KR20130008725A - Motor - Google Patents

Abstract

PURPOSE: A motor is provided to reduce thermal transformation and to improve the precision of a linear motor. CONSTITUTION: An armature module U is positioned in the center of a first S pole from left. An armature module W is positioned in the right end of a third N pole from the left. The armature module V is positioned in the left end of fifth N pole from the left. As to nine armature modules, three armature modules to which same phase or reversed phase current is supplied belong to one group.

Description

Electric motor

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electric motor using a linear motor principle as an electric motor for reducing cogging.

In general, a linear motor, that is, a linear motor, has a structure that generates thrust between a mover and a stator facing in a straight line shape. Permanent magnet linear motors have a fixed magnet on either the mover or the stator and send alternating polyphase power to the other side so that electromagnetic forces act between them to generate thrust in a certain direction.

Conventional linear motors have a structure in which a rotary motor is deployed and deployed in a straight line, so that a strong magnetic attraction force is generated between the pole of the armature core and the permanent magnet, so that the precision of the system is reduced, and the wear of the guide mechanism that maintains a constant air gap is caused. As the magnetic flux flows in the armature core in the same direction as the moving direction of the armature, the motor efficiency is inevitably deteriorated.

Cogging is a phenomenon in which torque fluctuates due to changes in the relative positions of the stator and the mover. That is, the cogging is determined by the force received by the pole of the armature module according to its relative position with the permanent magnet when no current is applied to the armature module. As shown in Fig. 1, when the salient poles are in positions A and E (positions aligned with the permanent magnets) and C position (middle position of two permanent magnets in the advancing direction), they do not receive any force in the advancing direction, but the salient poles At the position B in the middle of A and C and position D in the middle of C and E, the suction and repulsion force are generated by two permanent magnets placed in the advancing direction, causing the force to move the salient pole in the advancing direction or the opposite direction. do. That is, when the permanent magnets arranged with different poles are one period from the N pole (or S pole) to the next N pole (or S pole), cogging occurs at a half cycle of the permanent magnet.

Particularly in the case of a linear motor, a magnetic force is generated between an iron core (core or salient pole) located at both ends of a primary member including a plurality of armature modules and a permanent magnet, which is an end detent force. The force generated between the iron core and the permanent magnet in the center of the primary member is called the Teeth detent force. The end detent force is due to the special structure of the linear motor, which is caused by the difference in the length of the mover and the stator, and affects the driving force of the motor in the form of ripple, which may appear as a vibration when operating the motor, Running motors can cause problems in driving stability.

Accordingly, the present invention has been made to solve the above problems, and an object of the present invention is to provide an electric motor with high efficiency while using the linear motor principle.

Another object of the present invention is to provide an electric motor that can reduce cogging.

The motor according to an embodiment of the present invention for achieving the above object is configured to include a primary member and a secondary member, the primary member includes a plurality of armature modules, each armature module, The secondary member includes a magnetic core, a plurality of protrusions and coils protruding from the magnetic core, and a coil in which current of the same phase flows around a portion or all of the protrusions or the magnetic core between the poles, and includes a plurality of permanent magnets. Each permanent magnet has a polarity different from the neighboring permanent magnets in the advancing direction and different from the neighboring permanent magnets in the direction perpendicular to the advancing direction, with S armature modules and P permanent magnets in the advancing direction as one unit. A power source having a predetermined phase difference is applied to the coil of each armature module so that thrust by the traveling magnetic field is generated, and the primary member or One of the secondary members becomes a mover and the other becomes a stator to move relative to each other by the generated thrust, and the plurality of armature modules include one armature module supplied with power of the same phase or inverted phase. It is characterized in that the groups of S armature modules are grouped to be spaced apart from each other, and the spacing between the armature modules in each armature module group is adjusted.

In one embodiment, the spacing between the armature modules in the armature module group may be constant, which may be wider or narrower than the spacing of the permanent magnets arranged in the travel direction.

In one embodiment, the electric motor includes: a first spacer for fixing a distance between the armature modules in the armature module group; And a second spacer for fixing a gap between the armature module groups.

In one embodiment, the coil is wound so that the polarities of neighboring salient poles in each armature module are different.

In one embodiment, the secondary member comprises one or more permanent magnet modules comprising a plurality of permanent magnets arranged with alternating poles along the travel direction, each permanent magnet module protruding toward the magnetic core and having two salient poles. Can be set in between.

In one embodiment, the magnet module may have a disk shape or a cylindrical shape.

In one embodiment, the magnetization direction of the permanent magnet may face two corresponding salient poles.

In one embodiment, the cross section of the permanent magnet through which the magnetic flux passes may be rectangular, parallelogram, circular or elliptical.

In an embodiment, in the armature module, two or more protrusions may protrude in the same direction from the magnetic core, and the number of permanent magnet modules may be one smaller than the number of protrusions.

In one embodiment, the secondary member may include a plurality of permanent magnet modules including a plurality of permanent magnets arranged while changing the pole in a direction perpendicular to the traveling direction.

In an exemplary embodiment, the magnetic core may have a closed circuit shape or an open arc shape on one side thereof, and the number of permanent magnets included in the permanent magnet module may be equal to the number of protrusions included in the armature module.

