JPS63133860A - Moving body - Google Patents

Abstract

PURPOSE:To improve controlabilty, by a method wherein a movable magnetic pole is moved into X, Y direction in accordance with a polarity determined by first and second fixed magnetic poles to take out a linear displacement from rotating motion obtained by a motor unit. CONSTITUTION:A moving body is constituted of a plurality of motor units M1-Mn, arranged on the fixed frame 8 of a fixing member with a given space while respective motor units M1-Mn are constituted of a movable magnetic pole 2, capable of moving into X-Y direction, and first and second fixed magnetic poles 4X-4Y, exerting the magnetic force of X-Y direction. The movable magnetic pole 2 is constituted of a permanent magnet, having a pair of magnetic poles N, S, and a leg unit 14 and is constituted so as to be fixed in a device by a flexible shaft 10 and returned to the original point thereof autonomously. Said fixed magnetic poles 4X, 4Y are provided with driving coils 6X-6Y to constitute the electromagnets of single pole and double poles. According to this method, rotating motion may be generated by moving the movable magnetic pole 2 into X-Y direction.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a moving body using a motor unit that obtains circumferential motion from motion displacement in the Regarding.

[Conventional technology]

Conventionally, in order to obtain displacement in the X and Y directions, it is common to use mechanical motion converting means such as a gear that converts rotation obtained by a motor into linear motion.

[Problem that the invention seeks to solve]

When such a mechanical movement conversion means is used, mechanical loss occurs due to the intervention of the conversion means, and when attempting to accurately control the direction and amount of displacement, the control device becomes severely damaged, and the machine This method has drawbacks such as poor controllability due to the loss of energy.

Therefore, the present invention generates a moving force using a motor unit that can obtain drive displacement in the X and Y directions using electromagnetic force without the intervention of mechanical motion converting means.

[Means for solving problems]

As shown in FIG. 1, the movable body of the present invention applies magnetic force in the Y direction together with a first fixed magnetic pole 4X that applies magnetic force in the X direction to a movable magnetic pole 2 that is movable in the X and Y directions. A single motor unit M or a plurality of motor units Ml, M2 in which the second fixed magnetic pole 4Y to be applied is arranged
. . . Mn is installed and moved by the circular motion of the movable magnetic pole 2.

[For production]

Motor unit 7 M-M I, M2...M
At n, a movable magnetic pole 2 movable in the X and Y directions
generates an attractive or repulsive force in the X direction due to the magnetic force with the first fixed magnetic pole 4x, and generates an attractive or repulsive force in the Y direction due to the magnetic force with the second fixed magnetic pole 4Y. Therefore, by changing the polarity of the fixed magnetic poles 4X and 4Y, the attractive force of the second fixed magnetic pole 4Y on the movable magnetic pole 2, the attractive force of the first fixed magnetic pole 4X, the repulsive force of the second fixed magnetic pole 4Y,
A repulsive force with the first fixed magnetic pole 4X is obtained, and according to these attractive and repulsive forces, the movable magnetic pole 2 moves in the x and X directions, and this movement causes the motor unit to rotate around the movable magnetic pole 2 cause movement. Therefore, in the movable body of the present invention, the displacement in the X direction or the Y direction during the circumferential movement of the motor unit is used as a driving force for movement.

and first and second fixed magnetic poles 4. X, 4Y are electromagnets around which drive coils 6X, 6Y are wound, and drive currents lx, ry with specific phase angles are applied to each drive coil 6X, 6Y.
If the movable magnetic pole 2 is moved by applying an attractive force or a repulsive force to the movable magnetic pole 2, the attractive force necessary for circular movement is generated from the first and second fixed magnetic poles 4X and 4Y against the movable magnetic pole 2. Alternatively, a repulsive force is obtained, a continuous circular motion is obtained in the movable magnetic pole 2, and movement is caused by the displacement of the motion.

〔Example〕

FIG. 1 shows an embodiment of a mobile body of the present invention.

