JPH0576263B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a linear pulse motor that is applied to head feeding of printers, head feeding of photoelectric readers, positioning parts of machine tools, and the like.

"Prior Art" As is well known, a linear pulse motor moves a mover or a stator on the secondary side in steps based on a pulse signal supplied to the mover on the primary side. , the mechanism is simplified, it is easy to make it thin, and there is no need to worry about reliability deterioration due to the conversion mechanism (for example, belt breakage, screw wear), and the motor positioning accuracy is good. It is used as an actuator for various devices.

A conventional linear pulse motor of this type is shown in FIG. In this figure, 18 is a rectangular back plate. Elongated permanent magnets 3, 3 are adhered to both ends of the upper surface of the back plate 18 along its longitudinal direction, and yokes each having a coil wound thereon are attached to the upper surfaces of these permanent magnets 3, 3. 6, 6 are attached to constitute the stator 2 on the secondary side. Guides 8 and 9 are attached to both sides of the stator 2 along its longitudinal direction so that their opposing sides are parallel. In addition, the yokes 6, 6 of the stator 2
A rectangular plate-shaped primary side mover 1 is placed on the upper surface, and further, the mover 1 is moved from both sides by side surfaces of guides 8 and 9 that face each other in parallel.
It is slidably attached. In addition, a rack 19 is attached to the end of the upper surface of the slider 1 on the guide 8 side.
It is fixed at 0.20. This rack 19 is
The guide 8 is engaged with the rack 21 via a pinion gear 22 rotatably attached to the upper surface of the guide 8, and the pinion gear 2 of these racks 19, 21
A gear having the same pitch as the pinion gear 22 is formed on the side surface that engages with the pinion gear 22. Further, 8a ₁ and 8a ₂ are support plates that extend outward from the guide 8 and are provided parallel to each other, and these support plates 8a ₁ and 8a ₂ include two support rods 8b. ₁ ,
8b ₂ are fixed so as to be parallel to each other in the direction of movement of the mover 1 (direction of arrow A). These support rods 8b ₁ and 8b ₂ are provided with screws 2 on the lower surface of the rack 21.
A counterweight 23 fixed at 4 and 24 is slidably passed through, and is configured to move in a direction opposite to the moving direction of the mover 1.

In such a configuration, when a predetermined pulse signal is supplied to the coil, the mover 1 and the rack 19
moves in the direction of arrow A shown in the figure, and along with this, the counterweight 23 moves in parallel in the opposite direction to the mover 1 while being regulated by the side surface of the guide 8 via the pinion gear 22 and the rack 21.

"Problem to be Solved by the Invention" By the way, in the above-mentioned linear pulse motor, the counterweight itself of the linear pulse motor becomes an inertial load. For example, ignoring the friction coefficient of each contact part of a linear pulse motor, if the mass of the moving element 1 is Mm, the mass of the counterweight is Mc, and the thrust of the moving element 1 is F, then the acceleration of the moving element 1 is α
is α={F/(Mm+Mc)}=F/2M (however,
Since Mm=Mc=M), the (thrust/mass) ratio of the linear pulse motor becomes 1/2, resulting in a problem that the responsiveness of the linear pulse motor decreases.

The present invention was made in view of the above-mentioned circumstances, and an object of the present invention is to provide a linear pulse motor that can improve responsiveness without reducing the (thrust/mass) ratio.

"Means for Solving the Problem" The first invention is characterized in that a plurality of rows of teeth are formed in parallel at equal intervals P along a specific direction, and a plurality of guide parts are formed in parallel along the teeth. a stator, each placed above the plurality of rows of teeth of the stator,
a plurality of movers supported movably along the guide section; a first engagement member attached to each of the plurality of movers; a second for engaging the movers with each other;
An engaging member of the plurality of movers,
The present invention is characterized in that when one mover is moved in the specific direction relative to the stator, the other mover is moved in the opposite direction via the engagement member.

In a second aspect of the invention, the plurality of movers engaged by the engagement member are moved toward each other in the specific direction by P/(2×
(number of phases) is shifted.

"Operation" According to the present invention, since the plurality of movers are engaged with each other by the engaging members, when a predetermined current is supplied to the coil of one of the movers, that mover guides the stator. As a result, the other movable element engaged by the engaging member moves in the opposite direction. Therefore, the other movable element, which moves in the opposite direction to one movable element, plays the role of a counterweight.

