a bidirectional linear motor, the one shown in FIG. 5, for example, is known.
図において５０〜５９は磁極鉄心であり、積層鉄板にス
ロットを所定間隔に施して成るものである。磁極鉄心５
０〜５９は、各々スロットを上に向け、所定で平行にＸ
軸方向に沿って配置されている。In the figure, reference numerals 50 to 59 indicate magnetic pole cores, which are made of laminated iron plates with slots formed at predetermined intervals. Magnetic pole core 5
0 to 59, each with the slot facing upward and parallel to the
arranged along the axial direction.
次に、６０〜６９は積層鉄板で構成されたヨークであり
、所定間隔で平行にＹ軸方向（なお、Ｘ軸方向とＹ軸方
向とは直交する）に沿って配置され、その上面が各磁極
鉄心５０〜５９の下面に接合されている。Next, yokes 60 to 69 are made of laminated iron plates, and are arranged parallel to each other at predetermined intervals along the Y-axis direction (the X-axis direction and the Y-axis direction are perpendicular to each other). It is joined to the lower surfaces of the magnetic pole cores 50 to 59.
次に、２０はＸ軸方向巻線であり、導線を磁極鉄心５０
．５１の間と、磁極鉄心５３．５４の間とを多数回分し
て巻回して成るものであり、磁極鉄心５１，５２．５３
を取り囲むような環状に形成されている。また、２１〜
２５は、Ｘ軸方向巻線２０と同様に形成されたＸ軸方向
巻線であり、Ｙ軸方向に順次所定比離隔ててＸ軸方向巻
線２０に平行に敷設されている。Next, 20 is a winding in the X-axis direction, and the conductor is connected to the magnetic pole core 50.
．． 51 and between the magnetic pole cores 53.54 in multiple turns, and the magnetic pole cores 51, 52.53
It is formed in a ring shape surrounding the. Also, 21~
Reference numeral 25 denotes an X-axis winding formed in the same manner as the X-axis winding 20, and the X-axis winding 25 is laid parallel to the X-axis winding 20 at a predetermined distance from each other in the Y-axis direction.
次に、ｌＯ〜１５はＹ軸方向巻線であり、Ｘ軸方向巻線
２０〜２５と同様に形成され、各々がＹ軸方向に沿って
磁極鉄心５０〜５９の所定のスロットと、このスロット
から３スロツト隔てたスロットとに挿通されつつ敷設さ
れている。そして、Ｙ軸方向巻線１０〜１５は、Ｘ軸方
向巻線２０〜２５の上方に位置している。Next, lO~15 is a Y-axis direction winding, which is formed in the same manner as the X-axis direction windings 20-25, and each has a predetermined slot of the magnetic pole cores 50-59 along the Y-axis direction, and this slot. The cable is inserted into the slot three slots apart from the cable. The Y-axis direction windings 10 to 15 are located above the X-axis direction windings 20 to 25.
次に、第５図において、磁極鉄心５０．５１がヨーク６
０．６１に接する部分の拡大図を第６図に示す。なお、
磁極鉄心５０．５１の上方には、所定距離隔てて、被駆
動体たる２次側導体１が設けられている。Next, in FIG. 5, the magnetic pole cores 50, 51 are
An enlarged view of the portion touching 0.61 is shown in FIG. In addition,
A secondary conductor 1, which is a driven body, is provided above the magnetic pole cores 50, 51 at a predetermined distance apart.
上記構成において、Ｘ軸方向におよびＹ軸方向に進行波
磁界が発生するようにＸ軸方向巻線１０〜Ｉ５およびＹ
軸方向巻線２０〜２５に電流を流すと、両進行磁界か合
成されることによって任意の方向へ進行する合成進行磁
界が発生ずる。これにより、その合成進行磁界の磁束変
化に伴う渦電流が２次側導体１に生じる。そして、この
渦電流と上記合成進行磁界との相互作用によって、２次
側導体１に対して合成進行磁界の進行方向に推力が付与
される。In the above configuration, the X-axis windings 10 to I5 and Y
When a current is passed through the axial windings 20 to 25, both traveling magnetic fields are combined, thereby generating a composite traveling magnetic field that travels in an arbitrary direction. As a result, an eddy current is generated in the secondary conductor 1 due to a change in the magnetic flux of the composite traveling magnetic field. Then, due to the interaction between this eddy current and the composite traveling magnetic field, a thrust is applied to the secondary conductor 1 in the traveling direction of the composite traveling magnetic field.
