JPS63140649A - Moving unit - Google Patents

Abstract

PURPOSE:To enable a driving force to be obtained in the arbitrary direction, by taking straight-line displacement out of ambient motion obtained by motor units according to the direction and the amplitude of driving current on the sides of movable poles and stationary poles. CONSTITUTION:So far as motor units M1-Mn are concerned, by movable poles 4 moved in the directions X, Y, with driving current flowing to the driving coils 2, arbitrary polarities for first and second stationary poles 6X, 6Y can be set; according to the polarities, with the action of a magnetic force with the first stationary poles 6X, an attractive force or a repulsive force is generated in the direction X, and with the action of the magnetic force with the second stationary poles 6Y, the attractive force or the repulsive force is generated in the direction Y. According to the attractive force and the repulsive force, the movable poles 4 are moved in the directions X, Y, and the movement generates ambient motion on the movable poles 4 of the motor units.

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 provides a moving body using a motor unit as a drive source that can obtain drive displacement in the X and Y directions using electromagnetic force without the intervention of mechanical motion conversion means.

[Means for solving problems]

As shown in FIG. 1, the moving body of the present invention has a drive coil 12 wound around it to form an arbitrary polarity using a drive current Im, and a movable magnetic pole 4 movable in the X and Y directions. A first fixed magnetic pole 6X that applies magnetic force, and Y
A single motor unit M or a plurality of motors Ml, Ml...Mn are installed, and are moved by the circular movement of the movable magnetic pole 4. be.

[For production]

Motor unit M % M I % M 2 ...
In Mn, the movable magnetic pole 4, which is movable in the X and Y directions, can set any polarity with respect to the first and second fixed magnetic poles 6X and 6Y by the drive current Im flowing through the drive coil 12. Depending on the polarity, an attractive force or a repulsive force is generated in the X direction due to the magnetic force with the first fixed magnetic pole 6X, and an attractive force or a repulsive force is generated in the Y direction due to the magnetic force with the second fixed magnetic pole 6Y. arise. Therefore, fixed magnetic poles 6X, 6Y
or the polarity of the movable magnetic pole 4, the movable magnetic pole 4
, an attractive force by the second fixed magnetic pole 6Y, an attractive force by the first fixed magnetic pole 6X, a repulsive force with the second fixed magnetic pole 6Y, and a repulsive force with the first fixed magnetic pole 6X are obtained, and these The movable magnetic pole 4 moves in the X and Y directions in response to the attractive force and the repulsive force, and this movement causes the movable magnetic pole 4 of the motor unit to rotate.

By the way, if a permanent magnet is used for the movable magnetic pole 4 and a ferromagnetic material such as iron is used for the moving path 8, the polarity of the permanent magnet is fixed, so even if a moving displacement occurs, the movable vJ magnetic pole 4 will remain in the moving path. 8, the driving force may be impaired and movement may be hindered. Therefore, if the movable magnetic pole 4 is made into an electromagnet and the movable magnetic pole 4 is magnetized to a desired polarity for an appropriate period and time, even if a ferromagnetic material such as iron is used for the moving path 8, the process of causing movement from the held state can be achieved. The movable magnetic pole 4 can be instantly separated from the moving path 8 by generating a reverse polarity in the movable magnetic pole 4 with respect to the magnetized polarity of the moving path 8, causing rapid movement. The inconvenience caused when using this method is eliminated.

〔Example〕

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

This moving body has a plurality of motor units M1, Ml...
・Mn are arranged at regular intervals and fixed to a fixed frame 2 as a fixed member, and each motor unit M
1, M2...Mn is a first fixed magnetic pole 6X that applies a magnetic force in the X direction to the movable magnetic pole 4 movable in the X1Y direction, and a second fixed magnetic pole 6X that applies a magnetic force in the Y direction.
The movable magnetic pole 4 is installed at a distance that allows it to be attracted to the moving path 8 made of a ferromagnetic material such as iron.

The movable magnetic pole 4 is attached to the iron core with a shaft 10 as its support center.
A driving coil 12 is wound on the left and right sides with the shaft 10 in between, and is moved by the shaft 10 to the moving path 8 by the biasing force 'F due to the magnetization of the movable magnetic pole 4, as shown in the second part, and when it is released, it returns to its original state. It is made movable in the X direction and the Y direction using an elastic support member 14 that has an elastic force that returns it to the position shown in FIG. Then, the terminal 1 of the drive coil 12
The left and right polarities N and S can be arbitrarily set depending on the direction of the drive current Im flowing between 6a and 16b. Also,
Lead wires for drawing out the terminals 16a and 16b of the drive coil 12 are installed along the shaft 10, for example.

The fixed magnetic pole 6X is composed of a single-pole electromagnet with respect to the movable magnetic pole 4, and has a drive coil 1 wound around a rod-shaped iron core.
It is magnetized by flowing a drive current lx through the 8X terminals 20a and 20b, and the polarity of the surface facing the movable magnetic pole 4 can be changed depending on the direction of the drive current lx.

