JPS59122357A - Dc linear motor with position and propulsion speed detecting mechanism - Google Patents

Abstract

PURPOSE:To detect the position and a propulsion speed of a movable element with a simple structure by reflecting a light from a light wavelength generator on an inclined reflecting surface provided at the movable element side, and receiving it by a light wavelength receiver. CONSTITUTION:When a movable element is moved, an index 14 and triangular prisms 16, 17 simultaneously move. A light wavelength from a light wavelength generator 19 is converted by a condenser lens 22 into parallel beam, reflected on an inclined reflecting surface 17a through the surface 17b of the prism 17, and generated from the surface 17c. The light wavelength which is passed through a light transmission unit, in which a main scale 12 and the index 14 are disposed, is incident to the surface 16c of the prism 16, reflected on the surface 16a to become light wavelength parallel to the light wavelength generating passage on the surface 16b, and arrives at a light wavelength receiver 18 through a condenser lens 21. The position and the moving speed of the movable element are detected on the basis of the output of the receiver 18.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a DC linear motor having a position and propulsion speed detection mechanism.

2. Description of the Related Art Pulse linear motors are known as linear motors conventionally used in X-Y plotters and the like.

This is because positioning is easy. However, in the case of linear pulse motors, significant mechanical precision is required,
The disadvantage is that finer precision cannot be expected. Furthermore, due to the nature of the linear pulse motor, it has the disadvantage that strong thrust and high speed cannot be obtained. Furthermore, it has many disadvantages, such as being heavy and generating loud propulsion noise when the moving element moves.

In order to eliminate the drawbacks of such linear pulse motors, it is more effective to use a DC linear motor.

For this reason, many applications for semiconductor linear motors were filed with the applicant of the present invention.

In order to stop the semiconductor linear motor at the target position, a position and propulsion speed detection mechanism is required.

When optical means are used as the position and propulsion speed detection mechanism, the power cord for the optical means must also be moved together with the moving element. This has the disadvantage that when the semiconductor linear motor is of the moving coil type, the construction becomes very complex, since the power cord for the armature coil must also be moved at the same time. Furthermore, since the power cord must be moved together with the movable element, the moving range of the movable element must be shortened.

The present invention has been made based on the above circumstances, and will be described in detail below with reference to the drawings.

(First Embodiment) With reference to FIGS. 1 to 5, perspective views of a moving field magnet type DC linear motor having a first embodiment of the present invention are shown, and FIG. Fig. 3 is a diagram explaining the principle of the position and propulsion speed detection mechanism, Fig. 4 is a perspective view of the field magnet, and Fig. 5 is a developed view of the field magnet and armature coil. shows.

A first embodiment of the present invention will be described mainly with reference to FIGS. 1 and 2.

The moving field magnet type DC linear motor 1 has the following configuration. Support legs 2a are formed by vertically bending both sides of a long plate-shaped magnetic material yoke 2 such as an iron plate. A printed circuit board 3 is attached to the upper surface of the magnetic yoke 2. As shown in FIG. 2, the printed circuit board 3 is arranged so that the magnetic yoke 2 of the printed circuit board 3 is
By attaching it to the top surface of the printed circuit board 3, the side surface of the printed circuit board 3 forms a guide rail for the guide roller 4. On the upper surface of the printed circuit board 3, armature coils 5 wound in a rectangular frame shape along the longitudinal direction are arranged at appropriate intervals so as not to overlap each other.

Although only two electronic coils 5 are shown in FIG. 1 for convenience of drawing, in reality, a large number of them are fixedly installed on the entire printed circuit board 3. Furthermore, in this first embodiment,
As shown in FIG. 5, the armature coils 5 are arranged at equal intervals. The armature coil 5 is a positive integer multiple of the magnetic pole width of the field magnet 6, which will be described later, or 2n-1 times (n is 1
(a positive integer greater than or equal to) is used. In this first embodiment, the ilt machine coil 5 has the same magnetic pole width of the field magnet 6 and z
A coil formed by winding ni (n=1) times is used. Printed circuit board 3 in the cavity within the frame of the armature coil 5
A magnetoelectric conversion element 7 such as a Hall element or Hall IC used as a position detection element is disposed above. The reason why the electric conversion collector 7 is arranged in such a position will be described later.