「発明が解決しようとする課題」
ところで、第６図において、Ｘ軸方向の磁束φＸが経路
Ｐｘに沿って発生するのに対して、Ｙ軸方向の磁束φＹ
は経路Ｐｙに沿って発生する。両縁路は磁路長が相異す
るゆえ磁気抵抗も相異する。これにより、Ｘ軸方向巻線
２０〜２５と、Ｙ軸方向巻線ｌＯ〜１５とに同値の励磁
電流Ｉｘ＝ＩＹを供給した場合においても磁束φ８、φ
７が相異し、両方向の推力Ｆｘ、Ｆｙも相異する。その
−例を第７図に示す。したがって、第５図に示す二方向
性リニアモータにあっては、かかる相異を考慮しつつ制
御する必要があったため、制御か複雑となる問題があっ
た。"Problems to be Solved by the Invention" By the way, in FIG. 6, the magnetic flux φX in the X-axis direction is generated along the path Px, while the magnetic flux φY in the Y-axis direction is generated along the path Px.
occurs along the path Py. Since the magnetic path lengths of the two edge paths are different, the magnetic resistances are also different. As a result, even when the same excitation current Ix=IY is supplied to the X-axis direction windings 20 to 25 and the Y-axis direction windings lO to 15, the magnetic fluxes φ8 and φ
7 are different, and the thrust forces Fx and Fy in both directions are also different. An example thereof is shown in FIG. Therefore, in the bidirectional linear motor shown in FIG. 5, it was necessary to control the motor while taking such differences into consideration, which caused the problem of complicated control.
また、Ｘ軸方向巻線２０〜２５と、Ｙ軸方向巻線ＩＯ〜
１５とが上下に重なり合っていることにより、両巻線全
体の厚さが大となり、装置が大形化するとともに、各磁
極鉄心５０〜５９の磁極を長くする必要があるから、磁
気抵抗が大となる問題もあった。In addition, the X-axis direction windings 20 to 25 and the Y-axis direction windings IO to
15 overlap vertically, the overall thickness of both windings becomes large, which increases the size of the device, and the magnetic poles of each magnetic pole core 50 to 59 must be made long, resulting in a large magnetic resistance. There was also a problem.
本発明は上述した事情に鑑みてなされたものであり、所
定方向に発生する推力と、これに交差する方向に発生す
る推力との差を極めて小とすることができるとともに、
装置を小形化でき、かつ、磁気抵抗も小とすることがで
きる二方向性リニアモータを提供することを目的として
いる。The present invention has been made in view of the above-mentioned circumstances, and it is possible to make the difference between the thrust generated in a predetermined direction and the thrust generated in a direction crossing this extremely small, and
It is an object of the present invention to provide a bidirectional linear motor that can be miniaturized and has low magnetic resistance.
「課題を解決するための手段」
上記課題を解決するため本発明にあっては、２次側導体
と、この２次側導体にＸ軸方向およびＹ軸方向の推ツノ
を付与する１次側とから成る二方向性リニアモータにお
いて、前記１次側を、平板の表面に所定間隔の平行の溝
を設けてなる継鉄と、前記溝に嵌合し嵌合状態における
基準面が前記表面と一平面を成すように形成された嵌合
部と前記基準面から突出した複数の磁極とから構成され
る磁極鉄心と、前記磁極の相互間に埋設され前記Ｘ軸方
向に進行磁界を発生するＸ軸方向巻線と、前記磁極の相
互間に埋設されるとともに前記Ｘ軸方向巻線と網状に編
組され前記Ｙ軸方向に進行磁界を発生ずるＹ軸方向巻線
とから構成したことを特徴としている。"Means for Solving the Problems" In order to solve the above problems, the present invention includes a secondary conductor and a primary side that provides thrust in the X-axis direction and the Y-axis direction to the secondary conductor. A bidirectional linear motor comprising: a yoke on the primary side having parallel grooves at predetermined intervals on the surface of a flat plate; a magnetic pole iron core composed of a fitting portion formed to form one plane and a plurality of magnetic poles protruding from the reference surface; It is characterized by being composed of an axial winding and a Y-axis winding that is embedded between the magnetic poles and is braided with the X-axis winding to generate a traveling magnetic field in the Y-axis direction. There is.