The motor according to the embodiment of the present invention has a merit that it is possible to obtain a large capacity thrust or a fast feed speed with a small size, and that each element is modular, so that assembly is easy and deformation can be made in various forms. .

In addition, it is possible to reduce thermal deformation, cogging increase, etc., generated when the basic unit of the motor is increased, to improve the precision of the linear motor, and to easily manage input power input to the armature module.

1 illustrates cogging caused by the relative position of the armature module with the permanent magnet,
2 illustrates the occurrence of end detent force,
3 shows an open linear electric motor described in the application number KR 10-2010-0081522 and KR 10-2010-0129947 filed by the applicant of the present invention,
FIG. 4 illustrates a principle in which linear thrust is generated by a combination of three armature modules and a plurality of permanent magnets in the linear motor of FIG.
FIG. 5 illustrates an example in which the cross section of the permanent magnet through which the magnetic flux passes in the linear motor of FIG. 3 is rectangular and parallelogram;
6 shows an electric motor using nine armature modules having three salient poles by applying the same principle as the electric motor shown in FIG.
FIG. 7 shows the relative positions of armature modules (poles) and magnets arranged in series in a motor in which the basic unit (S, P) = (9, 8),
FIG. 8 illustrates an embodiment of the invention in which nine armature modules are distributed and arranged in the primary member and the spacing between the armature modules is varied;
9 shows the relative positions of armature modules U, V, W and armature modules u, v, w and permanent magnets, and armature modules U, V, W and armature modules u, v, w to move in the same direction. Shows the three-phase currents applied to U, V, W and the armature modules u, v, w,
FIG. 10 illustrates the relative positions of the armature module and the permanent magnet distributed in the motor according to the embodiment of the present invention.
11 shows the size of cogging that occurs when the armature module U and the armature module u are placed in the same position relative to the permanent magnet,
FIG. 12 illustrates reducing the size of the cogging by changing the position of the armature module u relative to the permanent magnet,
FIG. 13 shows the relative positions of armature modules and magnets arranged in series in a motor using basic units (S, P) = (6, 5),
FIG. 14 illustrates the relative positions of an armature module and a permanent magnet distributed in a motor configured of six armature modules according to another embodiment of the present invention.
FIG. 15 shows the relative positions of armature modules and magnets arranged in series in a motor using basic units (S, P) = (12, 10),
16 and 17 illustrate the relative positions of the armature module and the permanent magnet distributedly disposed in the electric motor consisting of 12 armature modules according to another embodiment of the present invention,
18 to 20 show the structure of the linear motor having the same operation principle as that of the linear motor of FIG. 3 and already filed by the applicant of the present invention,
21 shows a disk-shaped permanent magnet module in which the permanent magnets are arranged along the circumference,
FIG. 22 shows an electric motor composed of nine armature modules and two disk-shaped armature modules and generating a rotational motion using a linear motor principle,
FIG. 23 shows an electric motor composed of nine armature modules and two flat ring-shaped or cylindrical armature modules and generating a rotational motion using the linear motor principle,
24 shows a brief configuration of a servo system for driving an electric motor according to the present invention.

Hereinafter, with reference to the accompanying drawings an embodiment of the electric motor according to the present invention will be described in detail.

Applicant of the present invention, the secondary member including a plurality of permanent magnet module comprising a primary member consisting of a plurality of armature modules arranged in a line in the travel direction and a plurality of permanent magnets arranged while changing the pole in the travel direction For a closed type and an open type linear motor comprising a, filed through the application number KR 10-2010-0081522 and KR 10-2010-0129947.

Among the linear motors described in the application numbers KR 10-2010-0081522 and KR 10-2010-0129947, in the open linear motor as shown in FIG. 3, the core of the armature module is not C-shaped to surround the permanent magnet module that is the secondary member. , For example, in a straight line, and the plurality of protrusions protrude from the core in the same direction, for example, at a right angle, and at least one permanent magnet module of the secondary member also protrudes toward the core between two protrusions arranged side by side. Doing.

The other linear motors described in the application numbers KR 10-2010-0081522 and KR 10-2010-0129947 have different projection angles of the salient poles in the core of the armature module, which is expensive in mold making and has a limitation in increasing precision. Linear motors in the armature module have all the poles at the same angle as the core, for example at right angles, and each permanent magnet module is also at the same angle as the base, for example at right angles, thereby increasing manufacturing precision. Mold costs can also be reduced.

First, the operating principle of the linear motor to which the present invention is applied will be described, and the open linear motor described in KR 10-2010-0081522 will be described with reference to FIG. 3.

In FIG. 3, the linear motor may include a primary member including a coil for generating magnetic flux and a secondary member including a permanent magnet across the magnetic flux.

The primary member is composed of a plurality of armature modules 10 are arranged along the direction of travel in a separated state, each armature module 10 is a magnetic core 11, two or more protrusions 12 and the coil 13 It is composed of, and the assembling holes 14 for maintaining and fixing the gap with the neighboring armature module 10 can be drilled. The magnetic core 11 protrudes in the same direction and serves as a yoke for connecting each of the salient poles 12 arranged side by side with the neighboring salient poles 12, and is made of the same material as the salient poles 12, and has the same phase on each salient pole 12. The coil 13 through which current flows is wound.