This moving body has a plurality of motor units M1, M2...
・Mn are arranged at fixed intervals on the fixed frame 8 as a fixed member, and each motor unit M I %
M2...Mn includes a first fixed magnetic pole 4X that applies magnetic force in the X direction to the movable magnetic pole 2 that is movable in the X and Y directions, and a second fixed magnetic pole that applies magnetic force in the Y direction. A magnetic pole 4Y is installed.

The movable magnetic pole 2 is composed of, for example, a permanent magnet having a pair of magnetic poles N and S, is capable of two-dimensional movement in the X-axis direction and the Y-axis direction, and is supported so as to autonomously return to its origin. ing. That is, as shown in FIG. 2, the movable magnetic pole 2 has a flexible shaft 1 made of a coil spring.
Furthermore, since both ends of this flexible shaft 10 are fixed within the device, when the movable magnetic pole 2 receives driving force in the X and Y axis directions due to the action of magnetic force, , the flexible shaft 10 flexes to allow the movable magnetic pole 2 to move. Then, when the driving force on the movable magnetic pole 2 is released,
The movable magnetic pole 2 autonomously returns to its origin due to the restoring force of the flexible shaft 10. Legs 14 made of rubber or the like are attached to the lower surface of the movable magnetic pole 2, which is movable in this manner, to provide friction with the moving surface.

The fixed magnetic pole 4X is made up of a single-pole electromagnet, and is wound around the four strands 16a of the drive coil 6X.

16b is magnetized by flowing a drive current lx, and the polarity of the surface facing the movable magnetic pole 2 can be changed depending on the direction of the drive current lx.

Furthermore, the fixed magnetic pole 4Y is composed of an electromagnet having an iron core whose surface facing the flexible pole 2 is bipolar, and the terminal 18a of the drive coil 6Y wound around one magnetic pole side,
The left and right polarities are changed depending on the direction of the drive current Iy flowing through the drive current Iy.

Therefore, by changing the polarity of the fixed magnetic poles 4X, 4Y with respect to the movable magnetic pole 2, the movable magnetic pole 2 and the fixed magnetic poles 4X, 4Y
An attractive force or a repulsive force is generated between the movable magnetic pole 2 and the movable magnetic pole 2 in the X and Y directions, thereby making it possible to cause the movable magnetic pole 2 to rotate.

Therefore, as shown in FIG. 3, a drive circuit 20X that causes a drive current lx to flow through the drive coil 6X is installed, and a drive circuit 20Y that causes a drive current Iy to flow through the drive coil 6Y is installed, and from each drive circuit 20X, 20Y. Drive current lx,
The timing of occurrence of ry is controlled by the control circuit 22. In this case, it is assumed that the control circuit 22 varies the magnitudes of the drive currents Ix and Iy using a variable resistor 26 provided externally as a speed setting means 24.

As shown in Figure 4 a and b, the drive current is a square wave whose phase φ is shifted by π/2! x, Iy by the drive circuit 20
Flow from X, 20Y to drive coils 6X, 6Y. In this case, the drive current lx causes the magnetic poles N and S shown in FIG. On the surface, magnetic poles N and S (reverse magnetic poles N and S shown in parentheses on the right magnetic pole surface) shown in FIG. 4b alternate at a constant period.

At time T1, the left and right polarities of the fixed magnetic pole 4Y become S and N, so a repulsive force is generated between the fixed magnetic pole 4Y and the movable magnetic pole 2. Then, at time T2, as shown in FIG. 5(A), the left and right polarities of the fixed magnetic pole 4Y become N and S, so
A driving force Y+ (attractive force) is generated between the movable magnetic pole 2 and the fixed magnetic pole 4Y as shown in C in FIG. 4, and the movable magnetic pole 2 is attracted to the fixed magnetic pole 4Y and moves in the positive Y direction.

At time T3, the left and right polarities of the fixed magnetic pole 4Y maintain N and S, so an attractive force exists between the movable magnetic pole 2 and the fixed magnetic pole 4Y. magnetic pole 4
Since the polarity of to move in the negative X direction.