「作用」
Ｘ軸方向巻線およびＹ軸方向巻線によって、Ｘ軸方向お
よびＹ軸方向の進行磁界が発生し、これらが合成される
ことによって任意の方向へ進行する合成進行磁界が発生
する。そして、その合成進行磁界の磁束変化に伴う渦電
流が２次側導体に生じると、この渦電流と上記合成進行
磁界との相互作用によって、２次側導体に対して合成進
行磁界の進行方向に推力か付与される。"Operation" The X-axis direction winding and the Y-axis direction winding generate traveling magnetic fields in the X-axis direction and Y-axis direction, and by combining these, a composite traveling magnetic field that travels in any direction is generated. When an eddy current is generated in the secondary conductor due to a change in the magnetic flux of the composite traveling magnetic field, the interaction between this eddy current and the composite traveling magnetic field causes the secondary conductor to move in the traveling direction of the composite traveling magnetic field. Thrust is given.
本発明においては、継鉄に設けられた溝と磁極鉄心の嵌
合部とを嵌合して平板状の磁路か形成されるから、１次
側におけるＸ軸方向およびＹ軸方向に対する磁気抵抗が
等しくなる。また、Ｘ軸方向巻線とＹ軸方向巻線とが網
状に編組されているため、巻線全体の厚さが薄くなる。In the present invention, since a flat magnetic path is formed by fitting the groove provided in the yoke and the fitting part of the magnetic pole core, the magnetic resistance in the X-axis direction and the Y-axis direction on the primary side become equal. Further, since the X-axis direction winding and the Y-axis direction winding are braided into a net shape, the thickness of the entire winding is thin.
「実施例」
次に、本発明の一実施例の二方向性リニアモータを第１
図を参照し説明する。なお、図において第５図および第
６図の各部に対応する部分には同一の符号を付し、その
説明を省略する。“Example” Next, a bidirectional linear motor according to an example of the present invention will be described.
This will be explained with reference to the drawings. In the figures, parts corresponding to those in FIGS. 5 and 6 are designated by the same reference numerals, and their explanations will be omitted.
図において２はヨークであり、正方形板状の積層鉄板の
上面にＹ軸方向に沿って直方体状の突条２ａ、２ｂ、・
・・・・・を設けて成るものである。また、４０〜４９
は、磁極鉄心５０〜５９と同様に形成された磁極鉄心で
あり、各突条２ａ、２ｂ、・・・・・を順次挟むように
設けられている。また、磁極鉄心４０〜４９に設けられ
たスロットは、各スロットの底面と、各突条２ａ、２ｂ
、・・・・・の上面とか同一平面上に位置するように形
成されている。なお、巻線１０〜１５．２０〜２５を除
去した場合の第１図の要部の斜視図と、その分解図とを
第３図（イ）、（ロ）に示す。In the figure, 2 is a yoke, which has rectangular parallelepiped-shaped protrusions 2a, 2b, .
It consists of... Also, 40-49
is a magnetic pole core formed similarly to the magnetic pole cores 50 to 59, and is provided so as to sandwich each protrusion 2a, 2b, . . . sequentially. Further, the slots provided in the magnetic pole cores 40 to 49 are connected to the bottom surface of each slot and to each protrusion 2a, 2b.
, . . . are formed so as to be located on the same plane as the upper surface. A perspective view of the main part of FIG. 1 with the windings 10 to 15 and 20 to 25 removed, and an exploded view thereof are shown in FIGS. 3(A) and 3(B).
次に、第１図において、ヨーク２および磁極鉄心４０〜
４９を取り去った場合の斜視図を第２図に示す。図にお
いて巻線ｌＯ〜１５．２０〜２５は、各々第５図に示す
ものと同様に形成されているが、これらは相互に網を成
すように編組されている。なお、第１図の二方向性リニ
アモータの平面図および側面図を第４図（イ）、（ロ）
に示す。Next, in FIG. 1, the yoke 2 and the magnetic pole cores 40 to
A perspective view with 49 removed is shown in FIG. In the figure, the windings lO-15, 20-25 are each formed similarly to those shown in FIG. 5, but they are braided together to form a net. The plan view and side view of the bidirectional linear motor shown in Fig. 1 are shown in Fig. 4 (a) and (b).
Shown below.