The secondary member consists of one or more permanent magnet modules 20 comprising a plurality of permanent magnets 21, each permanent magnet module 20 protruding side by side toward the core 11 of the armature module 10 side by side. It lies between the two placed poles 12 and a plurality of permanent magnets 21 can be arranged while changing poles in the direction of travel of the motor. The permanent magnet module 20 may be fixed to the base 22, which is a kind of support mechanism.

In the armature module 10, a current is supplied to the coil 13 so that a traveling magnetic field is formed in each of the poles 12, and a suction force between the electron pole formed at the tip of the pole 12 and the permanent magnet 21 corresponding thereto. The coil 13 of the at least one armature module 10 may be supplied with a current having a phase difference from that of the coil 13 of the other armature module 10 so that the thrust may be generated by the repulsive force.

One of the primary member and the secondary member is fixed as a stator and the remaining one is a movable member. A constant gap is formed between the protrusion 12 of the armature module 10 and the permanent magnet 21 of the permanent magnet module 20. The mover proceeds relative to the stator.

In the armature module 10, the magnetic poles of the neighboring salient poles 12 are different from each other so that a magnetic flux closing loop is formed by the pair of salient poles 12. The magnetic flux of high density flows smoothly between the corresponding permanent magnets 21. To this end, the coil 13 through which current of the same phase flows for each armature module 10 may be wound around each of the salient poles 12, and the windings may be wound while changing the winding directions such that the electromagnet polarities of two neighboring salient poles 12 are different from each other. . Alternatively, the coil 13 may be wound only on the core 11 between each of the salient poles 12, but also has to be wound while changing the winding direction such that the electromagnet polarities of the two neighboring salient poles 12 are different from each other.

When the coil 13 is wound around the salient pole 12, the core 12 is close to the core 11 at the salient pole 12 protruding from the core 11 so that the area of contact with the salient pole 12 and the corresponding permanent magnet 21 is widened. The coil 13 can be wound around a portion (a position where the permanent magnet 21 protruding toward the core 11 has not reached).

For the generation of propulsion, the permanent magnet 21 at the same displacement in the advancing direction (on the same cross section when cut perpendicular to the advancing direction) in the secondary member is a neighboring permanent magnet 21, i.e. another neighboring permanent magnet. The permanent magnet 21 and the pole closest to each other in the module 20 should be disposed while changing, and even in the permanent magnet module 20, neighboring permanent magnets 21 should also be arranged while changing poles with each other. Since the magnetic flux from one salient pole 12 passes directly through the permanent magnet 21 to another neighboring salient pole 12, the permanent magnet 21 must protrude between the two salient poles 12 through which the magnetic flux flows and the permanent magnet 21 Direction of magnetization should be directed toward two neighboring salient poles 12.

When the magnetic flux flows between the salient pole 12 and the permanent magnet 21, the gap between the salient pole 12 and the permanent magnet 21 is narrow, and the magnetic flux flows perpendicularly to the surface of the salient pole 12 and the permanent magnet 21, The gap between the salient pole 12 and the permanent magnet 21 must be constant throughout the surface of the salient pole 12 and the permanent magnet 21 to reduce the magnetic flux leakage. The distance between the salient pole 12 and the permanent magnet 21 may be determined in consideration of the precision, speed, and load of the linear motor, and the magnetization direction of the permanent magnet 21 may be determined so that the magnetic flux flows at right angles to the surface. have.

The permanent magnet module 20 for fixing the permanent magnet 21 is made of a nonmagnetic material, and a plurality of openings capable of fixing the permanent magnet 21 in the traveling direction are formed. Any conventional method may be used to fix the permanent magnet 21 to the opening of the permanent magnet module 20.

When the linear electric motor is applied where the moving speed of the mover is not fast, since the frequency of the power source applied to the coil 13 is not high, the core 11 can be manufactured in the form of no stratification (or lamination). Therefore, production costs are reduced and mass production is possible with a more durable structure. On the other hand, when a high feed speed is required for the linear motor, since the frequency of the applied power source is high, the core 11 manufactured in the laminated form is used to reduce the eddy current loss and hysteresis loss generated in the core 11. Can be reduced.

The principle that thrust is generated in the travel direction by the combination of two or more armature modules and a permanent magnet module is shown in FIG. 4. For example, when two permanent magnets 21 correspond to three armature modules 10U, 10V, and 10W, a combination of the armature module three-phase and the permanent magnet two-pole as shown in the upper figure of FIG.

In FIG. 4, U, V, and W are arranged in the advancing direction of the salient poles 12 placed at the same position (or corresponding position) among two or more salient poles 12 of each of the three armature modules 10U, 10V, and 10W. S / N lists the permanent magnets 21 positioned at positions opposite to the salient poles U, V, and W. FIG.

Supplying a single phase current to the coil 13 of each armature module 10, in the case of three-phase can be applied to the coil 13 of each armature module 10 a current having a phase difference of 120 degrees with the neighboring module have. Alternatively, a current having a phase difference of 60 degrees with a neighboring module may be applied to the coil 13 of each armature module 10. For example, three consecutive armature modules 10 may apply a phase difference of 60 degrees to each other. It is also possible to flow a current (X phase, y phase, Z phase), but change the wiring direction of the coil through which the y-phase current flows by 180 degrees with the coil through which the X-phase current and Z-phase current flow.