The main body of the stator of the movable field magnet direct current linear motor 1 of the present invention has the above-mentioned configuration. The mover 9 is placed relatively overlapping l1l15 with the armature coil 5 of the stator 8! Linked?
I try to do it. The slider 9 has a guide roller 4 rotatably fixed to the side surface of a magnetic yoke 10 formed in a U-shaped cross section by means of an SLL.
On the inner surface facing the armature coil 5, a field magnet 6 as shown in FIG. 4 is fixedly attached. The field magnet 6 is a three-pole magnet having N poles and S poles alternately along the longitudinal direction, for example, as shown in FIG. 4.

A support 13 for supporting the main scale 12 is fixed to the side surface of the support leg 2a of the magnetic yoke 2. This allows the main scale 12 to be supported horizontally with the Lm magnetic yoke. As shown in FIG. 1, the main length 11 is made of a slit plate or the like having transparent parts and opaque parts at equal intervals. In FIG. 1, the part drawn by the line is the transparent part.

This is because the main length 12 is formed by forming fine slit holes in a long metal plate by pressing or the like. Shikaji, main scale 12
However, since there are various other forming methods, the method is not limited to the above method.

For example, is there a transparent part and an opaque part in a transparent film or glass? In the case where the cine transparent part is formed by coating etc., the main scale 12 in Fig. 1 above is used.
In the case of 7ic, this part becomes an opaque part. A support 15 that supports a prism and an index 14, which will be described later, is fixed to the side surface of the magnetic yoke 10.

The index 14 is of the type shown in FIG. 1, and like the main scale 12, it has a transparent part and an opaque part in the form of slits in the longitudinal direction. Further, the index 14 is fixed to the side surface of the magnetic yoke 10 so as to face the main scale 12. The above main scale 12 and index 14
Two triangular prisms 16 and 17i are connected to the support 1
5 are arranged facing each other. The triangular prisms 16 and 17 are made of a transparent body, and reflection directions 16a and 17a are formed on each inclined surface by coating or the like.

The first inclined reflective surface 16a and the second inclined reflective surface 17a
are symmetrically fixed to the support body 15. The triangular prisms 16 and 17 are fixed so that the fields 16c and 17c are parallel to each other, and the n1 surface 16b is the optical wavelength receiving element 18.
and rIIllb is directed to the optical wavelength generator 19. An optical wavelength generating element 19 consisting of an infrared ray, a laser, a lamp, an ultrasonic wave, etc. and an optical wavelength receiving element 18 such as a phototransistor are arranged approximately parallel to the rigid end side of the linear morph 1 and housed in a package 20. . Element 1
N condenser lenses 21 and 22 are provided on the front surfaces of lenses 8 and 19, respectively.

FIG. 5 is a developed view of the armature coil 5 and the field magnet 6. Both terminals of each armature coil 50 are connected to a semiconductor rectifier 23 9 , and the output terminal of the magnetoelectric conversion element 7 is also connected to the semiconductor rectifier 23 . 24-1 is a positive power terminal, and 24-2 is a negative power terminal 7. With full reference to FIG. 5, it is desirable that the magnetoelectric transducer 7 for each armature coil 5 be placed on the conductor portion 5a (or 5b) that contributes to the thrust of the armature coil 5; f
When the fi electric conversion element 7 is arranged, the length of the magnetic gap between the field magnet 6 and the magnetic yoke 2 is increased by the thickness of the element 7, so the drawback that a strong thrust cannot be obtained is reduced by that amount. have For this reason, for example, the armature coil 5
-1 In all cases, the @electronic exchange element 7-1 that should be placed on the conductor portion 5a that contributes to the thrust of the armature coil 5-1 corresponds to the left end of the N pole of the field magnet 6. Therefore, it is the same position as this, and @fit'(r) is selected at the position where the electric conversion element 7-1 faces the cavity within the frame of the armature coil 50. 25 corresponds to this. Therefore, if the magnetoelectric transducer 7-1 for the armature coil 5-1 is placed at the position of the dotted line enclosure 25 in the inner cavity of the main coil 5-2, the magnetoelectric transducer 7-1 can be housed and arranged in the cavity position within the frame of the armature coil 5-2.As a result, @electrical conversion element 7-1
There is no need to arrange it on the conductor portion 5a (or 5b) that contributes to the -1 thrust force. The @electrical conversion element 7 for the other armature coil 5 is determined by taking into account the above considerations, and the @electrical conversion element 17 for the other armature coil 5,
This means that the armature coil 50 can always be stored and arranged in the cavity within the frame.

(Third Embodiment) A second embodiment of the present invention in accordance with the 61st embodiment? To explain,
In the first embodiment, the main scale 12 and the index 14 were arranged horizontally with the stator 8 or the slider 9. In this second embodiment, the main scale 12' is supported and fixed perpendicularly to the stator 8 by means of a support 13, and the main scale 12' is supported and fixed vertically to the stator 8.
The index 14 also has a support 15 facing it.
An example in which the slider 9 is fixed perpendicularly to the slider 9 is shown.

