TWI502860B - Linear motor - Google Patents

Description

Linear motor Field of invention

BACKGROUND OF THE INVENTION 1. Field of the Invention This invention relates to linear motors, and more particularly to linear motors that minimize the need for unnecessary wiring and simplify the structure to minimize the problems caused by the particles.

Background of the invention

The invention relates to a linear motor.

The prior art linear motor has a structure in which a magnet is fixedly disposed, and a coil serves as a rotor, and a cable connected to the coil is indispensable, so the structure is very complicated. Therefore, it is difficult to use in a clean room, a vacuum chamber, or the like.

In addition, the prior art linear motor is a structure that continuously supplies current to all coils, thus causing unnecessary power waste.

The background art of the present invention is disclosed in Korean Patent Publication No. 10-2006-0051009, which is a magnet fixed arrangement, and the coil as a structure of the rotor still has the problems as described above.

Summary of invention

SUMMARY OF THE INVENTION It is an object of the present invention to provide a linear motor that overcomes the deficiencies of the prior art and that includes a coil in a fixedly disposed stator and a permanent magnet that is included in the rotor that moves back and forth to minimize unnecessary wiring settings. Simplify the structure to minimize the problems caused by particles.

It is another object of the present invention to provide a linear motor including an encoder ruler coupled to a rotor for rotation with the rotor and an encoder reader each coupled to the stator for detecting the position of the encoder ruler, and including The different stators are individually provided with a drive so that the rotor moves at an appropriate speed and in the correct direction according to the operating information, so that the linear motor operates the rotor in a condition optimum for the environment in which it is placed.

It is still another object of the present invention to provide a linear motor that selects a stator that exerts an actual influence on the movement of the rotor, and supplies current only to the coils included in the stator, thereby controlling the operation of the rotor with minimum power.

The object of the present invention is achieved by providing a linear motor utilizing a propulsive force generated by a current flowing in a coil and a magnetic field of a permanent magnet, comprising: a guide rail: a plurality of stators fixedly disposed on the rail at intervals And including a coil arranged from one side to the other side; and a rotor having an insertion groove through which the stator is inserted from one side to the other side, and is included in the opposite inner walls of the insertion groove, The coil of the inserted stator is a plurality of permanent magnets that are alternately provided with the intersection of the N pole and the S pole. When the current is supplied to the coil, the stator penetrates into the groove and advances or retreats along the guide rail.

a stator pitch L which is a distance between the same points of two adjacent stators of the plurality of stators, a length M of the rotor, and a width P of two adjacent permanent magnets among the plurality of permanent magnets satisfy a relationship of the following And superimposing an area of the permanent magnet of the rotor and the coil of the stator; and combining an encoder ruler that rotates with the rotor on the rotor, and detecting the encoder ruler on each of the plurality of stators The position of the encoder reader for detecting rotor state information including the position information of the rotor and the speed information of the rotor, and the plurality of stators are each connected to a driver that supplies current to the coils included in the stators.

[relationship] L=M=n*P

At this time, n is a positive integer.

Further, each of the coils included in the plurality of stators is constituted by a plurality of wound coils arranged in a row from one side to the other inside the stator.

As described above, the present invention provides a linear motor that simplifies the structure by minimizing the arrangement of unnecessary wires, thereby minimizing the problems caused by the particles.

In addition, a linear motor that operates the rotor at a condition that best suits the environment being set up is provided.

In addition, a linear motor that provides control of the operation of the rotor with minimal power is provided.

100‧‧‧rail

200‧‧‧stator

210‧‧‧ coil or winding coil

250‧‧‧Encoder Reader

300‧‧‧Rotor

301‧‧‧ Insert slot

310‧‧‧ permanent magnet

310a‧‧‧N pole

310b‧‧‧S pole

350‧‧‧Encoder ruler

400‧‧‧ drive

500‧‧‧Control Department

L‧‧‧ stator spacing

Length of M‧‧‧ rotor

P‧‧‧The width of the permanent magnet

1 is a view showing the external structure of a linear motor according to a preferred embodiment of the present invention; 2 is a combined state diagram of a linear motor of the present invention; FIG. 3 is a cross-sectional view of the stator structure; FIG. 4 is a front view of the rotor; FIG. 5 is a bottom view of the rotor; and FIG. 6 is an insertion groove of the rotor. Schematic diagram of the arrangement of the permanent magnets; FIG. 7 is a cross-sectional view showing a state in which the stator is inserted into the insertion groove of the rotor; FIG. 8 is a working principle diagram illustrating the superimposed movement of the rotor and the stator; and FIG. 9 is a linear motor in the present invention; It contains a conceptual diagram of the control department.

detailed description

The advantages and features of the present invention and the prior methods will be apparent from the accompanying drawings and embodiments.