In addition, as shown in FIG. 4, when the pole spacing of the permanent magnets S or N alternately arranged in the advancing direction is set to (1/2 cycle 180 degrees), the three armature modules 10 are 2/3 (120). It is arrange | positioned at intervals corresponding to FIG.

When an alternating current of peak value P flows in the positive direction to the coil wound with the pole V located between the permanent magnet S pole and the N pole, and the pole V becomes the N pole, the coil wound with the pole U and W is ( As the poles U and W become S poles by flowing an alternating current of the peak value (P) / square root (-) in the-) direction, the pole poles V, which are the N poles, attract the permanent magnet S pole and the repulsive force on the permanent magnet N pole. To move the permanent magnet to the right. The dolpoles U and W, which have become S poles with smaller magnetic force than the N pole of the dolpole V, exert repulsive and suction forces on the permanent magnet S pole and the permanent magnet N pole, respectively, but cancel each other and do not affect the traveling direction.

The permanent magnet 21 moves by 2/3 pole intervals, this time the pole pole W is located between the permanent magnet S pole and the N pole, and at this moment, the phase of the coil 13 of each pole pole 12 is 120 degrees. The flow of the current which flows and the alternating current of the peak value P flows to the coil which wound the salient pole W in the (+) direction, and the salient pole W becomes the N pole, and the peak value in the negative direction to the coil which wound the salient poles U and V An alternating current of (P) / square root (2) flows to make the poles U and V the S poles. The N pole pole W moves the permanent magnet 21 to the right by applying suction force to the permanent magnet S pole and a repulsive force to the permanent magnet N pole. Similarly, the pole pole W becomes smaller than the N pole of the pole pole W. The salient poles U and V exert suction and repulsion forces on the permanent magnet N pole and the permanent magnet S pole, respectively, but cancel each other out.

By repeating this process, the permanent magnet 21 is moved to the right. That is, the three-phase current applied to each armature module 10 generates a moving magnetic field in the salient poles U, V, and W, thereby generating a thrust moving to the right in the permanent magnet 21.

It is assumed that the coils 13 are wound around the protrusions U, V, and W of FIG. 4 in the same manner, so that the coils 13 are disposed in the same direction with the protrusions 12 positioned at corresponding positions of the neighboring armature module 10. Can be wound However, the coil 13 may be wound in the opposite direction to the salient pole 12 placed at the corresponding position of the neighboring armature module 10. That is, U and W may be wound around the coil 13 in the same direction, and V may be wound around the coil 13 in the opposite direction to U and W. Even in this case, thrust may be generated to move the permanent magnet 21 in the same direction. Power having a phase difference can be supplied.

In the ideal model, the thrust for moving the permanent magnets 21 is proportional to the sum of the surface areas of the protrusions 12 and the permanent magnets 21 and also proportional to the number of armature modules 10 arranged in the direction of travel. The size of the current applied to the coil 13, the number of turns of the coil 13 winding the protrusion 12, the magnetic force of the permanent magnet 21, and the like also have a proportional relationship.

The first example of FIG. 4 is an example of the basic combination of the armature module three phase and the permanent magnet two pole, the second example of FIG. 4 is an example of the armature module three phase and the permanent magnet four pole combination which is an extension of the first combination. The principle of generating thrust is the same, and a combination of three-phase and eight-poles is also possible.

In general terms, a magnetic circuit formed by a combination of the number S of the armature modules 10 and the number P of the permanent magnets 21, which are multiples of the motor constant, is referred to as a basic unit of the motor generating thrust, wherein the motor constant is a three-phase When driving an armature with a power source 3 or 5 when driving with a 5-phase power source, it is common to set it to an odd number of 3 or more, and the phase difference of the current applied to the coil 13 of each armature module 10 by a motor constant is Is determined.

At this time, as the minimum common multiple of S and P increases, the ripple of thrust decreases. In addition, the ratio between S and P is called a winding coefficient, and the closer to 1, the higher the symmetry efficiency of the magnetic circuit is. Table 1 lists the combination relationship between the armature module 11 and the permanent magnet 21 in the case of a three-phase motor, and a combination of nine armature modules and eight or ten permanent magnets is advantageous in terms of efficiency or ripple.

Armature module count (S) Permanent Magnet Count (P) 3 2 4 6 4 5 7 8 9 6 7 8 10 11 12 12 8 10 11 13 14 16

Of course, when the length (the length in the direction of movement) of the portions in which the S armature modules and the P permanent magnets are opposed through the voids is a unit length of the motor, the primary member composed of a plurality of armature modules 10 or Any one of the secondary members composed of a plurality of permanent magnets 21 must be configured to be longer than the unit length to secure an effective distance capable of generating a thrust for moving the mover. In addition, the length of the overlap between the primary member and the secondary member may be configured by a natural multiple of the unit length, that is, by repeatedly connecting the basic units of the motor to increase the thrust in proportion to the overlapping length.

When the basic unit of the magnetic circuit is connected repeatedly, if P, the number of permanent magnets constituting the basic unit, is odd, if the permanent magnet of the first basic unit starts with the N pole (or S pole), the N pole (or S Pole) and the permanent magnet of the second base unit begins with the S pole (or N pole), so the armature module of the second base unit must be supplied with a current of opposite phase to the corresponding armature module of the first base unit. do.