At time T4, the polarity of the fixed magnetic pole 4X maintains N, so an attractive force exists between the movable magnetic pole 2 and the fixed magnetic pole 4X, but as shown in FIG. Since the left and right polarities are S and N, the movable magnetic pole 2 and the identification magnetic pole 4Y
A driving force Yz (repulsion force) shown in e of FIG. 4 is generated between the movable magnetic pole 2 and the fixed magnetic pole 4Y, and the movable magnetic pole 2 moves in the negative Y direction by repelling the fixed magnetic pole 4Y.

At time T5, the left and right magnetic poles of the fixed magnetic pole 4Y maintain S and N, so there is a repulsive force between the movable magnetic pole 2 and the fixed magnetic pole 4Y. magnetic pole 4
Since the polarity of Move in the X direction and return to the original position.

At time T6, the polarity of fixed magnetic pole 4X maintains S, so
A repulsive force exists between the movable magnetic pole 2 and the fixed magnetic pole 4X, but as shown in FIG. A driving force Y+ (attractive force) shown in FIG. 4C is generated between the movable magnetic pole 2 and the fixed magnetic pole 4Y, resulting in a positive Y.
move in the direction.

Therefore, the movement locus of the movable magnetic pole 2 caused by such a continuous round motion is the movement locus 0.0 of the flexible shirt 10 shown in FIG. As is clear from P, Q, and R,
It forms a rectangular circular motion, and the continuous time T7,
According to the progress of Tg, Tg..., the movable magnetic pole 2 becomes the fifth
The circular motion is repeated as shown in (A), (B), (C) and (D) in the figure.

Therefore, in the moving body shown in FIG. 1, each motor unit M
+, Mz . . . If the lower surface of the leg 14 of the movable magnetic pole 2 of Mn is brought into contact with the moving road surface in the section of the movement locus R, O, the driving force is It can be moved in the direction opposite to the direction of X2.

In this case, the circular motion of the movable magnetic pole 2 is caused by the driving currents Ix, I
Since a square wave is used for y, the locus of motion is rectangular. However, if sinusoidal drive currents lx and Iy are used, the movable magnetic pole 2 moves circularly, and the sinusoidal drive current Tx, +y By changing the amplitude, the circular motion can be made into an elliptical motion, and the ratio of the major axis and minor axis can also be arbitrarily changed by changing the amplitude value.

The direction of rotation of the movable magnetic pole 2 is counterclockwise in the example shown in FIG. 5, but the driving forces Y+, X+
, Yz, and X2 are generated in the opposite direction, and their generation order is set as X2, Yz, X+-, Yl, then the movable magnetic pole 2
Since it is possible to generate a clockwise circular motion in
By switching the directions of the drive currents lx and ry using the control circuit 22, the movable magnetic pole 2 can be rotated in a desired direction, and the movable body can be moved in a desired direction.

Furthermore, the speed of the orbiting motion of the movable magnetic pole 2 is determined by the speed of each drive coil 6.
The control circuit 22 In this case, the driving torque can be set by controlling the magnitude of the driving currents Ix and Iy by adjusting the variable resistor 26, and the moving speed of the moving body can be increased or decreased by controlling the frequency of each driving current Tx and Iy.

By the way, looking at the relationship between the movement of the moving body and the circular motion of the movable magnetic pole 2, in the circular motion of the movable magnetic pole 2, the displacement ΔD is generated only by the driving force X2 shown in (D) of FIG. , four sets of motors are installed, and the driving current l of each motor is
If the phases of x and Iy are shifted by π/4, each motor unit M + -.

The driving force X2 can be sequentially generated in MZ...Mn, and the movement of the moving body can be changed from intermittent movement to continuous movement.

In addition, as shown in FIG. 7, the movable magnetic pole 2 is
Without passing through the movement trajectory shown in A) and (B) (from the position shown by the two-dot chain line in Fig. 5 (A) to the position shown in Fig. 5 (B)
It may be moved diagonally to the position shown by the solid line using the driving force Yx.

Next, as shown in FIG.
, MZ, M3, . . . are vertically movably connected by the support shaft 28 and the connecting member 30 to form a moving body, it is possible to move the uneven or inclined moving surface 32.

