WO2002023702A1 - Moteur lineaire - Google Patents

Moteur lineaire Download PDF

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Publication number
WO2002023702A1
WO2002023702A1 PCT/JP2000/006381 JP0006381W WO0223702A1 WO 2002023702 A1 WO2002023702 A1 WO 2002023702A1 JP 0006381 W JP0006381 W JP 0006381W WO 0223702 A1 WO0223702 A1 WO 0223702A1
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WO
WIPO (PCT)
Prior art keywords
armature
phase coil
block
winding
coil
Prior art date
Application number
PCT/JP2000/006381
Other languages
English (en)
Japanese (ja)
Inventor
Toru Shikayama
Yasuhiro Miyamoto
Original Assignee
Kabushiki Kaisha Yaskawa Denki
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Kabushiki Kaisha Yaskawa Denki filed Critical Kabushiki Kaisha Yaskawa Denki
Priority to PCT/JP2000/006381 priority Critical patent/WO2002023702A1/fr
Priority to JP2001540063A priority patent/JP4596355B2/ja
Publication of WO2002023702A1 publication Critical patent/WO2002023702A1/fr

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Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
    • H02K41/02—Linear motors; Sectional motors
    • H02K41/03—Synchronous motors; Motors moving step by step; Reluctance motors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K29/00—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices
    • H02K29/03—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with a magnetic circuit specially adapted for avoiding torque ripples or self-starting problems

Definitions

  • the present invention relates to a linear motor capable of suppressing generation of cogging thrust, reducing the length of an armature, and improving coil temperature detection accuracy.
  • a field permanent magnet 41 provided on a fixed portion, and a comb-tooth-shaped electromagnet facing the field permanent magnet 41 are provided.
  • the three-phase windings U, V, and W of the armature coil 43 are attached to the armature core 42, which is provided with the number of teeth at equal intervals in the thrust direction X, by the coil jump having a tooth pitch of at least 2 or more. Had been provided.
  • the present invention has been made to solve the above problem, and provides a linear motor capable of suppressing the generation of cogging thrust, shortening the length of the armature in the thrust direction, and improving the coil temperature detection accuracy.
  • the purpose is to: [Disclosure of the Invention]
  • the present invention of claim 1 includes a field pole arranged at an equal pitch and an armature facing the field pole, and the armature includes a plurality of armature blocks. And the armature blocks are arranged in the direction of the thrust, and the block core of each armature block is provided with teeth of an integral multiple of the number of phases arranged at an equal pitch and armature coils concentratedly wound around the teeth. A gap corresponding to an electrical angle that is an integral multiple of the magnetic pole pitch divided by the number of armature blocks is provided between the armature blocks. It features a linear motor that is wound out of phase at an electrical angle corresponding to the gap between the armature blocks.
  • the number of armature blocks is set to an integral multiple of three, and a gap having a dimension of 2 to 3 of the magnetic pole pitch is provided between each armature block.
  • the armature coils are wound in the order of the U-phase coil, V-phase coil, and W-phase coil around all the teeth of the block core of the armature block 1, and all of the teeth of the block core of the second armature block.
  • Armature coil is wound in the order of V-phase coil, W-phase coil, and U-phase coil, and all of the block core teeth of the third armature block are wound in the order of W-phase coil, U-phase coil, and V-phase coil. Wrap the armature coil If click number exceeds 3 performed repeatedly coil arrangement described above is characterized in that it has 3-phase balanced connection to each phase coil of each armature block.
  • the number of armature blocks is set to an integral multiple of three, and a gap having a magnetic pole pitch of 1 to 3 is provided between each armature block.
  • the armature coil is wound in the order of W-phase coil, U-phase coil, and V-phase coil in the reverse order of the first armature block.
  • the armature coils are wound in the order of the V-phase coil, W-phase coil, and U-phase coil in all of the teeth of the block core of the third armature block. If the number of armature blocks exceeds 3, the above coil arrangement Is repeated, and each phase coil of each armature block is three-phase balanced.
  • armature blocks are used, and the length of each armature block in the thrust direction is 10 times the field pole pitch.
  • Nine teeth are provided at equal pitch on the block core of each armature block, and a gap of 23 times the magnetic pole pitch is provided between each armature block and arranged in the thrust direction.
  • the group of teeth of the block core of the first armature block is divided into groups of three, and the armature coils are wound in the order of the U-phase coil, the W-phase coil, and the V-phase coil in the tooth group of the block core of the first armature block.