For example, when two motors with (S, P) = (6, 5) are connected, applying three-phase current in the uUVvwW order to the six armature modules of the first basic unit results in the second basic unit. The six armature modules must be applied three-phase currents in the order UuvVWw, where U, V, W (or u, v, w) have 120 phase differences from each other, and lowercase letters (u, v, w) are uppercase (U, This means that a current of a phase opposite to that of V, W) is supplied.

Since the primary member is composed of independent armature modules 10 (with ferromagnetic materials of the same material as the core 11 of the primary member) and not connected to each other, if the same size power is provided to each armature module 10, Independent and identical magnetic flux flows through the armature module 10 so that there is less variation in thrust generated through each armature module 10, thereby reducing ripple in thrust. In addition, since the magnetic flux flows between the armature modules 10 by independent magnetic circuits, there is no magnetic flux flowing in the same direction as the moving direction of the mover, so that the magnetic flux flows only in the direction perpendicular to the traveling direction, and the thrust and The irrelevant leakage magnetic flux is small, and the motor efficiency can be improved.

FIG. 5 shows a permanent magnet module 20 in which a plurality of permanent magnets 21 are mounted while changing poles in a traveling direction, with magnetic flux or protrusions 12 coming from the protrusion 12 of the armature module 10. The example where the cross section of the permanent magnet 21 through which an incoming magnetic flux passes is rectangular and parallelogram is shown.

The amount of magnetic flux passing through the salient pole 12 and the permanent magnet 21 is determined by the constant distribution of flux coming out of the salient pole 12 or entering the salient pole 12, and thus the surface of the salient pole 12 and the permanent magnet 21. ) Surface is proportional to the area of the overlapping part. The propulsion force is caused by the change of the magnetic flux. For example, when the secondary member moves in the traveling direction to the mover for convenience, the magnetic flux passing through the protrusion 12 and the permanent magnet 21 while the permanent magnet 21 moves. The amount of is the result of convolution of the surfaces of the salient pole 12 and the permanent magnet 21, and is shown on the right side of FIG.

Assuming that the surface of the protrusion 12 facing the permanent magnet 21 is a rectangle in which a pair of feces are parallel to the direction of travel, the rectangle of the protrusion 12 is moved while the permanent magnet 21 on the rectangular surface moves in the direction of travel. The area of the part overlapping with the surface becomes trapezoidal as shown in the upper right picture of FIG. 5, when the two surfaces start to overlap, when the two surfaces overlap completely, and when the two overlapping surfaces start to occur, the part that overlaps partially overlaps. When the surfaces do not overlap at all, there is a smooth connection point (the point where the two straight lines meet).

That is, the propulsion force is proportional to the change in the magnetic flux, that is, the change in the area where the surface of the protrusion 12 and the permanent magnet 21 overlap each other, and the value that differentiates the area where the surface of the protrusion 12 and the permanent magnet 21 overlap with each other is the driving force. Since there is a relationship, as shown in the upper right picture of FIG. 5, if there is a point that is not smoothly connected, a sudden change in driving force may occur at that point and may cause ripple.

However, the area of the portion overlapping the rectangular surface of the protrusion 12 while the permanent magnet 21 of the parallelogram surface in which the pair of feces are parallel to the traveling direction moves in the traveling direction is generally as shown in the lower right of FIG. 5. Trapezoidal shape, but lines and lines are connected smoothly to reduce the occurrence of ripple. By applying skew to the permanent magnet through which the magnetic flux passes, that is, by distorting the permanent magnet, the detent force acting between the permanent magnet and the salient pole generates a slight phase difference with progress, and there is a slight thrust drop. The detent force that causes ripple in thrust can be reduced.

The cross section of the permanent magnet 21 through which the magnetic flux from the salient pole 12 of the armature module 10 or the magnetic flux entering the salient pole 12 passes is not limited to a rectangle or a parallelogram, but is inclined by a predetermined angle, rhombus, It can be round or oval, or an octagonal shape with four corners cut into rectangles or parallelograms.

FIG. 6 shows an electric motor using nine armature modules having three salient poles by applying the same principle as the electric motor shown in FIG. 3, and FIG. 7 shows the basic unit (S, P) = (9, 8). The relative positions of the armature module (pole) and the magnet arranged in series in the motor are shown. Three phase currents are applied to the nine armature modules in the order of uUuvVvwWw.

In order to increase the symmetry efficiency and increase the thrust of the magnetic circuit in the linear motor, use a large value for the number S of armature modules in the basic unit of the motor, use a value close to S for the number of permanent magnets P, and also multiply the basic unit Can be connected to dogs. When a large number of armature modules are continuously arranged in the primary member as shown in FIG. 6, a large amount of current may be supplied to the primary member in which the armature module is dense so that deformation may occur in the core or the salient poles due to heat, resulting in poor accuracy and another cogging. Can cause.

In order to solve problems such as deformation due to heat and cogging and to improve accuracy, in the present invention, as shown in FIG. 8, a plurality of armature modules are arranged and distributed in the primary member, and a change in the distance between the armature modules is provided. give.

9 shows the relative positions of armature modules U, V, W and armature modules u, v, w and permanent magnets, and armature modules U, V, W and armature modules u, v, w to move in the same direction. The three-phase currents applied to U, V, W and the armature modules u, v, w are shown in the relative position between the armature module and the permanent magnet in the motor with the basic unit (S, P) = (3, 2). Corresponding.