"Embodiments" Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a plan view of a linear pulse motor according to a first embodiment of the present invention, and FIG. 2 is a front view of the same linear pulse motor.

In these figures, 30 is a stator on the secondary side. In this stator 30, 31 is a rectangular plate-shaped fixing member, and guide grooves 32, 32 are provided at both ends of the upper surface of this fixing member 31 along the longitudinal direction.
A is formed, and a rectangular slit plate 3 whose width is slightly narrower than that of the fixing member 31 is formed between these guide groove portions 32 and the guide groove portion 32A using adhesive or the like.
3 is attached. Further, on both ends of the upper surface of this slit plate 33, teeth portions 33a are punched out in parallel at intervals of pitch P along the longitudinal direction of the slit plate 33.
33a are formed in two rows in parallel, and a shaft 34 is formed on the fixing member 31 through the slit plate 33 at an intermediate portion between the teeth 33a.
is embedded and fixed. This shaft 34
A rotatable pinion gear 35 is attached to the upper part of the motor via a bearing. Furthermore, primary side movers 36 and 37 are placed on the tooth portions 33a and 33a, respectively, via a defined gap. For these movers 36 and 37, for example, a primary slider 51 (details will be described later) of a four-pole linear pulse motor shown in FIG. 3 is used.
Further, arrow Y is provided at the front and rear portions of the mover 36.
axis 3 in the direction perpendicular to the direction of movement shown by
8 and 38 are passed through and fixed, and these shafts 3
Rotatable flanged rollers 39 and 39 are attached to the ends of the guide grooves 8 and 38 via bearings, and the flanged portions are fitted into the guide grooves 32 of the fixed member 31. Also, the shafts 38, 3
Rotatable rollers 40, 40 are attached to the other end of the slit plate 3 via bearings.
3 It is in contact with the top surface. Similarly to this, the mover 37
The shafts 38A, 38A are also passed through these shafts 3.
Flange rollers 39A, 39A and rollers 40A, 40A are attached to 8A, 38A. Also, the back plates 3 of the movers 36 and 37
On the upper surfaces of 6b and 37b, there are racks 41 and 4, respectively.
2 are fixed with screws 43, 43, . . . , and these racks 41, 42 are engaged via a pinion gear 35. Further, the mover 36 and the mover 37 that are engaged through the pinion gear 35 are set to be shifted by P/8 from each other, and the mover 36 and the mover 37 are set to be shifted by P/8 from each other.
When the mover moves in the direction of the solid arrow Y, the mover 37
is adapted to move in a direction opposite to the moving direction of the mover 36 (solid arrow Y1).

Here, the configuration of the linear pulse motor shown in FIG. 3 mentioned above will be explained. In this figure, 50 is a scale made of a long plate-like magnetic material, and on its upper surface are teeth formed on the slit plate 33 of the linear pulse motor according to the first embodiment of the present invention. An uneven tooth portion 50 corresponding to the portion 33a
a, 50a, . . . are formed at equal intervals along the longitudinal direction (left-right direction in the drawing). This scale 5
On the upper surface of the scale 50, a slider 51 used for the movers 36 and 37 of the linear pulse motor according to the first embodiment of the present invention is moved in the longitudinal direction of the scale 50 by a support mechanism including rollers (not shown). It is placed in a freely supported state. slider 5
1 is a U-shaped A-phase iron core 54 and a B-phase iron core 55.
, coils 56a and 56b wound around the A-phase magnetic pole 54a and A1-phase magnetic pole 54b of the A-phase iron core 54, respectively, and coils 57a wound around the B-phase magnetic pole 55a and the B1-phase magnetic pole 55b of the B-phase iron core 55, respectively.
and 57b, permanent magnets 58 and 59 attached to the top surfaces of iron cores 54 and 55 with the polarities shown, and a back plate 60 composed of a plate-shaped magnetic body attached to the top surfaces of permanent magnets 58 and 59. It is composed of. A tooth portion 50a of the scale 50 is provided on the lower surface of the magnetic pole 54a.
Three pole teeth 64a having the same pitch as the pitch P are formed, and similarly pole teeth 64b, 65a, 65b are formed on the lower surface of each of the magnetic poles 54b, 55a, 55b. In addition, these pole teeth 64b, 65
a, 65b are arranged sequentially shifted by P/4 with respect to the pole tooth 64a, and the pole teeth 64a, 64b,
A predetermined gap G is formed between the lower surface of each of the teeth 65a, 65b and the upper surface of the toothed portion 50a. And coils 56a, 56b, 57a, 5
By sequentially supplying a predetermined pulse signal to 7b, the magnetic flux generated by the coils 56a, 56b, 57a, 57b and the magnetic flux generated by the permanent magnets 58, 59 are sequentially applied to each magnetic pole 54a, 54b, 55a, 55b. The magnetically stable position of the slider 51 with respect to the scale 50 is sequentially moved by the adjustment, and thereby the slider 51 is moved along the longitudinal direction of the scale 50.