However, the present invention is not limited by the following embodiments and can be implemented in various forms. The purpose of the present invention is to better explain the present invention and to provide assistance to those skilled in the art to which the present invention pertains, but the present invention is only Subject to the scope of the patent application. Throughout the specification, the same reference numerals refer to the same elements.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the linear motor of the present invention will be described in detail with reference to the accompanying drawings.

Figure 1 is a diagram showing the external structure of a linear motor in accordance with a preferred embodiment of the present invention.

The linear motor of the present invention relates to a linear motor that utilizes a force generated by a current flowing in a coil and a magnetic field of a permanent magnet, that is, a propulsive force.

In general, the linear motor uses a force perpendicular to the direction of the magnetic field of the magnet and the direction of the current according to the so-called Fleming left-hand rule.

To this end, in the prior art linear motor, a rotor including a fixed magnet in which the N pole and the S pole are opposite and alternately overlapped, and a coil which supplies a current between the N pole and the S pole of the magnet, advances according to Fleming's left hand rule Or back.

The linear motor of the present invention includes a coil 210 in a stator 200 that is fixedly disposed, and includes a permanent magnet that is opposite to and intersects with the N pole and the S pole to form a magnetic field in a direction substantially disposed in a direction of current supplied to the coil 210 of the stator 200. The rotor 300 of the magnet advances or retreats according to Fleming's left hand rule.

Fig. 2 is a view showing a combined state of the linear motor of the present invention.

In addition, FIG. 3 is a cross-sectional view of the stator structure; FIG. 4 is a front view of the rotor; FIG. 5 is a bottom view of the rotor; and FIG. 6 is a schematic view showing an arrangement structure of permanent magnets coupled to the insertion groove of the rotor.

Further, Fig. 7 is a cross-sectional view showing a state in which a stator is inserted into an insertion groove of a rotor.

As shown in FIGS. 1 to 7, the linear motor of the present invention includes: a guide rail 100: a plurality of stators 200 fixedly disposed on the guide rail 100 at intervals and including coils 210 arranged from one side to the other side. And the rotor 300 includes an insertion groove 301 through which the stator 200 is inserted from one side to the other side, and is included in the opposite inner walls of the insertion groove 301, and the coil 210 of the inserted stator 200 is The plurality of permanent magnets 310 provided with the N-pole and the S-pole are alternately arranged, and when the current is supplied to the coil 210, the stator 200 penetrates through the groove 301 and advances or retreats along the guide rail 100.

At this time, each of the coils 210 included in the plurality of stators 200 is composed of a plurality of wound coils, and the plurality of wound coils are arranged inside from the one side to the other side inside the stator 200. Hereinafter, a plurality of wound coils and the above coils are given the same reference numerals.

At this time, if the coil 210 included in one stator 200 is composed of a plurality of wound coils, the plurality of wound coils may be constituted by three-phase or five-phase coils.

When the plurality of winding coils may be constituted by three-phase coils, the plurality of winding coils may be composed of a plurality of winding coils of three or six or three equal numbers, and when the plurality of winding coils may be constituted by five-phase coils, The wound coils are composed of a winding coil of a multiple of five or ten equals five.

Hereinafter, a case where the coil 210 is composed of three winding coils will be described as an example.

That is, in the case where the coil 210 is composed of three winding coils 210, the linear motor of the present invention includes a plurality of stators 200 that are fixedly disposed on the guide rail 100 at regular intervals, and the plurality of winding coils 210 are internally The rotor 300 includes an insertion groove 301 through which the stator 200 is inserted from one side to the other side, and is included in the opposite inner walls of the insertion groove 301, and is wound by the inserted stator 200. The coil 210 is a plurality of permanent magnets 310 which are provided to have a cross between the N pole and the S pole, and when the current is supplied to the coil 210, the stator 200 penetrates through the groove 301 and advances or retreats along the guide rail 100.

As described above, the plurality of winding coils 210 may be constituted by a winding coil that constitutes a multiple of three or a multiple of five of the three-phase coil or the five-phase coil. Hereinafter, a case where the winding coil is composed of three three-phase coils is taken as an example. Description.

