JPS6098863A - Linear motor - Google Patents

Abstract

PURPOSE:To largely improve the performance of a linear motor having a large thrust force by forming a stator and a core of a mover by laminating thin plates made of a magnetic material, and setting the laminating direction to the direction perpendicular to the teeth surfaces of the poles of the stator. CONSTITUTION:Pole teeth 1X, 1Y of a stator are formed on both side surfaces of a stator 2. A mover 3 is formed of a plurality of cores 6X, 6Y formed with pole teeth 8a-8c of the mover oppositely in the vicinity of the pole teeth rows of the stator, and a magnetic circuit for supplying the magnetic fluxes generated by permanent magnets 5X, 5Y and drive cois 7a-7c at the cores 6X, 6Y. The stator 2 and the cores 6X, 6Y are formed by laminating the thin plates of the magnetic material, and the laminating direction is perpendicular to the magnetic flux forming surface of the stator.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to a linear motor having magnetic pole teeth used in orthogonal coordinate system robots, X-Y tables for multi-point positioning, and the like.

Structure of the conventional example and its problems A conventional linear motor having magnetic pole teeth does not show its specific structure in FIG. , the mover 3 is installed so that it can run in the direction indicated by the arrow by a traveling means (not shown) while maintaining an appropriate gap (hereinafter referred to as "gap") on the stator magnetic pole tooth rows 1x, 1Y by a holding means. configured. Mover, l [2 core 4, permanent magnets 5X, 5Y, first core 6X, 6Y.

Drive coil 7a wound between the first (D) 76X and 6Y
, 7b, 7c, and the first cores 6X, 6Y
Is the stator magnetic pole tooth row 1x, 1Y the same pitch and stator? Mover magnetic pole teeth 8a, ab, 8c are formed opposite to the single-pole rows 1x, 1Y.

Stay magnetic pole tooth rows 1X, 1Y and mover magnetic pole teeth 8a of a linear motor having such magnetic pole teeth.

The relative positions of ab and 8c are as follows. The stator magnetic pole tooth rows IX and IY are arranged such that 1Y is shifted by a notch from 1X, and the mover magnetic pole is 8a.

ab and 8c, the distance between them is shifted by -pitch. Note that the mover magnetic pole teeth 8a, ab, and 8c are provided on both the first cores 6X and 6Y, and these teeth are in the same phase.

Therefore, the stator magnetic pole tooth row is 1X.

It can be easily understood that there are six groups of magnetic pole teeth 8a, ab, and sC of the mover magnetic pole teeth 8a, ab, and sC provided at different pitches with respect to 1Y.

The operating principle of such a linear motor is that the stellate magnetic pole (
“Matrix 1X, IY and mover-pole teeth aa, sb.

Permanent magnets 5X, 5Y and drive coil 7a generated between 80
, yb, and 7c, and the details are the same as those described in JP-A-57-25161, so the details will be omitted.

-''- As is clear from the explanation, in order to improve the starting thrust (hereinafter referred to as static thrust) of a linear motor of the same size, the above composite magnetic flux should be made thicker, that is, the stator 2 and the first
It is effective to use materials with high saturation magnetic flux density for the cores eX and 6Y. Therefore, conventionally, the stator 2 and the second core 6
X and 6Y are often made of pure iron, which has a high saturation magnetic flux density, is easy to process, and is inexpensive to press, and the actual static thrust is 1 K.
Comparatively small linear motor characteristics 1-L, 1' (high speed 4 in/s, maximum acceleration 10G performance have been achieved).

However, with the same magnetic material, magnetic pole tooth pitch, and gap as above, the static thrust of a relatively large linear motor of 15:2 has a maximum speed of 1 m/s.

Performance can only be achieved with a maximum acceleration of 4G. The reason for this is that iron loss, mainly eddy current loss, that occurs in the magnetic circuit has a large influence1.In fact, simply making the first core 6X, eY a laminated structure made of silicon steel plates, which is most effective against iron loss, Performance can be improved to a maximum speed of 1.4 m/s and a maximum acceleration of 5G.

From the above, it is clear that if iron loss, mainly caused by eddy current, can be reduced while maintaining the configuration of the linear motor shown in FIG. 1, even large-sized linear motors can be significantly improved in performance. However, in reality, the stator 2 section cannot simply have a laminated structure of silicon steel plates, so the configuration shown in FIG. 1 cannot achieve a significant performance improvement. The reason for this lies in the magnetic path and will be explained in more detail below. FIG. 2 shows FIG. 1 from the moving direction of the mover, and shows the permanent magnet 5X.