Next, the operation of the linear pulse motor according to the first embodiment described above will be explained with reference to FIG.

However, in FIG. 4, the circle mark indicates the tip 36T of the mover 36, and the x mark indicates the tip 36T of the mover 37.
7T, and the tips of these movers 36 and 37 are shifted by P/8 as described above. Further, a solid horizontal line indicates a stable position of the moving element 36, and a broken horizontal line indicates a stable position of the moving element 37, and the interval between these horizontal lines is P/8. First, when a predetermined pulse signal is supplied to the coil of the moving element 36, the moving element 36 moves to the position indicated by , and at the same time, the moving element 37 moves to the position indicated by . That is, the movers 36 and 37 have moved by P/8 in opposite directions. Next, when the pulse signal being supplied to the coil of the mover 36 is turned off and a predetermined pulse signal is supplied to the coil of the mover 37, the mover 37 moves to the position indicated by . Move to the position indicated by . Next, the pulse signal supplied to the coil of the mover 37 is turned off, and the mover 37 is turned off.
When a predetermined pulse signal is supplied to , the mover 36 moves to the position shown by , and the mover 37 moves to the position shown by . Thereafter, by similarly supplying pulse signals, the movers 36 and 37 move by P/8 in mutually opposite directions.

Next, referring to FIG. 5, a linear pulse motor according to a second embodiment of the present invention will be explained. In this figure, parts corresponding to those in FIG. 1 are given the same reference numerals.

The linear pulse motor according to the second embodiment differs from the linear pulse motor according to the first embodiment in that the primary side mover is fixed and the secondary side stator is configured to move. The structure is described below.

In FIG. 5, 70 is a fixing member having a concave cross section. The primary side movers 36 and 37 are fixed to mutually opposing side surfaces of the fixing member 70 with screws 71, 71, . Further, a shaft 34 is embedded in the center of the bottom surface of the fixed member 70, and a rotatable pinion gear 35 is attached to the upper part of the shaft 34 via a bearing. Further, shafts 38, 38 are passed through and fixed to the front and rear portions of the slider 36 in the longitudinal direction, respectively, and rollers 39, 39 with flanges are attached to one end of these shafts 38, 38, and rollers 39, 39 with flanges are attached to the other end. roller 40,4
0 are each rotatably attached via bearings. Similarly, for the mover 37,
The shafts 38A, 38A are passed through, and the rollers 39A, 39A with flanges and the roller 40 are attached to the shafts 38A, 38A.
A, 40A is attached.

Further, a rectangular plate-shaped secondary side stator 30 is attached to the magnetic flux generation surface 36f of the mover 36, and the stator 30 facing the magnetic flux generation surface 36f
A guide groove portion 32 is formed along the longitudinal direction of one end of the surface, and the flanged portion of the flanged roller 39 of the slider 36 is fitted into this guide groove portion 32. Further, a rectangular slit plate 33 is bonded to the surface of the stator 30 on which the guide groove 32 is formed so that the guide groove 32 is exposed. Teeth portions 33a are formed at intervals of pitch P. Similarly, the magnetic flux generating surface 3 of the mover 37
A stator 30A is also attached to 7f,
A guide groove 32A is formed in this stator 30A, and a slit plate 33A is bonded thereto.

And stators 30, 30A facing each other
Rack 71, 71A having a convex cross-sectional shape is provided on the surface of
are attached with screws 72, 72, respectively, and the gear portions at the tips of these racks 71, 71A are engaged with the pinion gear 39, respectively.

