JPS6158463A - Rectilinear driving gear - Google Patents

Abstract

PURPOSE:To enable a shifting unit to be driven rectilineally and electrically in succession, by a method wherein two coils are arranged in series in the circumference of a rod-like shifting unit magnetized with poles N, S at the both ends, and wherein a magnetic field changing in succession is generated on the both coils in the same direction. CONSTITUTION:A rod-like shifting unit 10 magnetized with poles N, S at the both ends is inserted into a circular cylindrical unit 11, to slide freely. In the circumference of the circular cylindrical unit 11, two coils 12, 13 are arranged in series so that a magnetic field along the axial direction of the shifting unit 10 may be generated. And driving gears 21, 23 for driven current control are connected to each coil 12, 13, and magnetic fields generated on the both coils 12, 13 are arranged in the same direction to control electric current so that the ratio of the magnetic field scales may be changed in succession. As the result, as the center of the magnetic field generated on the both coils is shifted in succession, the center P1 of the shifting unit 10 is shifted, thereby rectilinear motions in succession can be obtained.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a linear drive device, and more particularly to a linear drive device that can continuously adjust the amount of linear displacement of a mover relative to a stator.

[Prior art and problems]

Conventional linear drive and drive devices that can continuously adjust the amount of linear displacement of the slider include, for example, a combination of a rotary motor and a conversion mechanism such as a gear that converts the rotational output of the motor into linear motion. Also, a combination of an air cylinder device and an operating compressed air control valve is widely known.

However, these linear drive devices have a large number of component parts, are complex in structure, and have disadvantages in that they are large in size and have a large mass. Further, there is a problem in that noise such as meshing noise of the gear portion or exhaust noise from the control valve is generated.

[Failure to solve the problem]

As a means for solving the above-mentioned problems, the present invention includes a slider that is magnetized so that both ends thereof become N-pole and S-pole, respectively, and is slidably held in a cylinder. A pair of coils surrounding the surrounding area are arranged in series, and a DC voltage is applied between both ends of the coils so that the direction of the magnetic field from both coils is the same, and a DC voltage is applied between both ends of the coils. Provided is a linear drive device characterized in that a voltage ratio adjustment circuit is connected to continuously change the ratio of the voltage ratio.

[Effect]

According to the above means according to the present invention, when the ratio of the DC voltages applied across the pair of coils is continuously changed by the voltage ratio adjustment circuit, the center of the magnetic field by both coils is shifted from the position between one coil to the other. Continuously moves between the positions between the other coils.

Then, the movable element having both ends as north and south poles moves so that the center of the magnetic field produced by the movable element coincides with the center of the magnetic field produced by both coils. Therefore, the position of the mover can be electrically and continuously controlled without using gears, control valves, or the like.

〔Example〕 Hereinafter, the present invention will be described in detail with reference to the drawings.

1 to 3 illustrate the operating principle of the linear drive according to the invention. Referring to the figure, the linear drive device includes a moving element 10 that is magnetized so that both ends thereof become N and S poles, respectively.

The mover 10 is slidably held within a hollow cylindrical body 11. First and second coils 12 and 13 surrounding the movable element 10 are arranged in series in the cylindrical body 11 . One end of both coils 12 and 13 are connected in series at point C. The number of turns of both coils 12.13 is the same, and the winding direction of both coils 12.13 is also the same. Both coils 12.
A DC voltage is applied between both ends of the coils 12 and 13 so that the directions of the magnetic fields from both the coils 12 and 13 are the same, and
．． A voltage ratio adjustment circuit 14 that continuously changes the ratio of DC voltages applied between both ends of the voltage ratio adjustment circuit 13 is connected. Here, the other end A of both coils 12.13.

A DC power supply 17 is connected between the lead wires 15 and 16 connected to B, and between both coils 12.13 and the DC power supply 17, both ends of the resistance wire 18 are connected between both the lead wires 15 and 16, E is connected.

Lead wire 1 connected to connection point C of both coils 12 and 13
9 is connected to the resistance wire 18 by a variable contact 20.

In the linear drive device having the above configuration, as shown in FIG. Then, the center of the combined magnetic field generated by both coils 12° 13 becomes the intermediate position P1 between both coils 12 and 13Q. In addition, as shown in FIG. 2, when the movable contact 20 is connected to the left end of the resistance wire 18 in the figure and a full voltage is applied between both ends A and C of the second coil 13, the resultant voltage is generated by both coils 12 and 13. The center of the magnetic field is at the intermediate position P2 of the first coil 12. In addition, as shown in FIG. 3, when the movable contact 20 is connected to the right end of the resistance wire 18 in the figure and a full voltage is applied between both ends B and C of the second coil 13, the resultant voltage of both coils 12 and 13 is The center of the magnetic field is at the intermediate position P3 of the second coil 13. In this way,
By continuously changing the ratio of the voltage applied between both ends of both coils 12.13, it is possible to continuously move the center of the composite magnetic field from both coils 12.13 within the range from position P2 to position P3. can. On the other hand, in the mover 10, the center of the magnetic field due to the mover 10 is the center of both coils 12. Since the moving element 10 is moved to coincide with the center of the composite magnetic field caused by i, by continuously changing the ratio of the voltage applied between both ends of the coils 12 and 13, the moving element 10 is moved between the positions P2 and P3. The position can be continuously adjusted within a distance, that is, half the distance between both ends of the coil 12.