  • the armature coils are wound in the tooth group of the block core of the slave block in the order of V-phase coil, U-phase coil, and W-phase coil, and the W-phase coil and V-phase are wound in the tooth group of the block core of the third armature block.
  • the feature is that armature coils are wound in the order of coil and U-phase coil, armature coils are arranged with a phase difference of 120 °, and three-phase balanced connection is made.
  • the linear motor according to the first aspect wherein three armature blocks are used, and the length of each armature block in the thrust direction is set to be 10 times the field pole pitch.
  • Nine teeth are provided at equal pitch on the block core of each armature block, and a gap with a size of 13 of magnetic pitch is provided between each armature block and arranged in the thrust direction.
  • the group of teeth of the block core of the first armature block is divided into groups of three, and the armature coils are wound in the order of the U-phase coil, the W-phase coil, and the V-phase coil in the tooth group of the block core of the first armature block.
  • the armature coils are wound in the tooth group of the block core of the armature block in the order of the W-phase coil, the V-phase coil, and the U-phase coil in the reverse order of the winding direction of the first armature block.
  • Block The armature coils are wound around the teeth group of the cocoa in the same direction as the first armature block in the order of V-phase coil, U-phase coil, and W-phase coil, and the armature coils are arranged with a phase difference of 60 °. It is characterized by three-phase balanced connection.
  • each armature block is set to 10 times the field pole pitch, and nine teeth are provided at equal pitch on the block core of each armature block.
  • a gap of dimension 2 is provided between each armature block and arranged in the thrust direction, and the teeth of the block core of the first armature block are grouped into groups of three teeth of each armature block.
  • the armature coils are wound in the order of U-phase coil, W-phase coil, and V-phase coil, and the first and second teeth of the tooth group of the block core of the second armature block have the W-phase coil and the third , 4th and 5th teeth are wound with armature coils in the order of V phase coil, 6th , 7th and 8th teeth are wound with U phase coil, and 9th tooth is wound with W phase coil.
  • Electric carp The it is characterized in that the three-phase balanced connection and arranged with a phase difference of 90 °.
  • armature blocks are used, and the length of each armature block in the thrust direction is set to be 10 times the field pole pitch.
  • Nine teeth are provided at equal pitch on the block core of each armature block, and a gap with a dimension of 12 of the magnetic pole pitch is provided between each armature block and arranged in the thrust direction.
  • the core teeth are grouped into groups of three, and the armature coils are wound in the U-phase coil, W-phase coil, and V-phase coil in the block arm teeth group of the first armature block, and the second armature block Armature coils are wound in the order of V-phase coil, U-phase coil, and W-phase coil in the tooth group of the block core, and the armature coils are arranged with a phase difference of 90 ° and three-phase balanced. .
  • the armature block block teeth Arrange and group the armature block block teeth into three groups.
  • the first armature block's block core teeth group is forward-wound U-phase coil, forward-wound V-phase coil, reverse-wound u-phase coil, reverse winding V-phase
  • the armature coils are wound in the order of the coils, and the forward winding V-phase coil, reverse winding u-phase coil, reverse winding V-phase coil, and forward winding U-phase are wound around the teeth group of the block core of the second armature block. It is characterized in that armature coils are wound in the order of coils, and when the number of armature blocks exceeds 2, the above is repeated to form an armature coil to form a two-phase connection.
  • the length is 10 times longer than that of the armature block, and 12 teeth are provided at equal pitch on the block core of each armature block, and a gap of 12 dimensions of the magnetic pole pitch is arranged between each armature block and arranged in the thrust direction.
  • the teeth of the block core of each armature block are grouped into two groups, and the tooth group of the block core of the first armature block is forward-wound U-phase coil, reverse-wound V-phase coil, forward-wound W Phase coil, reverse winding u-phase coil, normal winding V-phase coil, reverse winding w-phase coil, winding the armature coil in this order, winding forward in the tooth group of the block core of the second armature block V-phase coil, square Winding W-phase coil, reverse winding u-phase coil, forward winding V-phase coil, reverse winding w-phase coil, forward winding U-phase coil, reverse winding V-phase coil, winding the armature coil in this order
  • the number of armature blocks exceeds two, the above is repeated, and the armature coil is wound to form a three-phase connection.
  • the armature blocks are arranged in three groups, each group consisting of three armature block core teeth.
  • the armature coil is wound in the order of the direction-winding u-phase coil and the reverse-winding V-phase coil, and is wound in the reverse direction on the tooth group of the block core of the second armature block.