That is, the linear motor of the present invention includes the guide rail 100, the stator 200, and the rotor 300.

The guide rail 100 functions as a moving support platform for the rotor 300 to be fixedly disposed and to be advanced or retracted by the stator 200 that is fixedly disposed.

The stator 200 is fixedly coupled to the plurality of rails 100, and the plurality of stators 200 are spaced apart from each other by a predetermined interval.

Each of the stators 200 is provided with a coil 210 or a plurality of wound coils 210.

At this time, the coil 210 may be composed of a three-phase coil or a five-phase coil or even more phases, but is preferably constituted by three winding coils 210 constituting a three-phase coil.

Each of the three-phase winding coils 210 included in each of the stators 200 is provided in the same size from one side to the other side inside each stator 200.

At this time, the winding coil 210 is constituted by a flat-wound coil, and the winding coil is provided to face the permanent magnet 310 composed of the opposing N-pole and S-pole when the stator 200 is inserted into the insertion hole 301 of the rotor 300.

That is, the winding coil 210 is disposed such that the direction of the current flowing up and down by the winding coil 210 is substantially perpendicular to the direction generated by the opposing N and S poles.

In the above-described rotor 300, the insertion groove 301 in the form of a groove penetrating one side and the other side is substantially "n"-shaped, and the opposite inner walls of the above-mentioned insertion groove 301 are alternately repeated from one side to the other side. Combined with N and S poles relative permanent Magnet (please refer to Figures 4 to 6).

In other words, a plurality of permanent magnets 310 are provided on the opposite inner walls of the insertion groove 301 with the winding coils 210 of the stator 200 inserted as a reference, and the N poles and the S poles are opposed to each other.

Therefore, in the insertion groove 301 of the rotor 300 described above, the direction of the magnetic field is repeatedly formed from the one side of the rotor 300 to the other side between the opposite inner walls of the insertion groove 301.

That is, when the stator 200 is positioned in the insertion groove 301 of the rotor 300, the direction of the current flowing in the winding coil 210 is substantially perpendicular to the direction of the magnetic field generated in the insertion groove 301. (Please refer to Figure 7).

A plurality of stators 200 fixedly disposed on the above-described guide rail 100 are arranged at equal intervals.

The distance between the stators 200, the length of the rotor 300, and the distance between the permanent magnets 310 satisfy the following relationship.

That is, as shown in Fig. 2, the distance between two adjacent stators 200, that is, the distance between one end of a certain stator and one end of the stator adjacent to the above-described stator () is fixed.

At this time, the length of the rotor 300, that is, the distance M between the one side magnet included in the outermost side of one rotor 300 and the other side magnet on the outermost side is substantially the same as that of the above-mentioned L (please refer to FIG. 2).

That is, since the lengths of M and L described above are designed to be substantially the same, one of the stators and a part of the two stators are provided in the insertion groove 301 of the rotor 300 (refer to Fig. 8).

At this time, a plurality of the inner walls of the insertion groove 301 provided in the rotor 300 are provided. a permanent magnet, that is, an N pole and an S pole opposite, and a plurality of permanent magnets (310) disposed from one side of the insertion groove 301 to the other side so that the N pole and the S pole cross each other, if the N pole and the S pole are opposite a distance between a permanent magnet and a permanent magnet adjacent to the one permanent magnet, that is, a width of two adjacent permanent magnets of the plurality of permanent magnets is "P", and adjacent ones of the plurality of permanent magnets The width of the two permanent magnets is kept to the width of P (refer to Figure 2).

At this time, the above-mentioned L, M, and P of the linear motor of the present invention satisfy the following relationship: [relationship] L = M = n * P

At this time, the above n is a positive integer.

Figure 8 is a diagram showing the working principle of the superimposed movement of the rotor and the stator.

As shown in Fig. 8, since the stator 200, the rotor 300, and the permanent magnet 310 satisfy the above relationship, the width of the wound coil 210 superposed on the insertion groove 301 in which the magnetic field is generated is not affected by the moving position of the rotor 300 described above. change.

Since the above relationship is satisfied, the propulsive force applied to the rotor 300 described above, that is, the force generated by the current flowing in the winding coil 210 and the magnetic field formed in the insertion groove 301 remains unchanged.

An encoder scale 350 that rotates together with the rotor 300 is coupled to the rotor 300, and encoders for detecting the position of the encoder scale 350 are detected on the plurality of stators 200 to detect the position information of the rotor 300. 250.