In such a configuration, similarly to the first embodiment, when a predetermined pulse signal is supplied to the coils of the movers 36 and 37, the movers 36 and 37 of the linear pulse motor move in the first embodiment. Similarly, the stators 30 and 30A are moved in opposite directions to P/
Move by 8.

Next, referring to FIG. 6, a linear pulse motor according to a third embodiment of the present invention will be described. In this figure, parts corresponding to those in FIG. 1 are given the same reference numerals.

In this figure, 30 is a stator on the secondary side. In this stator 30, 31 is a rectangular plate-shaped fixing member, and guide grooves 32, 32A are provided at both ends of the upper surface of the fixing member 31 along the longitudinal direction.
are formed, and these guide groove parts 32 and 32
A rectangular slit plate 33 is bonded between A and A. Further, on both ends and the center of the upper surface of this slit plate 33, there is a pitch P along the longitudinal direction.
The tooth portions 33a, 33a and the tooth portion 33b are spaced at intervals of
Each of them is formed in three parallel rows. Further, as shown in the figure, the tooth portions 33a, 33a and the tooth portion 33b are formed with a width Ha, whereas the tooth portion 33b is twice the width Hb. It is formed.

Further, a shaft 34 is inserted between the teeth 33a and 33b on one side, and a shaft 34A is inserted between the teeth 33a and 33b on the other side. 31, and on top of these shafts 34, 34A are pinion gears 35 and 35 of the pitch.
A is rotatably attached via a bearing.

Further, the primary side movers 36 and 37 are on the teeth 33a and 33a, and the mover 80 is on the tooth 33b.
are placed respectively. These movers 36,
For example, the primary side slider 51 of the linear pulse motor used in the first embodiment is used as the slider 37, and a slider twice the width of the slider 51 is used as the mover 80.

Next, shafts 38 and 38 are provided at the front and rear of the mover 36, respectively, in a direction orthogonal to the moving direction indicated by the arrow Y.
are passed through and fixed, and rotatable flanged rollers 39, 39 are attached to one ends of these shafts 38, 38 via bearings, and the flanged portions are inserted into the guide groove portion 32 of the fixing member 31. Further, rotatable rollers 40, 40 are attached to the other ends of the shafts 38, 38 via bearings. Further, the mover 37 and the mover 80 are configured similarly to the mover 36, but the mover 80 has the shafts 38, 38.
Rollers 40 are attached to both ends of each. Next, one end of the upper surface of the back plate 36b of the mover 36 and the back plate 8 of the mover 80 are removed.
Racks 41, 81 are fixed to one end of the upper surface of 0b with screws 41, 41, . Further, the pinion gear 35A is provided on the side surface of the racks 41, 81 in contact with the pinion gear 35A.
A gear part with the same pitch is formed. Similarly, racks 42, 82 are fixed to one end of the upper surface of the back plate 37b of the mover 37 and the other end of the back plate 80b of the mover 80 via the pinion gear 35A with screws 41, 41, . . . has been done. Furthermore, the movers 36 and 37 that are engaged through the pinion gears 35 and 35A are set at the same position on the respective teeth 33a and 33a, and the mover 80 is positioned relative to the movers 36 and 37. It is set to be shifted by P/8. Then, when the mover 80 moves in the direction of the solid arrow Y1, the movers 36 and 3
7 is configured to move in a direction opposite to the moving direction of the mover 80 (solid arrow Y).

In such a configuration, the movers 36 and 3
When a predetermined pulse signal is supplied to the coil 7, the movers 36 and 37 move by P/8 in the direction of the solid arrow Y (or the broken arrow Y), and at the same time, the mover 80 moves in the direction of the solid arrow Y1 ( Or move by P/8 in the direction of the broken line arrow Y1). Next, mover 3
When the pulse signals supplied to the coils 6 and 37 are turned off and a predetermined pulse signal is supplied to the coil of the mover 80, the mover 80 moves as shown by the solid arrow Y.
(or move P/8 in the direction of the dashed arrow Y),
At the same time, the movers 36 and 37 move by P/8 in the direction of the solid arrow Y1 (or the broken arrow Y1). Thereafter, by similarly supplying pulse signals, the movers 36 and 37 and the mover 80 are moved by P/8 in opposite directions. Furthermore, when a pulse signal is supplied to either the coil of the mover 36 or the coil of the mover 37, each of the movers 36, 37, and 80
The same operation as when a pulse signal is supplied to both coils 6 and 37 is performed.