Moreover, the plurality of motor units Ml, MZ shown in FIG.
...Two sets of moving bodies D a % D connected to Mn
As shown in FIG. 9, if the moving bodies 1) are connected using connecting members 34 in parallel at regular intervals to form an i- moving device DS, the displacement speed v of each moving body 1) a, Db, ,
By adjusting v2, the moving direction of the mobile device DS can be changed.

For example, if the speed of the moving body [)a side is Vl and the speed of the moving body Db side is Vz (<V+), the moving device DS can be turned in the direction shown by the arrow m. In this case, by changing the directions of the drive currents lx and y, it is possible to turn the moving device DS left and right on the spot or move it backward.

Then, as shown in FIG. 10, two sets of moving bodies Da and D
The moving devices DSI, DSZ, . When a continuous mobile system is configured, each mobile device DSI, DS2...DSn has a mobile body D.
By adjusting the displacement speed of a s D b, the moving devices DS+, DSZ, etc. are moved along the curved moving path 40.
...DSn can be moved in a meandering manner in the direction indicated by arrow n.

Note that, as shown in FIG. 11, a sawtooth-like uneven surface 4 is provided on the surface of the movement path 44 for moving the leg portion 14 provided on the movable magnetic pole 2.
6, and by forming an uneven surface 48 that engages with this uneven surface 46 on the leg portion 14 of the movable magnetic pole 2, the movable magnetic pole 2 can be reliably stopped on the moving path 44 for each movement displacement ΔD.

Moreover, as shown in FIG. 12, the moving displacement Δ of the movable magnetic pole 2
Corresponding to D, on the surface of the moving path 44, ΔD/2
By forming an uneven surface 50 consisting of a concave portion and a convex portion having a width of By stopping on the moving path 44,
Prevents slippage and provides accurate movement pitch.

〔Effect of the invention〕

As explained above, according to the present invention, the movable magnetic pole is
Movement in the Y direction can be obtained, and linear displacement can be extracted from the circular motion obtained by the motor unit according to the direction and amplitude of the drive current on the fixed magnetic pole side, and can be used as driving force in any direction, and can be used to drive wheels or gears. Directional control such as linear, curved, or circumferential movement, as well as movement from very slow to high speeds, can be achieved with high controllability without using a motion conversion means using a rotating body such as the above.

[Brief explanation of the drawing]

FIG. 1 is a diagram showing an embodiment of a moving body of the present invention, FIG. 2 is a diagram showing an example of a specific support form for the movable magnetic pole of a motor unit, and FIG. 3 is a block diagram showing a drive control device for the motor unit. Figure 4 is a timing chart showing the driving current and driving force of the motor unit, Figure 5 is a diagram showing the circular movement locus of the movable magnetic pole of the motor unit, Figure 6 is a diagram showing the circular movement of the motor unit, and Figure 4 is a timing chart showing the driving current and driving force of the motor unit. 7 is a diagram showing a modified example of the circular motion locus of the motor unit shown in FIG. 5, FIG. 8 is a diagram showing a specific embodiment of the moving body of the present invention, and FIG. FIG. 10 is a diagram showing a movement system in which a plurality of moving devices are connected, and FIGS. 11 and 12 are specific diagrams of the legs of the movable magnetic pole and the movement path. FIG. 2 is a diagram showing an example of a configuration. M% M + , M2...Mn...Motor unit, 2...Movable magnetic pole, 4X...First fixed magnetic pole, 4Y...Second fixed magnetic pole, 6X, 6Y...・Drive coil. Figure 4 (A) (B) (C) (D) Figure 5 Figure 6 Figure 7 Figure 18

Claims (2)

[Claims] (1) A unit formed by arranging a first fixed magnetic pole that applies a magnetic force in the X direction and a second fixed magnetic pole that applies a magnetic force in the Y direction to a movable magnetic pole that can move in the X and Y directions. Or a moving body that is equipped with multiple motor units and moves by the circular motion of movable magnetic poles. (2) The first and second fixed magnetic poles are electromagnets with drive coils wound around them, and are movable by passing a drive current with a specific phase angle through each drive coil to apply attractive or repulsive force to the movable magnetic poles. A moving body according to claim 1, which moves magnetic poles.