The magnetic flux due to 5Y flows in the direction of arrow B, but the amount of magnetic flux at each gap varies with changes in magnetic resistance due to the relative positions of the stator magnetic pole teeth 1X, 1Y and the mover magnetic pole teeth 8a, ab, 8c. (Permanent magnet 5X.

The total amount of magnetic flux coming out of 5Y remains unchanged. ) On the other hand, FIG. 3 is a side view of FIG. 1, and shows that the drive coil 7a,
The magnetic flux due to 7b and γC flows in both directions (9 points of arrow C) depending on the direction of the current flowing through the drive coils 7a, 7b, and 7c.

From the above, it can be seen that the magnetic flux flows three-dimensionally and changes in the stator 2. Therefore stator 2
When simply forming a laminated structure using silicon steel plates, as shown in Fig. 4, not only eddy current loss occurs due to changes in magnetic flux from the lamination direction, but also magnetic resistance in the lamination direction increases significantly. Motor performance will also drop significantly. still,
In the figure, arrow X indicates the direction of magnetic flux, and arrow Y indicates the direction of eddy current.

As is clear from the above explanation, the conventional linear motor configuration shown in Figure 1r (not shown) has the drawback that it is difficult to take measures against eddy currents, especially in the second part of the stator, and therefore the motor performance cannot be significantly improved. had.

OBJECTS OF THE INVENTION The present invention was devised in view of the above-mentioned drawbacks, and it is an object of the present invention to provide a high-performance linear motor with a large thrust by using a structure that can minimize the occurrence of eddy current loss.

Structure of the Invention The present invention forms tooth rows on both sides of the stake,
On the other hand, the mover is connected to a mover magnet (a plurality of first cores formed entirely of prints, and a magnetic circuit that supplies magnetic flux from a permanent magnet and magnetic flux from a plurality of drive coils to the mover magnets), which are closely opposed to the stator magnetic pole tooth row. Furthermore, the stator and the plurality of first cores are laminated in the same direction with thin magnetic bodies, and the lamination direction is perpendicular to the stator pole tooth forming surface, thereby achieving a large It has the unique effect of realizing a high-performance linear motor with high thrust.

DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 5 is a perspective view of an embodiment of the present invention, and parts with the same functions as those in the conventional example shown in FIG. 1 are designated by the same reference numerals and will be described below. The stator 2 is formed by laminating thin plates made of magnetic material (silicon steel plates are commonly used, so hereinafter referred to as silicon steel plates) in the direction shown in the figure, and furthermore, the stator 2 is formed by laminating thin plates made of magnetic material (silicon steel plates are often used, so they will be referred to as silicon steel plates hereinafter) in the direction shown in the figure. Stator magnetic pole tooth rows 1X and 1Y are provided. On the other hand, mover 3 is a first core 6X formed by laminating a second core 4, permanent magnets 5X, 5Y, and silicon steel plates in the direction shown.

6Y, first core 6X, drive coil 7 wound around 6Y
a, 7b, 7c, mover magnetic pole teeth Ba, sb formed in the first cores eX, 6Y and provided at the same pitch as the stator magnetic pole tooth rows 1X, 1Y and facing the stator magnetic pole tooth rows 1X, 1Y; , 8cJ, is composed of shi. Further, the mover 3 has mover magnetic pole teeth 8a, sb, +30 and a stator magnetic pole tooth row 1X.

It has a gap holding means (not shown) and a traveling means (not shown) so that it can travel in the direction of the arrow while maintaining an appropriate gap between Y and Y.

Stator magnetic pole tooth rows IX, IY and mover magnetic pole teeth 8a in the linear motor configured as described above.

Relative of sb and 8c [☆: Placement relationship is configured exactly the same as the conventional example. In other words, stator magnetic pole tooth rows 1X and 1Y are 1X
The mover magnetic pole teeth 8a, +3b, and 8c are each shifted by 1Y or 7 hinops from the other hand.

They are staggered by 100 hits. Furthermore, the mover magnetic pole tooth 8
a, 8b, and 8C are provided in both the first cores 6X and 6Y, but they are in phase. Therefore, for the stator magnetic pole teeth iX, 1Y, the mover magnetic pole teeth s a ,
a b + 8 c 1l-i, it can be easily understood that there are six groups of magnetic pole teeth arranged at different positions.

The operating principle of such a linear motor is completely the same as that of the conventional example and Japanese Patent Application Laid-open No. 57-2516.1, and therefore will not be described here.