Furthermore, the fixed magnetic pole 6Y is composed of an electromagnet having an iron core whose surface facing the movable magnetic pole 4 is bipolar, and includes terminals 22a and 22b of a drive coil 18Y wound around one magnetic pole side.
The left and right polarities are changed depending on the direction of the drive current ry flowing through.

Therefore, by changing the polarity of the fixed magnetic poles 6X, 6Y with respect to the movable magnetic pole 4, the movable magnetic pole 4 and the fixed magnetic poles 6X, 6Y
An attractive force or a repulsive force is generated between the movable magnetic pole 4 and the movable magnetic pole 4 in the X and Y directions, thereby causing the movable magnetic pole 4 to rotate.

Therefore, as shown in Fig. 3, the drive coil 12.18X
, 18Y are installed with drive circuits 24X, 24Y, and 26 that individually flow drive currents Im, lx, and Iy, and each drive coil 12
．． Drive current flowing to 18X, 18Y 1ms IX% I
The supply magnetism of y is controlled by a control circuit 28. In this case, if the magnitudes of the drive currents lx, Iy, and Im are varied by a variable resistor provided externally in the control circuit 28 as a speed setting means, the acting magnetism can be adjusted, and the attractive force or repulsive force can be adjusted to an arbitrary value. It can be set to

As shown in a and b of FIG. 4, synchronized square wave drive currents In and Ix are applied to the drive coil 12.18X.
, the driving current Im causes the magnetic poles N and S shown in a in FIG. On the T11+i plane for 4, magnetic poles N and S shown in b in FIG. 4 occur alternately at a constant period. at the same time,
When a drive current y is applied to the drive coil 18Y, the fixed magnetic pole 6
For Y, the left and right polarities are set to S and N, as shown in Figure 4C.
A fixed polarity occurs.

Therefore, at time T1, the left and right polarities of the movable magnetic pole 4 are S,
N, a repulsive force is generated between each of the fixed magnetic poles 6X, 6Y and the movable magnetic pole 4. Then, at time T2, the left and right polarities of the movable magnetic pole 4 become N and S, and correspondingly, the polarity of the fixed magnetic pole 6X becomes S, so a repulsive force acts between the movable magnetic pole 4 and the fixed magnetic pole 6X. Meanwhile, a driving force Y1 is generated between the movable magnetic pole 4 and the fixed magnetic pole 6Y as shown in d of FIG.
(Attraction force) is generated, and as shown in FIG. 5A, the movable magnetic pole 4 is attracted to the fixed magnetic pole 6Y and moves in the negative Y direction.

At time T3, the left and right polarities of the movable magnetic pole 4 maintain N and S, so an attractive force exists between the movable magnetic pole 4 and the fixed magnetic pole 6Y, but as shown in FIG. 5(B), Since the polarity of the fixed magnetic pole 6X is N, the movable magnetic pole 4 and the fixed magnetic pole 6X
As shown in e of FIG. 4, a driving force X+ (attractive force) is generated between the movable magnetic pole 4 and the fixed magnetic pole 6X, and the movable magnetic pole 4 is attracted to the fixed magnetic pole 6X and moves in the positive X direction.

At time T4, as shown in FIG. 5(C), the movable magnetic pole 4
The left and right polarities of are S and N, and correspondingly the polarity of the fixed magnetic pole 6X is S, so the movable magnetic pole 4 and the fixed magnetic pole 6X
While an attractive force acts between the movable magnetic pole 4 and the fixed magnetic pole 6Y, a driving force Y2 (repulsive force) shown at f in FIG. Move in the positive Y direction. At this time, magnetization with N and S polarities occurs on the surface of the moving path 8 corresponding to the polarities S and N of the movable magnetic pole 4, and the movable magnetic pole 4 is attracted to the moving path 8.

At time T5, the left and right magnetic poles of the movable magnetic pole 4 maintain S and N, so a repulsive force exists between the movable magnetic pole 4 and the fixed magnetic pole 6Y. Magnetic pole 6X
Since the polarity of is N, a driving force X2 (repulsive force) shown in g in FIG. 4 is generated between the movable magnetic pole 4 and the fixed magnetic pole 6X, and the movable magnetic pole 4 is repelled by the fixed magnetic pole 6X, causing a negative X. direction and return to the original position. As a result, a positive displacement ΔD in the X direction is generated in the moving body.

At time T6, as shown in FIG. 5(A), the movable magnetic pole 4
The left and right polarities of are N and S, and correspondingly the polarity of the fixed magnetic pole 6X is S, so the movable magnetic pole 4 and the fixed magnetic pole 6X
While a repulsive force acts between the movable magnetic pole 4 and the fixed magnetic pole 6Y, a driving force Y+ (attractive force) shown in d of FIG. 4 is generated between the movable magnetic pole 4 and the fixed magnetic pole 6Y, and the movable magnetic pole 4 is attracted to the fixed magnetic pole 6Y Move in the negative Y direction.