(Third Embodiment) To explain a moving armature coil type DC linear motor which is a third embodiment of the present invention, although not shown in this embodiment,
Armature coil 5 side? A moving element is used, and the sales magnet 6 side is used as a stator. The configuration is completely opposite to that of the first and second embodiments.

Therefore, in FIG. 7, the armature coil 5 and the field magnet 6
A development diagram with? The arrangement shown is completely opposite to that shown in FIG.

(Operation) Since the present invention has the above configuration, when the magnetoelectric conversion element 7 detects all ON poles or S poles of the field magnet 6, the magnetoelectric conversion element 7 transfers the required direction from the magnetoelectric conversion element 7 to the armature coil 5, for example, as shown in FIGS. A current in the direction shown in FIG. 7 is passed through the armature coil 5. As a result, according to Fleming's left-hand rule, the field magnet 6 (in the case of the first and second embodiments) or the armature coil 5 (in the case of the third embodiment) obtains a thrust in the direction of arrow F, for example. The mover will move in the direction of arrow F. Further, when a signal from a control circuit (not shown) is received, the power supply polarity changes, and the movable element now moves in the opposite direction of the arrow.

Further, when the movable element moves, the index 14 and the triangular prisms 16 and 17 also move at the same time. Therefore, as shown in Figure 3, the light wavelength from the light wavelength generating element 19 is converted into parallel light by the condenser lens 22, passes through the triangular prism 17, and is reflected by the inclined reflective surface 17a. It is generated from the surface 17c. Thereafter, the light wavelength that has passed through the light transmitting tray where the main scale 12 and the index 14 are located is incident on the surface 16c of the triangular prism 16, is reflected on the inclined reflection surface 16a, and is reflected on the surface 16b parallel to the light wavelength generation path. The light reaches the light wavelength receiving element 18 via the condenser lens 21. The optical wavelength receiving element 18 converts the original wavelength signal gold waveform intermittently received by the main scale 12 and the index 14 into a propulsion speed voltage signal,
By inputting this to the semiconductor distorted flow device 23, the propulsion speed of the mover is controlled under pressure.

-YMe, compared to the secondary pulse linear motor, the disadvantage of not being able to move or stop correctly in delicate positions can be overcome.

In addition, unlike a pulse linear motor, mechanical precision is not required significantly, so that precise positioning can be performed using an electronic circuit.

Furthermore, it still has all of the following effects.

Pulse linear motor compared to index and main scale?
Since it can be made more elaborate, fine positioning can be achieved even with linear motors.

Since it is a DC linear motor, it can provide stronger thrust than a pulsed linear motor and can move consonants faster.

The pulse linear motor itself is made of a magnetic material, and as a result, the superimposition is very heavy, whereas the DC linear motor of the present invention, like the pulse linear motor, has only the appropriate parts. Since it is only made of magnetic material, it is extremely light in weight.

In the case of a pulse linear motor, a stop control is applied every time the slider moves, which generates a loud and unpleasant back propulsion sound when the slider moves, but in the case of the DC linear motor of the present invention, , such a drawback? Does not occur.

In the case of the uninvented DC linear motor, it is also applicable to the case of a voice coil type DC linear motor, but if the IU DC linear motor is configured as described above, it will be similar to the voice coil type DC linear motor. Since it is extremely difficult for counter thrust to enter, it is extremely efficient.

And, the biggest effect of the present invention is that the original wavelength generating condenser and the original wavelength receiving hexagon do not have to be moved together with the mover, so there is no need for power cords, etc. for that purpose. This is because it is extremely effective when the mover moves over a long distance.

This is particularly effective in direct kt,') near motors that do not require a movable field magnet that does not require a static power cord, but also in moving armature coil type DC linear motors where t = energization to the child coil. The direct current linear motor, which has the advantage of requiring only a power cord, has the great effect of solving some of the problems that have been encountered in the past.