  • the feature is that armature coils are wound in the order of V-phase coils, and when the number of armature blocks exceeds 3, the above is repeated to form armature coils to form two-phase connection.
  • the armature block has two groups of block core teeth, and the first armature block block core teeth group is forward-wound U-phase coil, reverse-wound V-phase coil, forward direction Winding armature coil in the order of W-phase coil, reverse-winding L4-phase coil, forward-winding V-phase coil, reverse-winding w-phase coil, and forwardly into the teeth group of the block core of the second armature block.
  • the armature coil is wound in the order of the forward winding w-phase coil, forward winding U-phase coil, reverse winding V-phase coil, forward winding W-phase coil, reverse winding u-phase coil, and the third armature block.
  • the armature block has three groups of block core teeth, and the first armature block block core teeth group has a positively wound U-phase coil, a forwardly wound V-phase coil, and a reverse direction.
  • Winding u-phase coil, reverse winding V The armature coils are wound in the order of the phase coils, and forward-wound V-phase coils, forward-wound U-phase coils, forward-wound V-phase coils, and reverse-wound coils are wound around the teeth groups of the block core of the second armature block.
  • u-phase coil, reverse-winding Armature coil is wound in the order of V-phase coil, and reverse-winding into the teeth group of the block core of the third armature block u-phase coil, reverse-winding V-phase coil, forward-winding
  • the armature coil is wound in the order of U-phase coil, forward winding V-phase coil, reverse winding, and u-phase coil. If the number of armature blocks exceeds 3, repeat the above and wind the armature coil to form 2-phase connection. It is characterized by that.
  • the length is 10 times the length of the armature block, 12 teeth are provided at equal pitch on the block core of each armature block, and a gap of 13 dimensions of the magnetic pole pitch is provided between each armature block to increase the thrust direction.
  • the armature blocks are arranged in groups, each group consisting of two teeth of the block core of the armature block.
  • the tooth group of the block core of the first armature block is wound in the forward direction U-phase coil, reverse direction V-phase coil, forward direction W armature coil, reverse winding u-phase coil, forward winding V-phase coil, reverse winding W-phase coil w-phase coil, square
  • the armature coil is wound in the following order: counter-winding U-phase coil, reverse winding V-phase coil, forward winding W-phase coil, reverse winding u-phase coil, forward winding V-phase coil, Forward winding V-phase coil, reverse winding w-phase coil, forward winding U-phase coil, reverse winding V-phase coil, forward winding W-phase coil, reverse winding u on the teeth group of the armature block core
  • armature coils are wound in the order of phase coils, and when the number of armature blocks exceeds 3, the above is repeated to form armature coils to form a three-phase connection.
  • the block core constituting the armature block is opposite to the engagement protrusion formed on one side.
  • a core segment comprising a yoke portion having an engagement portion formed so as to be fitted to the engagement protrusion and a tooth around which each armature coil is wound.
  • the field magnetic poles are arranged so as to sandwich the longitudinal direction of the block core row formed by sequentially connecting the core segments from both sides.
  • the block core constituting the armature block has a tooth portion at a lower end.
  • the present invention is characterized in that a block core is formed in which a plurality of T-shaped core segments which are formed and whose upper end forms a yoke portion are connected to each other by a yoke portion.
  • a linear motor according to any one of claims 1 to 15, wherein a magnetic body is provided between the yoke portions of the block core in the gap between the armature blocks.
  • the temperature sensor is supported by a molding in the space above the spacing piece.
  • the armature block is rotated by a predetermined angle in a direction orthogonal to the thrust direction of the armature block. It is characterized by being arranged to be inclined.
  • the present invention according to claim 18 provides the linear motor according to any one of claims 1 to 17, wherein three armature blocks are used, the thickness of the armature block is W, When the pole pitch is Pm, the inclination angle e of the armature block is
  • the linear motor according to any one of the first to seventeenth aspects, wherein two armature blocks are used, and the thickness of the armature block is W, When the pole pitch is Pm, the inclination angle 0 of the armature block is
  • FIG. 1 is a longitudinal sectional view of a linear motor according to a first embodiment of the present invention.
  • FIGS. 2A and 2B are armature coil arrangement diagrams of the first embodiment, wherein FIG. 2A shows the armature coil arrangement, and FIG. 2B shows the arrangement of the armature coils in the thrust direction.
  • FIG. 3 is an explanatory diagram of the cogging thrust according to the first embodiment.
  • FIG. 4 shows a linear motor according to the second embodiment of the present invention.
