JPS58165656A - Permanent magnet type linear stepping motor - Google Patents

Abstract

PURPOSE:To improve efficiency density such as output torque and a power rate by a method wherein a certain number of stator units are arranged along the migration axis of a needle and only the tooth of an inductor of the needle is integrately formed to make it in the form of a beam. CONSTITUTION:A stator is composed of a coil 4, a yoke 5 composed of a magnetic substance and a field yoke 9, whereas a needle is composed of an inductor tooth 6 and resin 7. Regarding the stator, the number of units corresponding to the needles thereof along their moving axes and the unit is provided with the field of the permanent magnet multitudinously magnetized in the direction of a single phase armature and its moving direction. Moreover, only the inductor tooth 6 of the needle is uniformly formed in a beam form. The unit in each phase is so arrange that the field magnetic pole makes a certain phase difference angle against the inductor tooth 6.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention has a structure that has the highest performance density such as output, torque, and weight per unit weight and unit volume among all electric machines used at room temperature, and has a structure that has the highest performance density per unit weight and volume. It relates to a magnet type stepping motor.

The principle of force generation in electromagnetic machines is ■Attraction 1 repulsion of comrade magnets, ■　The electromagnet attracts the iron core.

O attraction and repulsion of electromagnet and permanent magnet, It can be divided into

Type (2) is divided into two types: those in which two electromagnets are excited by separate power sources, and those in which one power source is used and the other electromagnet is excited from one side by electromagnetic conduction.

■ means that one electromagnet uses a material that does not generate excitation copper loss, such as an iron core or a permanent magnet, for the other.
Electromagnets are advantageous because they can take large ampere turns.

However, Real II has the drawback that the maximum electromagnetic force is suppressed due to saturation of the iron core in O, and demagnetization of the permanent magnet due to armature reaction in O.

For θ, countermeasures include increasing the height of the permanent magnet and using a permanent magnet (material) with a large coercive force, but this increases material costs and machine size, making it uneconomical.

In the electromagnetic machine described above, the am force σ per unit area of the rotor surface is the air-magnetic flux density By and the unit length in the circumferential direction of the armature I! It is expressed as the product of the number of current conductors aC in the j area, e t =BII・(ac), and if 89 × 20,000 Gauss c < 1,000 amperes/cm2, then #t × 2 kg/cm2 be.

In reality, the limit is about 1/4 of this, and σt = 1 kilogram/square centimeter can only be achieved by a very large capacity machine (1000KW or more).

In a small machine with a small capacity, the only way to bring the tangential force gt close to IQwt/cm''K in continuous time rating is to use an inductor electromagnet.

Following the above classification, those using inductor electromagnets are classified as ■'
, @', and θ°.

[Phase] 'VR (/?Glial reluctance) type θ'
It is divided into PM (Dermanent Magnet) type. 0
', a book that uses a flange conductor type field magnet using a permanent magnet is named the H9 (hybrid) type and Stetspinder motor.

The VR type and Ha (hybrid) type have a structure in which the teeth of the iron core face each other in the air space, so magnetic saturation occurs at the roots of these teeth, reducing the magnetomotive force that can be applied to this air gap. In fact, the theoretical maximum value of the tangential force is about 800 VcIIL2. Actually 1/4 of this
The average tangential force is 200! i/cIIL2 is considered to be the limit.

This is the air gap magnetic flux [Bg = 10,000 Gauss, electric 11
Tangential force σ of 1 conductor number - c = 200^/cm,
This is a value that is difficult to achieve with small motors unless an inductor is used.

The PM type has a structure in which the magnetic pole of a permanent magnet magnetized in the gap faces the teeth of the armature hook conductor core.

The magnetic gap PPM seen from the armature of the PM type is the sum of the magnet thickness and the clearance, and the gap of the VR type is 1IIIv.
It's nearly 10 times bigger than RK<Rapete.

Let's explain this using a diagram.

Figure 1 is the initial position of the VR type (including the Ha type, which is representative), Figure 2 is its final position, Figure 3 is the initial position of the PM type, and Figure 4 is its final position. It is. 1 is a stator, 2ti is a mover, and 3 is a mover made of a permanent magnet.

When the coercive force of the magnet is expressed by the height Lnl of the HC1 magnet,
Assuming that the magnetomotive force Hc-Lm of the magnet and the armature magnetomotive force are equal,
Considering 'pM''=-Lm, as can be seen from Figures 1 and 3, the magnetic flux of the PM type at the initial position is half that of the VR type.

Assuming that the residual magnetic flux density fil of the rare earth magnet is 10,000 Gauss, the amount of magnetic flux f of the PM type (Fig. 4) at the final position is
In order for BIi to be 20,000 Gauss, the armature magnetomotive force must be I
It is necessary to pass the Jc10,000 Gauge ear ear flip MK. It can be seen that this magnetomotive force is about five times larger than the magnetomotive force of the VR type (Fig. 2), which passes through the magnetic gap gvRKz Kagauss.

Although magnetic saturation occurs at the roots of teeth N and S in FIG. 2, magnetic saturation does not occur at the roots of teeth N in stator IK in FIG. 94. Therefore, the magnetic fluxes at this final position are equal in the y-phase in both cases.

Thus, the changing electromagnetic co-energy is converted into mechanical energy as the link moves from the initial position to the final position. In the PM type, this value is the product of the armature magnetomotive force and the amount of magnetic flux that changed during this time. Against this.

The VR type is difficult because it is affected by saturation (Fig. III-2), but it is roughly equal to armature magnetomotive force x changing magnetic flux x 1/2.