Therefore, the movement locus of the movable magnetic pole 4 caused by such continuous one-round operation is the same as that of the shaft 10 shown in FIG.
As is clear from the movement trajectories 0, P, Q, and R, it forms a rectangular circular motion, and the continuous time T7, T8, T
9 According to the progress of ..., the movable magnetic pole 4 is moved to (A) in Figure 5.
, (B), (C) and (D). Therefore, in the moving body shown in FIG. 1, if the movable magnetic poles 4 of each motor unit Ml, M2, ... The movable body moves in a direction opposite to the direction of the driving force X2 due to the driving force X2 in the circular motion of the moving body.

In this case, the circular motion of the movable magnetic pole 4 is caused by the drive current Im, l
Since x uses a square wave, the locus of motion is rectangular. However, if sinusoidal drive currents Lm and lx are used, the movable magnetic pole 4 moves circularly, and the sinusoidal drive currents Im and Ix 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 4 is counterclockwise in the example shown in FIG. 5, but the driving forces Y+, X+
, Yz, and Xz are generated in opposite directions, and their generation order is set as X2, Yz, X+, 'Y+, then the movable magnetic pole 4
Since it is possible to generate a clockwise circular motion in
The control circuit 28 has a drive current of 1 m.

By switching the direction of Ix or drive current 1y, the movable magnetic pole 4 can be rotated in a desired direction, and the movable body can be moved in a desired direction.

Moreover, the speed of the orbiting motion of the movable magnetic pole 4 is
2. Drive current Im, Ix, ly added to 18X, 18Y
Also, the driving force X+ % X2 , Y
Since the magnitudes of + and Yz depend on the magnitudes and amplitudes of the drive currents Tm, Ix, and Ty, the control circuit 28 adjusts the magnitudes of the drive currents Im, Ix, and Iy using current variable means such as variable resistors. By controlling and setting an arbitrary drive torque, the moving speed of the moving body can be increased or decreased by controlling the frequency of each of the drive currents Im, Ix, and Iy.

By the way, looking at the relationship between the movement of the moving body and the circular movement of the movable magnetic pole 40, in the circular movement of the movable magnetic pole 4, the displacement ΔD is generated only by the driving force X2 shown in (D) of FIG. Four sets of motors are installed, and each motor's driving current is 1
By displacing the phases of m and Ix by π/4, it is possible to sequentially generate the driving force X2 in each motor unit M1, M2...Mn, and the movement of the moving object is changed from intermittent movement to continuous movement. be able to.

In addition, when the movable magnetic pole 4 is attracted to the moving path 8 as shown in (D) of FIG. 5, as shown in (A) of FIG. N on the surface of the moving path 8,
Since the magnetization with the S polarity occurs, the movable magnetic pole 4 is firmly attracted to the moving path 8.

Such an adsorption state may hinder the movement of the movable magnetic pole 4, so when the movable magnetic pole 4 is moved, as shown in FIG. Taking advantage of the advantages, the drive current Im for the drive coil 12
Flow in the opposite direction to reverse the polarity from S, N to N, S,
If a repulsive force is made to act between the magnetization polarities N and S of the movement path 8, movement can be started quickly.

As shown in FIG. 8 or 9, a plurality of movable bodies D+ and D2 are connected and moved on a vertical wall surface 8, a ceiling surface 8H1, or an inclined surface 88 made of a ferromagnetic material such as iron. It can be arbitrarily moved in the direction of the arrows (■, J) or in the opposite direction while maintaining the attached state along the moving surface as a surface.

Note that in the embodiment, the fixed Tl1m6x, 6Y are configured with electromagnets, but either one may be configured with a permanent magnet.

〔Effect of the invention〕

As explained above, according to the present invention, depending on the polarity generated in the movable magnetic pole, the first and second fixed magnetic poles,
Since movement in the Y direction is obtained, 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 movable magnetic pole and fixed magnetic pole sides, and can be used as driving force in any direction. It is possible to obtain linear motion in the X and Y directions and move on horizontal, vertical, and inclined travel paths made of ferromagnetic materials without using motion conversion means such as wheels or gears. .

[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. 4 is a timing chart showing the driving current and driving force of the motor unit throat, FIG. 5 is a diagram showing the orbital movement locus of the movable magnetic pole of the motor unit, and FIG. 6 is a diagram showing the orbiting movement of the motor unit. FIG. 7 is a diagram showing the attraction of the movable magnetic pole to the moving path and its separation, and FIGS. 8 and 9 are diagrams showing the movement form of the movable body of the present invention. M SM 1, M 2...Mn...Motor unit, 4...Movable magnetic pole, 6X...First fixed magnetic pole,
6Y...Second fixed magnetic pole, 12...Drive coil. Figure 3 Figure 4 Figure 5 (C) (D) Figure 6 (A) CB) Figure 7

Claims (1)

[Claims] A first fixed magnetic pole that applies a magnetic force in the X direction and a magnetic force in the Y direction to a movable magnetic pole that can be moved in the X and Y directions by winding a drive coil to form an arbitrary polarity using a drive current. A movable body that is installed with a single or multiple motor units each having a second fixed magnetic pole and is moved by the circumferential movement of a movable magnetic pole.