FIG. 4 shows an embodiment of a linear drive device according to the present invention. Referring to this figure, the linear drive device includes a moving element 10 that is magnetized so that both ends thereof become N and S poles, respectively. The mover 10 is slidably held within a hollow cylindrical body 11. The cylindrical body 11 has a mover 1
A first and second coil 12.13 surrounding the 0 is arranged in series. Both coils 12.13 One end is point C
are connected in series. The number of turns of both coils 12.13 is the same, and the winding direction of both coils 12.13 is also the same. Both coils 12.13 are connected between both ends of both coils 12.13.
A voltage ratio adjustment circuit 14 is connected which applies a DC voltage so that the directions of the magnetic fields generated by the coils 13 are the same, and which continuously changes the ratio of the DC voltages applied between both ends of the coils 12 and 13.

To explain the voltage ratio adjustment circuit 14, both coils 12
．． 13 is grounded, the other end A of the first coil 12 is connected to the output terminal of the inverting amplifier circuit 22 via the drive circuit 21, and the other end B of the second coil 13 is connected to the drive circuit. It is connected to the output terminal of the non-inverting amplifier circuit 24 via 23.

The non-inverting input terminal of the inverting amplifier circuit 22 is grounded via a resistor R1, and the non-inverting input terminal of the non-inverting amplifier circuit 24 is grounded via a resistor R1.

The inverting input terminal is grounded via resistor R2. The control signal input terminal 25 is connected to the inverting input terminal of the inverting amplifier circuit 22 and the non-inverting input terminal of the non-inverting amplifier circuit 24 via resistors R3 and R4, respectively.

In this embodiment, when the magnitude of the DC control signal vO applied to the input terminal 25 is changed, as shown in FIG.
Output voltage Vl of the inverting amplifier circuit 22.

■2 changes in inverse proportion to each other. Drive circuit 21.
23 is the output v1. Since a DC voltage corresponding to v2 is applied between both ends of both coils 12 and 13, the first coil 12
The ratio of the DC voltage applied between both ends A and C and between both ends B and C of the second coil 13 changes, and the position of the mover IO can be electrically and continuously controlled according to the above-mentioned operating principle. becomes.

FIG. 6 shows an example in which the linear drive device configured as described above is applied to a workpiece gripping mechanism of an industrial robot hand.

In this figure, the cylindrical body 11 of the linear drive device is connected to the hand 2.
6, and the mover 10 of the linear drive device is fixed to the other gripping finger 28. The mover 10 has both coils 12 . wound around a cylindrical body 11 .
Since the position is continuously controlled within a range of half the distance between both ends A and B of the gripping fingers 13, the distance between the gripping fingers 27 and 28 can be electrically and continuously controlled.

Furthermore, since the gripping control of the workpiece 29 by the gripping fingers 27 and 28 can be taught numerically, it becomes possible to smoothly handle workpieces of various scorches.

Although one embodiment has been described above, the present invention is not limited to the embodiment described above. For example, the voltage ratio adjustment circuit may apply a DC voltage so that the directions of the magnetic fields from both coils are the same. Any other configuration may be used as long as it continuously changes the ratio of the DC voltage applied between both coils. Also, a pair of coils may be separated from each other and have the same number of turns (although this is possible in principle; furthermore, if the direction of the magnetic field from both coils is the same, then the winding direction of both coils is It may be in the opposite direction.

〔Effect of the invention〕

As is clear from the above description, according to the present invention, the voltage ratio is adjusted to adjust the ratio of the DC voltages applied between the respective ends of a pair of coils arranged in series surrounding a mover having an N pole and an S pole at both ends. Since the circuit is configured to change the pressure continuously, it becomes possible to continuously control the position of the movable element according to the ratio of the applied pressure. Therefore, it is possible to provide a linear drive device that can continuously control the position of the moving element without using gears, control valves, etc. and without generating large noises.

[Brief explanation of drawings]

1 to 3 are partial cross-sectional configuration diagrams showing the operating principle of a linear drive device according to the present invention, FIG. 4 is a partial cross-sectional configuration diagram of a linear drive device showing an embodiment of the present invention, and FIG. 5 is a graph showing input/output characteristics of the voltage ratio adjustment circuit shown in FIG. 4. FIG. FIG. 6 is a schematic front view of a hand showing an example in which the linear drive device according to the present invention is applied to an industrial robot hand. 10... Mover, 11-Cylindrical body, 12.13
-・Coil, 14.-Voltage ratio adjustment circuit. Figure 1 Figure $6

Claims (1)

[Claims] 1. A magnetized mover is slidably held in a cylindrical body so that both ends thereof become N and S poles, respectively, and a pair of coils surrounding the mover are provided in the cylindrical body. are arranged in series, a DC voltage is applied between both coils so that the direction of the magnetic field from both coils is the same, and a voltage ratio adjustment that continuously changes the ratio of the DC voltage applied between both coils. A linear drive device characterized by a connected circuit. 2. The linear drive device according to claim 1, wherein the number of turns of the pair of coils is the same, and the sum of voltages applied between both ends of the coils is constant. 3. The linear drive device according to claim 1 or 2, wherein the pair of coils are connected in series.