Therefore, it can be seen that the electromagnetic force of the PM type is 9 times that of the VR type. Furthermore, even if the height Lm of the magnet is made proportional to the tooth pitch 10,000, this electromagnetic force will not change, so the amount of magnets used can be reduced by decreasing the tooth pitch Tt.

ms diagram is a plan view of a parallel type conductor showing the basic principle of the present invention, and FIG. 6 is an x-xe sectional view thereof.

In order to distinguish between - and groove in the ms diagram, a school of fish t- is placed in the groove.
are giving.

In this principle diagram, 4 is an excitation coil, stator ^ and stator B, and teeth are formed at 82, ^ and B.

Bg is an opposite pitch in which the teeth and grooves are reversed and deviated by 180 degrees in electrical angle, and when ^ is the south pole, it is B.

B2 is excited to N&.

FIG. 7 is a plan view of a rectangular conductor illustrating the basic principle of the present invention.

In the principle diagram, 4. Parts A and 8, the grooves and grooves of parts 82 and 82 are at opposite pitches and deviate by 180 degrees in electrical angle.

Figure 1m8 is a cross-sectional view of one embodiment of the present invention (in the case of a parallel inductor).

5 is a yoke made of magnetic material, 6ti mover (leopard conductor)
, 7Fi, for example, resin (stainless steel may be used) is used to securely mold the 6 inductor teeth to each other. 8 is a permanent magnet magnetized opposite to the inductor teeth, and 9 is a field yoke.

Coil 4. The stator 11 is composed of the yoke 5 and the field 9Vr, and the lI induction [6 and Lennon 7 are the movable element 12].
In other words, the part of the inductor teeth shown in FIG. Become.

However, the movable element 12 and the stator 11 have a relative relationship (there is a relative relationship, and 12 may be fixed and 11 may be movable).

In the ladder-shaped mover 6, the pitch of the teeth arranged in the direction of movement must be constant. , the polarity of the magnetic poles corresponding to the same index pitch is reversed.In Figure 8, when the N pole of the field in the range ^ coincides with mover -6, the S pole in the range Sl and S2 is reversed. The permanent magnet 8 is magnetized to match -6.

FIG. 9 is a perspective view of the embodiment of FIG. 8.

Figures 10, 11, and 12 are partial plan views of another embodiment of the present invention (in the case of a rectangular crocodile conductor).

The overall configuration is as shown in FIGS. 8 and 9. however,#! The coil 4 in FIG. 8 is different from the coil 4 in its direction at right angles. lilOwJ and FIG. 12 represent the stator, and FIG. 11 represents the mover.

In this case, the teeth of the mover are moved, and 39 parts (81, A, 8.) VC divided, AIF) m parallel to the moving direction are 8. .

Arrange the teeth with an index that corresponds to the groove in section 82. In this way, the magnetic poles of the magnet 8 can be magnetized at a constant pitch along the t*, S movement direction.

Also, instead of shifting the - of the mover by half a pitch between the ^ part and the B part, and the 8□ part, the magnetic pole A part of the magnet 8 and the 81. B.

It is also possible to have a structure in which the pitch of the cow is shifted in the section. in this case,
The idea is exactly the same as the parallel type conductor in Figure 8.

Fig. 13 is a sectional view of an application example of the nest pole 1f14 child tooth armature according to the present invention, and Fig. 14 is its x-x° and Y-
It is a Y' sectional view.

IO is a non-magnetic material, and 11 is an industrial machine, for example.

When the coil 4 on the left side is set to the t-^ phase and the coil 4 on the right side is set to the B phase, in this case, the - set constitutes the ^-phase and B-phase armatures.

The inductor tooth 6 of x-x' and the inductor tooth 6 of Y-Y' are 1
/4 This is tooth pitch shift. Note that the magnetization of the magnetic pole 8 instead of the inductor tooth 6 may be shifted by 1/2 pitch.

FIG. 915 is a perspective view of still another embodiment of the present invention.

The structure of this flange type armature allows the machine dimensions (d-work, d2) in the direction of the opposite sides of the stator 5 and mover 6 to be minimized. Larger capacity can be achieved by arranging one layer of linear motors in parallel.

Thus, according to the present invention, a stepping motor with strong tonality and light weight and extremely high performance density can be obtained.

[Brief explanation of drawings]

Figure 1 shows the initial position of the VR type, Figure 2 shows its final position, Figure 3 shows the initial position of the PM type, Figure 4 shows its final position, and Figure 5 shows the parallel type inductor. The plan view and FIG. 6 are the x-x' cross-sectional views. 7 is a plan view of a right-angled inductor, FIG. 8 is a side sectional view of an embodiment of the present invention, FIG. 9 is a perspective view thereof, FIG. 1O, and FIG. 11. Fig. 12 is a partial plan view of another embodiment of the present invention, Fig. 13 is a sectional view of an applied example, and Fig. 14 is a partial plan view of the
FIG. 15 is a perspective view of still another embodiment of the invention. 1.11...Stator. 2.12...Movable element. 3...Permanent magnet (mover), 4...Exciting coil. 5... Yoke, 6... Mover (n conductor), 7... Non-magnetic filler (for example, resin, stainless steel). 8...Permanent magnet. 9...Field 3-ri. 10...Nonmagnetic material. U...Industrial machinery. Horse 1 Figure Horse 2 Figure 3 Pig p

Claims (1)

[Claims] A permanent magnet type stepping motor in which the armature is an inductor and the field is a multi-pole magnetized permanent magnet. The stator has several units arranged along the moving axis of the WJ mover, and each unit is equipped with a single-phase armature and a permanent magnet field magnetized with multiple poles in the direction of the moving axis. For the mover, only the sI inductor part is integrated! Shape it. A permanent magnet type linear stepping motor configured in a beam shape, and each phase unit is arranged such that the field magnetic pole makes a constant phase difference angle with respect to the I conductor.