In each of the above-mentioned embodiments, a pinion gear of the same shape is used to engage the slider in each of the linear pulse motors, but it is desirable to further reduce rattling such as bumping of this engaging portion. Therefore, it may be configured using scissor gears.

In addition to a gear, a method of using a link in which elongated holes of the same length are formed at both ends of a long plate may be considered as a member for engaging the mover. In this case, for example, in the linear pulse motor shown in FIG.
Remove the shaft 34, pinion gear 35, and racks 41, 42, put a pin in the center of the upper surface of the back plates 36b, 37b of the movers 36, 37, and insert the two elongated holes of the link into these pins. Insert it so that it can slide freely. With this configuration, the movable elements move in opposite directions via the links, allowing almost the same operation as the linear pulse motor shown in FIG. 1.

"Effects of the Invention" As explained above, according to the present invention, a plurality of rows of teeth are formed in parallel at regular intervals P along a specific direction, and a plurality of guide parts are formed in parallel along the teeth. a plurality of movers each placed above a plurality of rows of teeth of the stator and supported so as to be movable along the guide section; a first engagement member attached to the first engagement member; and a second engagement member that abuts the first engagement member and engages the plurality of movers with each other; The engaged movers are set to be shifted from each other by P/(2×number of phases), and when one mover is moved in the specific direction relative to the stator, the other mover moves toward the engaging member. Since the movement is made to move in the opposite direction via , the following effects can be obtained.

Since the slider also serves as a counterweight, vibration resistance and impact resistance can be improved without installing a countweight.
In addition, since there are two movers and the movers move in opposite directions via the engagement member, if the friction coefficient of each contact part is ignored, the acceleration α of the mover is α= 2F/2M (F is the thrust of the mover, M is the mass of the mover), and (thrust/
(mass) ratio will hardly decrease.
Therefore, the responsiveness of the mover is improved compared to a conventional linear pulse motor.

Furthermore, since a counterweight is not required, the linear pulse motor can be made smaller as a whole.

Since the movable elements are engaged with each other with a relative shift of P/(2×number of phases), by driving the movable elements alternately, the movable elements can be moved with twice the resolution.

[Brief explanation of the drawing]

FIG. 1 is a plan view of a linear pulse motor according to a first embodiment of the present invention, FIG. 2 is a front view of the linear pulse motor, and FIG. 3 is a view of the primary side of the linear pulse motor according to the first embodiment. A side view showing the configuration of the primary slider applied to the mover, FIG. 4 is a diagram for explaining the operation of the luniary pulse motor,
5 is a front view of a linear pulse motor according to a second embodiment of the invention, FIG. 6 is a plan view of a linear pulse motor according to a third embodiment of the invention, and FIG.
The figure is a perspective view of a conventional linear pulse motor. 30...Secondary side stator, 31...Fixing member,
32...Guide groove part (guide part), 33...Slit plate, 33a...Tooth part, 34...Pinion gear attachment shaft, 35...Pinion gear (second engagement member), 36, 37...1 Next side mover, 36b,
37b...back plate, 38...shaft, 39...
...Roller with collar, 40...Roller, 41, 42
... Rack (first engaging member).

Claims (1)

[Scope of Claims] 1. A stator in which a plurality of rows of tooth portions are formed parallel to each other at regular intervals P along a specific direction, and a plurality of guide portions are formed in parallel along the tooth portions; a plurality of movers each placed above the plurality of rows of teeth of the child and supported movably along the guide portion;
a first one attached to each of the plurality of movers;
and a second engaging member that abuts the first engaging member and engages the plurality of movers with each other, one of the plurality of movers among the plurality of movers. A linear pulse motor characterized in that when the moving element is moved in the specific direction relative to the stator, the other moving element is moved in the opposite direction via the engaging member. 2. A linear pulse motor characterized in that a plurality of movers engaged by the engaging member are shifted from each other by P/(2×number of phases) in the specific direction.