[Brief explanation of drawings]

FIG. 1 is a perspective view showing the first embodiment of the present invention, and FIG. 2 is a perspective view showing the first embodiment of the present invention.
Fig. 3 is an explanatory diagram showing how wavelengths arrive at the optical wavelength receiving element consisting of the optical wavelength generating element, Fig. 4 is a perspective view of the field magnet, and Fig. 5 is a longitudinal cross-sectional view of the one in the figure. A developed view of the armature coil and the field magnet, FIG. 6 is a vertical cross-sectional view of the second embodiment of the present invention corresponding to FIG. 2, and FIG. 7 is a third embodiment of the present invention corresponding to FIG. FIG. 3 is a developed view of an armature coil and a field magnet. 1... Moving field magnet type DC linear motor, 2...
...Magnetic material yoke, 2a...Support leg, 3...
・Printed circuit board, 4... Guide roller, 5.
・・W state coil, 6・・field magnet,
7... Magnetoelectric conversion element (position detection element), 8... Stator, 9... Mover, 10... Magnetic yoke,
DESCRIPTION OF SYMBOLS 11... Axis, 12... Main scale, 13... Support body, 14... Index, 15... Support body, 16.17-... Triangular prism, 16a. 17a... Inclined reflective surface, 18... Optical wavelength receiving element, 19... Optical wavelength generating element, 20... Puff cage, 21. 22... ~ Condenser lens, 23
... Semiconductor flow device, 24-1... Positive power terminal, 24-2... Negative power terminal. patent slender person

Claims (1)

[Claims] (1) Armature coil groups or field magnets are arranged opposite to each other, and one of them is used as a mover and the other is used as a stator, and the mover and stator are moved in a linear manner relative to each other. A light wavelength generating element such as a laser, an infrared ray, or a lamp is provided, and a transparent part and an opaque part are formed at minute intervals along the longitudinal direction of the fixed side. The wavelength from the above-mentioned optical wavelength generating element is fixed by fixing the shack plates etc. alternately. A first inclined reflecting surface is provided on the moving side to guide the main scale to the Cangbodzi direction, and a second inclined reflecting surface is provided on the moving side to direct the wavelength that has arrived at the first inclined reflecting surface to a position via the main scale. A position and propulsion speed characterized in that a reflecting surface is provided on the moving side, and an optical wavelength receiving element such as a photoconductive conversion element that receives the wavelength arriving at the second inclined reflecting surface and reflected is provided on the fixed side. DC linear motor with detection mechanism. 2. The first and second inclined reflecting surfaces are formed on inclined surfaces of a triangular prism, and has a position and propulsion speed detection mechanism as set forth in claim 1. DC linear motor. 3. Claim 1, characterized in that the first inclined reflecting surface and the second inclined reflecting surface are symmetrically fixed.
A DC linear motor having a position and propulsion speed detection mechanism according to item 1 or 2. 4. A DC linear motor having a position and propulsion speed detection mechanism according to claim 3, wherein the optical wavelength generating element and the optical wavelength receiving element are arranged substantially parallel to each other. 5. A DC linear device having a position and propulsion speed detection mechanism according to any one of claims 1 to 4, wherein the field magnet has N and S magnetic poles alternately in the longitudinal direction. motor. 6. Claim 5, characterized in that the opening angle of the conductor portion contributing to the armature coil thrust is formed by winding so that the opening angle width is a positive integer multiple of the magnetic pole width of the field magnet. A DC linear motor having a position and propulsion speed detection mechanism as described in Section 1. 7. The above-mentioned armature coil is formed by winding such that the opening angle of the conductor portion contributing to the thrust is multiplied by the bIi pole width n-1 (n is a positive integer of 1 or more) of the field magnet. A DC linear motor having a position and propulsion speed detection mechanism according to claim 6. 8. A DC linear motor having a position and propulsion speed detection mechanism according to any one of claims 1 to 7, wherein the armature coil is wound into a frame shape. . 9. Claims 1 to 8, characterized in that the armature coils are arranged so as not to overlap each other.
A DC linear motor having a position and propulsion speed detection mechanism according to any one of Items 1 to 3. 10. A DC linear motor according to claim 1, characterized in that the armature coil group side has a position detection element. A DC linear motor having the position and propulsion speed detection mechanism according to any one of Item 9. 11. A DC linear motor having a position and propulsion speed detection mechanism according to claim 10, wherein the position detection element is a magnetoelectric conversion element. 12. The position detection element according to any one of claims 1 to 11, wherein the position detection element is disposed at a position in an equal relationship with a conductor portion contributing to the thrust of the armature coil. A DC linear motor with a position and propulsion speed detection mechanism. 13. A DC linear motor having a position and propulsion speed detection mechanism as set forth in claim 12, wherein the position detection element is disposed at a position in a cavity within the frame of the armature coil. 14. A DC linear motor having a position and propulsion speed detection mechanism according to any one of claims 1 to 13, wherein the mover has an intex facing opposite to the main scale.