Through the above encoder ruler 350 and encoder reader 250, the above turn The sub-300 is superimposed on the guide rail 100 with one or two stators, and by the encoder reader 250 detecting the position of the encoder ruler 350, it is possible to instantly collect the position at which the rotor 300 is superimposed with or which is included in the stator 200. Which of the plurality of wound coils 210 of the superimposed stator 200 is wound around the coil is superimposed on the position information of the rotor.

On the stator 200 constituting the linear motor of the present invention, a driver 400 that supplies current to the coils of the respective stators is connected.

Further, a control unit 500 connected to each of the encoder readers 250 and connected to each of the above-described drivers is further included.

That is, the plurality of stators 200 individually include the driver 400 that supplies current to each coil or wound coil, and the coils or wound coils of the respective stators 200 obtain current supply through the operation of the respective drivers 400 of the respective stators.

At this time, the above-described control section 500 grasps the current position of the rotor by obtaining the current position information of the rotor 300 from the encoder reader 250, and further, passes the saved encoder reader 250 distance and the rotor transmitted from the encoder reader. The position information calculates the current moving speed of the rotor.

That is, the control unit 500 can instantly collect the position information of the current rotor and the moving speed of the current rotor 300.

At this time, the rotational speed of the rotor can be detected by detecting the movement time of the encoder ruler 350 moving between the encoder readers 250, which are fixedly disposed at equal intervals, using the distance between the encoder readers and the encoder for moving the distance. The time of the ruler is easy to come by.

The control unit 500 only includes the coil 210 included in the stator 200 superposed on the rotor 300 or included in the position information of the collected rotor. The wound coils that affect the rotor 300 among the plurality of wound coils 210 of the stator superposed with the rotor 300 are supplied with current, thereby controlling the operation of the rotor 300 with minimum power.

Further, according to the positional information of the collected rotor, the supply to the coil 210 included in the stator 200 superposed with the rotor 300 or the plurality of winding coils 210 included in the stator superposed with the rotor 300 affects the rotor 300. The current intensity of the wound coil.

That is, the above-described control portion 500 supplies current only to the corresponding driver of the stator 200 superimposed with the current rotor 300, thereby supplying current only to the coil of the stator in which the rotor 300 is located.

Further, the control unit 500 compares the calculated current moving speed of the rotor with the appropriate speed of the stored rotor to adjust the current intensity supplied to the driver.

The above-described embodiments are only intended to illustrate the invention, and are not intended to be limiting, and the invention may be modified, modified or substituted. All of the scope of the invention should be covered by the scope of the invention without departing from the spirit and scope of the invention. The scope of the present invention is defined by the scope of the present invention, and the scope of the invention is to be construed as being limited by the scope of the invention.

200‧‧‧stator

210‧‧‧ coil or winding coil

250‧‧‧Encoder Reader

300‧‧‧Rotor

310‧‧‧ permanent magnet

350‧‧‧Encoder ruler

400‧‧‧ drive

L‧‧‧ stator spacing

Length of M‧‧‧ rotor

P‧‧‧The width of the permanent magnet

Claims (2)

A linear motor utilizing a propulsive force generated by a current flowing in a coil and a magnetic field of a permanent magnet, comprising: a guide rail: a plurality of stators fixedly disposed on the rail at intervals and including from one side to the other side And a rotor having an insertion groove through which the stator is inserted from one side to the other side, and is included in two opposite inner walls of the insertion groove, and is provided with N corresponding to the coil of the inserted stator a plurality of permanent magnets arranged in a cross between the pole and the S pole, such that when supplying current to the coil, the stator penetrates into the slot and advances or retreats along the rail; as the same of the two adjacent stators The stator pitch L of the distance between the points and the length M of the rotor and the width P of two adjacent permanent magnets among the plurality of permanent magnets satisfy a relationship such that the permanent magnet of the rotor and the coil of the stator are superimposed The area remains unchanged; an encoder ruler that rotates together with the rotor is coupled to the rotor, and each of the plurality of stators is combined and detected An encoder reader for detecting a position of the encoder ruler to detect rotor state information including position information of the rotor and speed information of the rotor, wherein the plurality of stators respectively supply current to the coils included in the stators The driver is connected, where L=M=n*P at this time, n is a positive integer. The linear motor according to claim 1, wherein each of the coils included in the plurality of stators is constituted by a plurality of winding coils arranged from one side to the other inside the stator.