In Fig. 9, when the armature module U is located in the middle of the permanent magnet S pole, the armature module V is located at the left end of the permanent magnet N pole and the armature module W is located at the right end of the permanent magnet N pole. Similarly, when the armature module u is located in the middle of the permanent magnet N pole, the armature module v is located at the left end of the permanent magnet S pole and the armature module W is located at the right end of the permanent magnet N pole.

FIG. 10 illustrates a relative position of an armature module and a permanent magnet distributed in an electric motor according to an embodiment of the present invention. In FIG. 10, the primary member includes nine armature modules.

In Fig. 10, the armature module U is located in the middle of the first S pole from the left, the armature module W is located in the right end of the third N pole from the left, and the armature module V is located in the left end of the fifth N pole from the left. When the three-phase current shown in the upper right of FIG. 9 flows through the armature modules U, V, and W, the armature modules U, V, and W of FIG. 10 proceed in a predetermined direction.

That is, in FIG. 10, the armature modules U, V, and W are distributed and arranged not continuously, unlike the armature modules U, V, and W of FIG. 9, but the relative positions of the armature modules U, V, and W are permanent. It is equal to the relative position of V, W and the permanent magnet.

Also, the armature module u is located between the first and second N poles from the left, the armature module w is located at the right end of the second and third S poles from the left, and the armature module v is located between the fifth and sixth S poles from the left. It is located at the left end. When the three-phase current shown in the lower right of FIG. 9 flows through the armature modules u, v, and w, the armature modules u, v, and w in FIG. 10 proceed in the same direction as the armature modules U, V, and W. FIG.

As shown in FIG. 10, the nine armature modules are armature modules in which three armature modules (for example, the armature module U and the armature module u) to which currents of the same phase or inverted phase are supplied are grouped into one group, and are bundled into one group. The groups are spaced apart from the armature module group to which currents of different phases are supplied.

Since a plurality of armature modules for driving an electric motor are bundled and distributed in a predetermined number of armature module groups, a plurality of armature modules can be arranged in a continuous dense state to prevent heat deformation in the center of the primary module. have.

In addition, since only the current of the same phase or the inverted phase is supplied to the same armature module group, it is easy to manage the input power supply.

In the center portion of FIG. 10, that is, the portion in which the armature module and the permanent magnet are overlapped, the distance between the armature modules in the group in which the three armature modules are bundled is equal to that of the permanent magnet. In this case, in the same armature module group (armature module group including armature module U and armature module u), armature module U and armature module u (u1 and u2) have the same relative position to the permanent magnet (permanent magnet N Since the armature module U and the armature module u are spaced one cycle apart from one pole between the pole and the S pole, cogging caused by the relative position with the permanent magnet occurs in the same phase and magnitude, As shown in FIG. 11, the size of the cogging can be amplified three times.

However, in the armature module in the upper part of FIG. 10, the armature modules u, v, w disposed on the left and right about the armature modules U, V, and W are respectively widened between the armature modules in the corresponding group (permanent magnets). Spaced apart from the gap between the N pole and the S pole). Further, in the armature module in the lower part of FIG. 10, the armature modules u, v, w each have a narrower spacing between the armature modules (narrower than the gap between the permanent magnet N pole and the S pole) within the group, so that the armature module U, It is arrange | positioned in the state near from V and W.

In this case, the spacing between the armature module U and the armature module u within the armature module group including the armature module U and the armature module u is fixed (in FIG. 12 the spacing between the armature module U and the armature module u1 (or u2) is fixed). d1), when the relative positions with the permanent magnets are different from each other and the distance between the permanent magnets N pole and the S pole is d0, the armature module U and the armature module u1 (or u2) are 360 * (d0-d1) / d0 degrees. Are spaced apart.

When the armature module U, the armature module u1 and the armature module u2 are maintained at a constant interval d1, as shown in Fig. 12, the cogging generated by the relative position of the armature module u1 and the permanent magnet is armature. The cogging caused by the relative position of armature module u2 and the permanent magnet is 360 * (d0-d1) / d0 behind the cogging caused by the relative position of module U and the permanent magnet. 360 * (d0-d1) / d0 is also ahead of cogging caused by the relative position of. Of course, the size of the cogging caused by the relative position of each armature module and the permanent magnet is the same.

As shown in FIG. 12, the sum of the cogging generated by the armature module U and the armature modules u1 and u2 due to their relative positions with the permanent magnets is largely as shown in FIG. It is not amplified. In addition, the size of the cogging can be adjusted by adjusting the distance between the armature module U and the armature modules u1 and u2.

Therefore, by distributing the armature module and adjusting the spacing between the armature modules, it is possible to reduce the thermal deformation, the cogging increase, etc. that occur when the basic unit of the motor is raised, and improve the precision of the linear motor, Input power management is easy.

10 is an embodiment of a linear motor using nine armature modules, the present invention is not limited to this, but may also be applied to linear motors using six, twelve, fifteen armature modules.

FIG. 13 shows the relative positions of armature modules and magnets arranged in series in a motor using basic units (S, P) = (6, 5). The six armature modules have three-phase currents in uUVvwW order. Since P, the number of permanent magnets constituting the basic unit, is an odd number, when connecting six armature modules, three-phase current must be applied to the additional armature modules in the order of UuvVWw.