上記構成によれば、巻線１０〜１５．２０〜２５が相互
に網を成すように編組されているから、これらの巻線を
同一平面（磁極鉄心４０〜４９に設けられた各スロット
の底面と、各突条２λ、２ｂ、・・・・・・の上面とが
位置する平面）に沿って配置することができる。したが
って、ヨーク２と、各磁極鉄心４０〜４９とが成す磁束
路のＸ軸方向およびＹ軸方向の磁路長を等しくすること
ができる。According to the above configuration, since the windings 10 to 15 and 20 to 25 are mutually braided to form a net, these windings are arranged on the same plane (the bottom surface of each slot provided in the magnetic pole cores 40 to 49). and the upper surface of each protrusion 2λ, 2b, . . . Therefore, the lengths of the magnetic flux paths formed by the yoke 2 and each of the magnetic pole cores 40 to 49 in the X-axis direction and the Y-axis direction can be made equal.
また、巻線ｌＯ〜１５．２０〜２５が相互に網を成すよ
うに編組されているから、これらを合わ仕た厚さを薄く
することができ、各磁極鉄心４０〜４９のスロットを浅
くすることができる。したがって、磁気抵抗を小とする
ことができるとともに、二方向性リニアモータを小形化
することも可能である。In addition, since the windings lO~15.20~25 are braided together to form a net, their combined thickness can be made thinner, and the slots of each magnetic pole core 40~49 can be made shallower. be able to. Therefore, it is possible to reduce the magnetic resistance and also to downsize the bidirectional linear motor.
「発明の効果」
以上説明した通り本発明によれば、継鉄と磁極鉄心とに
よって平板状の磁路が形成されるから、Ｘ軸方向および
Ｙ軸方向に対して磁気抵抗が等しくなり、両方向の推力
の差を極めて小とすることができる。"Effects of the Invention" As explained above, according to the present invention, since a flat magnetic path is formed by the yoke and the magnetic pole core, the magnetic resistance is equal in the X-axis direction and the Y-axis direction, and the magnetic resistance in both directions is equal. The difference in thrust can be made extremely small.
さらに、Ｘ軸方向巻線とＹ軸方向巻線とを網状に編組し
たことにより巻線全体の厚さが薄くなり、磁極の長さを
短くすることができるから、磁気抵抗を小とすることが
できるとともに、装置を小形化することもできる。Furthermore, by braiding the X-axis direction winding and the Y-axis direction winding into a net shape, the thickness of the entire winding can be thinned, and the length of the magnetic pole can be shortened, so that the magnetic resistance can be reduced. In addition to this, it is also possible to downsize the device.
第１図は本発明の一実施例の二方向性リニアモータの斜
視図、第２図は第１図における各巻線の斜視図、第３図
（イ）は第１図の要部の斜視図、同図（ロ）はその分解
図、第４図（イ）は第１図の二方向性リニアモータの平
面図、同図（ロ）はその側面図、第５図は従来の二方向
性リニアモータの斜視図、第６図は第５図の要部の斜視
図、第７図は第５図の二方向性リニアモータの始動推力
特性図である。
１・・・・・・２次側導体、２・・・・・・ヨーク（継
鉄）、ｌＯ〜１５・・・・・・Ｙ軸方向巻線、２０〜２
５・・・・・・Ｘ軸方向巻線、４０〜４９・・・・・・
磁極鉄心。Fig. 1 is a perspective view of a bidirectional linear motor according to an embodiment of the present invention, Fig. 2 is a perspective view of each winding in Fig. 1, and Fig. 3 (A) is a perspective view of the main parts of Fig. 1. , Figure 4 (B) is an exploded view of the motor, Figure 4 (A) is a plan view of the bidirectional linear motor shown in Figure 1, Figure (B) is its side view, and Figure 5 is the conventional bidirectional linear motor. FIG. 6 is a perspective view of the main part of FIG. 5, and FIG. 7 is a starting thrust characteristic diagram of the bidirectional linear motor of FIG. 5. 1...Secondary side conductor, 2...Yoke (yoke), lO~15...Y-axis direction winding, 20~2
5...X-axis direction winding, 40-49...
magnetic pole iron core.