The magnetic path of the linear motor in this embodiment configured as above will be further explained below. Figure 6 shows Figure 5 from the running direction of the mover 3, with permanent magnets sX, 5
The magnetic flux due to Y flows as shown by arrow B, and the amount at each gap is between the stator magnetic pole tooth rows 1x and 1Y and the mover magnetic pole teeth sa and sb.

It fluctuates as the magnetic resistance changes depending on the relative position to 8C. (The magnetic flux J11 coming out of the permanent magnets 5X and 5Y does not change.) On the other hand, FIG. 6 shows FIG. , 7b, 7c, the current flows in both directions as shown by arrow C.

From the above, the stator 2 and the first core 6X.

6Y, the magnetic flux only flows in a plane, and by laminating silicon steel plates in each case as shown in FIG. 4, eddy current loss can be almost eliminated, and the performance of the linear motor can be greatly improved. As for the performance of the linear motor in this example, a worker speed of 3.2 m/s and a maximum acceleration of 7 G were obtained.

As described above, according to this embodiment, separate rows 1X and 1Y of stator magnetic poles 1 are provided on both sides of the stator 2 formed by laminating silicon steel plates as shown in FIG. First cores 6X, 6Y are formed with mover magnetic pole teeth 8a, sb, 8c facing each other in rows 1X, 1Y, and are laminated with silicon steel plates as shown in FIG. Permanent magnets 5X,
5Y, the second core 4 provided in contact with the permanent magnets 5X, 5Y: (j?ljf, 1 core eX,
By configuring the drive coils 7a, 7b, and 7c wound around 6Y, the performance of a large thrust linear motor in particular can be greatly improved.

Note that in this embodiment, the stator 2, the first core 6X,
6Y is made of silicon steel plate, but other materials may be used.Stator magnetic pole tooth rows 6X, 6Y and mover magnetic pole tooth 8a
, sb, and 8G, and the number of motor phases are not limited to the present embodiment. Furthermore, it is obvious that the number of permanent magnets 5X, 5Y can be easily increased or decreased as long as they are equivalent in terms of magnetic circuit, and that the number of second cores 4 can also be increased or decreased accordingly. Furthermore, a stator 3 and a first core 6X.

The stacking direction of 6Y is also not limited to this example, and may be modified along this example.

Effects of the Invention 2.J: The present invention has stator magnets (on both sides of the stator).
a plurality of first cores forming evening teeth and a mover forming mover magnetic pole teeth in close opposition to a stator magnetic pole tooth row; and a magnetic circuit supplying magnetic flux to the first cores by a permanent magnet and a plurality of drive coils. Furthermore, the stator and the plurality of first cores are laminated with thin plates made of magnetic material in the same direction, and the direction is perpendicular to the stator magnetic flux forming surface, thereby achieving a particularly large thrust. The performance of linear motors can be greatly improved, and its practical effects are significant.

[Brief explanation of drawings]

FIG. 1 is a perspective view of a conventional linear motor, and FIG. 2 is a perspective view of a conventional linear motor. 3 is a front view and a side view of FIG. 1, FIG. 4 is an explanatory diagram of eddy current generation, FIG. 5 is a perspective view of a linear motor in an embodiment of the present invention, and FIGS. 6 and 7 are FIG. 5 is a front view and a side view of FIG. IX, IY...Stator magnetic pole tooth row, 2...Stator, 3...Mover-14-...Second core, 6X. 5Y...Permanent magnet, 6X, eY first core, 7
a, 7b, 7c drive coil, 8a, sb. 8c-...Mover-magnetic pole 1:4:i L) Agent's name Dictionary]] J Officer Toshi Nakao Male and 1 other figure 1? Figure 2 Figure 3 Figure 4 Figure 5 Figure 6 Figure 7

Claims (1)

[Claims] From stator magnetic pole tooth rows provided on both sides of the stator at equal pitches in the longitudinal direction, and a mover that is provided so as to be movable in the stator longitudinal direction while maintaining an appropriate gap on the surfaces facing the stator magnetic pole tooth rows. The mover includes a plurality of first cores each having mover magnetic pole teeth facing the stator magnetic pole tooth row, and a magnet for supplying magnetic flux by a permanent magnet to the plurality of first cores. The circuit includes a permanent magnet and a second core, and a drive coil wound around the plurality of first cores, and the stator and the plurality of first cores are connected in the same direction with a thin plate made of a magnetic material. A linear motor in which the layers are laminated, and the lamination direction is perpendicular to the stator magnetic pole tooth surface.