FIG. 14 illustrates the relative positions of the armature module and the permanent magnets distributed in an electric motor consisting of six armature modules according to another embodiment of the present invention. It is the same as the embodiment of FIG. 10 except that there are no armature modules u, w, and v.

By changing the positions of the armature modules u, v, w disposed on the left side of the armature modules U, V, W, the distance between the armature modules U, V, W and the armature modules u, v, w is changed to the permanent magnets N pole and S. By making it wider or narrower than the gap between the poles, the armature module U and the armature module u can cross the phases of the cogging caused by their relative position with the permanent magnet, thereby reducing the size of the cogging.

FIG. 15 shows the relative positions of armature modules and magnets arranged in series in a motor using basic units (S, P) = (12, 10). Three armature modules have three phase currents in the order of uUVvwWUuvVWw. Is approved.

16 and 17 illustrate the relative positions of the armature module and the permanent magnet distributed in the electric motor including 12 armature modules, and are similar to those of FIGS. 10 and 14. .

In the embodiment of FIG. 16, the armature module group including the armature module V and the armature module group including the armature module W are arranged consecutively after the armature module group including the armature module U, whereas the embodiment of FIG. 17. In the following, the armature module group including the armature module W and the armature module group including the armature module V are sequentially arranged after the armature module group including the armature module U, and the order of the armature module group of FIGS. The spacing between armature module groups is different.

Also, within each armature module group, by increasing or decreasing the spacing between the armature modules about the armature module U located second from the left, each armature module and a permanent magnet, as described with reference to FIGS. 10 and 12. It is possible to reduce the magnitude of the sum by varying the phase of the cogging caused by its relative position with.

In Fig. 10, the armature modules u at positions a and c are positioned around the armature module U at position b (fixing the position of the armature module U) in the armature module group into which the U phase and u phase currents are input. It is possible to change the position of other armature modules around any armature module in the same group, without being limited thereto. Also, within the same armature module group, the spacing between the armature modules may be the same or different.

However, the spacing between each armature module within the armature module group should be the same or very similar to the spacing between each armature module within the other armature module group. That is, in FIG. 10, the spacing between a, b, b, and c in which the armature module in the first armature module group is located is d, e, g, h, e, and f in the second and third armature module groups, respectively. It must be equal to the interval h and i.

Having the same spacing between the armature modules in the armature module group has the advantage of using spacers of the same width to keep the spacing between the armature modules constant. In addition, even when the armature module groups are spaced apart, it is advantageous to use the same sized spacers for fixing the gap between the armature module groups if possible.

If the spacing between the armature modules is the same and the spacing between the armature modules is the same within the armature module group, only two types of spacers may be used to fix the spacing between the armature modules.

14, 16, and 17 are also the same as those of FIG.

Meanwhile, although the armature module and the permanent magnet or the permanent magnet module shown in FIG. 3 according to the embodiment of the present invention are applied, the present invention is not limited thereto. Alternatively, the present invention can also be applied to an electric motor using a permanent magnet module.

FIG. 18 shows an armature module, a permanent magnet module, and an assembled state of the hermetic linear motor described in application number KR 10-2010-0081522, the operation principle of which is the same as that of FIG.

19 and 20 show cross-sectional and assembly views of a sealed linear motor and an open linear motor described in Application No. 10-2009-0090806 (Registration No. 10-0964538) and Application No. 10-2009-0090806 (Registration No. 10-0964539). In other words, the operating principle of the linear motor of FIG. 3 is the same.

Therefore, the present invention can be applied to the linear motor of the structure shown in FIGS. 18 to 20.

On the other hand, the electric motor to which the present invention is applied, characterized in that the armature module to which the current of the same phase or inverted phase is supplied into a group to distribute each armature module group and to adjust the spacing between the armature modules, Figure 3 As shown in FIG. 21, the permanent magnets may be arranged in a straight line in the advancing direction, and may be applied to the permanent magnet module in which the permanent magnets are arranged along the circumference.

FIG. 22 illustrates an electric motor composed of nine armature modules and two disk-shaped armature modules and generating a rotational motion using a linear motor principle. Since the number of poles of the armature module is three, The number is two. The armature modules are not listed in a straight line, but are arranged along the outside of a permanent magnet module in the form of a disk or disk, as shown in FIG. 22. Changing the spacing between the armature modules is adapted to the placement of the permanent magnets. This corresponds to changing the angle between the armature modules. When spacing each armature module group, it may be advantageous to place them close to 120 degrees so that the spacing (circumferential angle) between each armature module group is similar to the extent possible.

Since the permanent magnets mounted on the outer circumference of the permanent magnet module must change in polarity while traveling in the circumferential direction, an even number of permanent magnets should be disposed in the permanent magnet module. In addition, according to the operating principle of the electric motor of FIG. 3, each permanent magnet in one permanent magnet module must be different in polarity from the permanent magnet placed at the corresponding position (with the same circumferential angle) in another neighboring permanent magnet module.

In addition, since the permanent magnets are arranged in the circumferential direction, when viewed from the top of the disc-shaped permanent magnet module, the permanent magnet cross section becomes a rectangular shape or a trapezoidal shape in which the inner circumference is short, the outer circumference is long, and the other two sides are radially spread. Can be. In addition, the cross-section of the portion of the armature module facing the permanent magnet can be formed in accordance with the cross-section of the permanent magnet, if the permanent magnet is disposed in a trapezoidal shape in the disk-shaped permanent magnet module trapezoidal cross-sectional view of the pole of the armature module It can be formed as.