Claims (1)
向の推力を付与する１次側とから成る二方向性リニアモ
ータにおいて、前記１次側を、平板の表面に所定間隔の
平行の溝を設けてなる継鉄と、 前記溝に嵌合し嵌合状態における基準面が前記表面と一
平面を成すように形成された嵌合部と前記基準面から突
出した複数の磁極とから構成される磁極鉄心と、 前記磁極の相互間に埋設され前記Ｘ軸方向に進行磁界を
発生するＸ軸方向巻線と、 前記磁極の相互間に埋設されるとともに前記Ｘ軸方向巻
線と網状に編組され前記Ｙ軸方向に進行磁界を発生する
Ｙ軸方向巻線と から構成したことを特徴とする二方向性リニアモータ。[Claims] In a bidirectional linear motor comprising a secondary conductor and a primary side that applies thrust in the X-axis and Y-axis directions to the secondary conductor, the primary side is formed of a flat plate. A yoke having parallel grooves at predetermined intervals on the surface of the yoke, a fitting part that fits into the groove and is formed so that the reference surface in the fitted state forms one plane with the surface, and the reference surface. a magnetic pole iron core composed of a plurality of protruding magnetic poles; an X-axis direction winding buried between the magnetic poles and generating a traveling magnetic field in the X-axis direction; A bidirectional linear motor comprising an X-axis winding and a Y-axis winding that is braided into a mesh and generates a traveling magnetic field in the Y-axis direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2243605A JP2975659B2 (en) | 1990-09-13 | 1990-09-13 | Bidirectional linear motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2243605A JP2975659B2 (en) | 1990-09-13 | 1990-09-13 | Bidirectional linear motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH04125054A true JPH04125054A (en) | 1992-04-24 |
| JP2975659B2 JP2975659B2 (en) | 1999-11-10 |
Family
ID=17106301
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2243605A Expired - Fee Related JP2975659B2 (en) | 1990-09-13 | 1990-09-13 | Bidirectional linear motor |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2975659B2 (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2001065671A1 (en) * | 2000-03-02 | 2001-09-07 | Shinano Electronics Co., Ltd. | Linear motor |
| US6919660B2 (en) * | 2001-04-09 | 2005-07-19 | Bel Technologies, Inc. | Linear brushless DC motor with ironcore composite armature assembly |
| US7362012B2 (en) | 2001-04-09 | 2008-04-22 | Bei Sensors And Systems Company, Inc. | Ironcore linear brushless DC motor with reduced detent force |
| US20120139365A1 (en) * | 2010-12-03 | 2012-06-07 | Sri International | Levitated micro-manipulator system |
| WO2013063677A1 (en) * | 2011-11-02 | 2013-05-10 | Bombardier Transportation Gmbh | A core for a primary of a linear induction motor |
| US11050308B2 (en) * | 2018-07-16 | 2021-06-29 | Honeywell International Inc. | Electromagnetic machine including a spherical stator having winding-assistance protruberances formed thereon |
-
1990
- 1990-09-13 JP JP2243605A patent/JP2975659B2/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2001065671A1 (en) * | 2000-03-02 | 2001-09-07 | Shinano Electronics Co., Ltd. | Linear motor |
| US6661125B2 (en) | 2000-03-02 | 2003-12-09 | Shinano Electronics Co., Ltd. | Linear motor |
| US6919660B2 (en) * | 2001-04-09 | 2005-07-19 | Bel Technologies, Inc. | Linear brushless DC motor with ironcore composite armature assembly |
| US7362012B2 (en) | 2001-04-09 | 2008-04-22 | Bei Sensors And Systems Company, Inc. | Ironcore linear brushless DC motor with reduced detent force |
| US20120139365A1 (en) * | 2010-12-03 | 2012-06-07 | Sri International | Levitated micro-manipulator system |
| US8593016B2 (en) * | 2010-12-03 | 2013-11-26 | Sri International | Levitated micro-manipulator system |
| WO2013063677A1 (en) * | 2011-11-02 | 2013-05-10 | Bombardier Transportation Gmbh | A core for a primary of a linear induction motor |
| CN103891113A (en) * | 2011-11-02 | 2014-06-25 | 庞巴迪运输有限公司 | A core for a primary of a linear induction motor |
| US11050308B2 (en) * | 2018-07-16 | 2021-06-29 | Honeywell International Inc. | Electromagnetic machine including a spherical stator having winding-assistance protruberances formed thereon |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2975659B2 (en) | 1999-11-10 |
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