FIG. 23 illustrates an electric motor consisting of nine armature modules and two flat ring-shaped or cylindrical permanent magnet modules that generate a rotational motion using the linear motor principle.

In FIG. 23, the permanent magnets of the permanent magnet module located inward and the permanent magnets of the permanent magnet module located outward should be located at the same circumferential angle, and may have the same cross-sectional size, or are located outside as shown in FIG. Permanent magnets can be wider in the circumferential direction.

Further, the shape of the protrusions of the armature module can be changed in accordance with the arc of the cylindrical permanent magnet module so that the gap between the protrusions of the armature module and the permanent magnets is constant.

24 shows a brief configuration of a servo system for driving an electric motor according to the present invention. Except for the motor in Figure 24 other elements can be used as is applied to a conventional linear motor.

The servo system is applied to the motor 58 from the drive amplifier 52 and the drive amplifier 52 which generate a current to be applied to the motor 58 to move the conveying object 59 from the power source 51 applied from the outside. On the basis of the signals detected by the current sensor 56 for sensing the current being applied, the linear sensor 57 for detecting the position or the moving speed of the motor 58 mover, the current sensor 56 and / or the linear sensor 57. The controller 55 may be configured to control the driving amplifier 52 according to the control command. The driving amplifier 52 may include a converter 53 for converting an AC power source into a direct current, and an inverter 54 for generating a current required for driving the motor.

The inverter 54 generates a power source suitable for the driving method of the motor 58 according to the present invention, for example, two-phase alternating current, three-phase alternating current, two-phase rectified current, three-phase rectified current, and the like. It can be applied to the armature module of the), by changing the amplitude, frequency, etc. of the current according to the command of the controller 55 can adjust the position of the mover, the speed, the magnitude of the thrust for moving the mover.

The above-described preferred embodiments of the present invention are disclosed for purposes of illustration, and those skilled in the art can improve, change, and substitute various other embodiments within the technical spirit and scope of the present invention disclosed in the appended claims below. Or addition may be possible.

10, 10U, 10V, 10W: Armature Module 11: Core
12: salient pole 13: coil
14: through hole 20: permanent magnet module
21: permanent magnet 22: base
51: power supply 52: drive amplifier
53: converter 54: inverter
55: controller 56: current sensor
57: linear sensor 58: electric motor
59: carrying object

Claims (13)

In an electric motor comprising a primary member and a secondary member,
The primary member includes a plurality of armature modules,
Each armature module is composed of a magnetic core, a plurality of salient poles and coils protruding from the magnetic core, the coil in which current of the same phase flows to some or all of the salient poles or the magnetic core between the salient poles,
In the secondary member including a plurality of permanent magnets, each permanent magnet has a polarity different from the neighboring permanent magnets in the advancing direction and different from the neighboring permanent magnets in the direction perpendicular to the advancing direction,
A power source having a predetermined phase difference is applied to the coils of each armature module so that thrust due to the traveling magnetic field is generated by using S armature modules and P permanent magnets in one direction as a unit.
Either the primary member or the secondary member becomes a mover and the other becomes a stator to move relative to each other by the generated thrust,
The armature module is a group of armature modules that are powered by the same phase or inverted phase to form a group of S armature modules spaced apart from each other, the spacing between the armature modules in each armature module group is adjusted Electric motor made. The method of claim 1,
And the spacing between the armature modules in the armature module group is constant. The method of claim 2,
And the spacing between the armature modules in the armature module group is wider or narrower than the spacing of permanent magnets arranged in the travel direction. The method of claim 1,
A first spacer for fixing a gap between the armature modules in the armature module group; And
And a second spacer for fixing the gap between the armature module groups. The method of claim 1,
An electric motor characterized in that the coil is wound so that the polarities of neighboring salient poles in each armature module are different from each other. The method of claim 1,
The secondary member may include one or more permanent magnet modules including a plurality of permanent magnets arranged while changing poles along a traveling direction, and each permanent magnet module may protrude toward the magnetic core and be placed between two salient poles. Electric motor made. The method according to claim 6,
The permanent magnet module is an electric motor, characterized in that the disk shape or cylindrical shape. The method according to claim 6,
The magnetization direction of the permanent magnet is characterized in that facing the two opposite poles. The method according to claim 6,
An electric motor, characterized in that the cross section of the permanent magnet passing through the magnetic flux is rectangular, parallelogram, circular or elliptical. The method according to claim 6,
The number of the permanent magnet module is the electric motor, characterized in that less than or equal to the number of the salient pole. The method according to claim 6,
In the armature module, two or more protrusions protruding from the magnetic core in the same direction, the number of the permanent magnet module is one less than the number of the poles. The method of claim 1,
And the secondary member includes a plurality of permanent magnet modules including a plurality of permanent magnets arranged while changing poles in a direction perpendicular to a traveling direction. 13. The method of claim 12,
The magnetic core may have a closed circuit shape or an open arc on one side, and the number of permanent magnets included in the permanent magnet module may be equal to the number of salient poles included in the armature module.

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