  • FIG. FIG. 5 is an armature coil arrangement diagram of the second embodiment,
  • FIG. 6 is an explanatory diagram of the cogging thrust according to the second embodiment.
  • FIG. 7 is a longitudinal sectional view of a linear motor according to a third embodiment of the present invention.
  • FIG. 8 is an armature coil arrangement diagram of the third embodiment, where (a) shows the armature coil arrangement and (b) shows the arrangement of the armature coils in the thrust direction.
  • FIG. 9 is an explanatory diagram of cogging thrust according to the third embodiment.
  • FIG. 10 is a longitudinal sectional view of a linear motor according to a fourth embodiment of the present invention.
  • FIGS. 14A and 14B are diagrams showing an armature coil arrangement according to the fourth embodiment, wherein FIG. 11A shows an armature coil arrangement, and FIG. 11B shows an arrangement of armature coils in a thrust direction.
  • FIG. 12 is an explanatory diagram of the cogging thrust according to the fourth embodiment.
  • FIG. 13 is a longitudinal sectional view of a linear motor according to a fifth embodiment of the present invention.
  • FIGS. 14A and 14B are diagrams showing the armature coil arrangement according to the fifth embodiment, wherein FIG. 14A shows the armature coil arrangement, and FIG. 14B shows the arrangement of the armature coils in the thrust direction.
  • FIG. 15 is an explanatory diagram of the cogging thrust according to the fifth embodiment.
  • FIGS. 17A and 17B are armature coil arrangement diagrams of the sixth embodiment, wherein FIG. 17A shows the armature coil arrangement, and FIG. 17B shows the arrangement of the armature coils in the thrust direction.
  • FIGS. 18A and 18B are explanatory views of the seventh and eighth embodiments.
  • FIG. 18A is a longitudinal sectional view of a linear motor
  • FIG. 18B is a thrust direction of an armature coil of the seventh embodiment.
  • FIG. 28C is an arrangement diagram of the armature coil in the thrust direction according to the eighth embodiment.
  • FIG. 19 is an armature coil arrangement diagram of the seventh embodiment.
  • FIG. 20 is an armature coil layout diagram of the eighth embodiment.
  • FIGS. 24A and 24B are explanatory views of ninth and tenth embodiments.
  • FIG. 21A is a longitudinal sectional view of a linear motor
  • FIG. 21B is an arrangement of armature coils in the thrust direction in the ninth embodiment.
  • FIG. 7C is a thrust direction arrangement diagram of the armature coil according to the tenth embodiment.
  • FIG. 22 is an arrangement diagram of armature coils according to the ninth embodiment.
  • FIG. 23 is an armature coil arrangement diagram of the tenth embodiment.
  • FIGS. 24A and 24B are explanatory views of the first and second embodiments.
  • FIG. 24A is a longitudinal sectional view of a linear motor
  • FIG. 25 is an armature coil arrangement diagram of the eleventh embodiment.
  • FIG. 26 shows an armature coil according to the first and second embodiments.
  • FIG. 27 is a longitudinal sectional view of a plane perpendicular to the thrust direction of the linear motor.
  • FIG. 28 is a plan view illustrating a core segment according to the present invention.
  • FIG. 29 is a vertical cross-sectional view of a linear motor illustrating the installation state of the temperature sensor according to the present invention.
  • FIG. 30 is a view from the top of the linear motor according to the thirteenth embodiment, and shows the inclination of the armature block.
  • FIG. 31 is an explanatory diagram of the cogging thrust including higher-order components according to the first embodiment.
  • FIG. 32 is an explanatory diagram of the cogging thrust including higher-order components according to the thirteenth embodiment.
  • FIG. 33 is a top view of the linear motor according to the fourteenth embodiment, and shows the inclination of the armature block.
  • FIG. 34 is an explanatory diagram of the cogging thrust including higher-order components according to the fourteenth embodiment.
  • FIG. 35 is an explanatory diagram of a conventional linear motor.
  • the linear motor includes a field pole and an armature facing the field pole, one of which is used as a stator and the other is used as a mover.
  • the armature in order to suppress the cogging thrust generated in the linear motor, the armature is divided into a plurality of pieces, a phase difference is provided between the divided armature blocks, and the generated cogging thrust is applied between the armature blocks. Offset.
  • the armature coils are concentrated winding, and a gap corresponding to an electrical angle that is an integral multiple of the value obtained by dividing the magnetic pole pitch by the number of armature blocks is provided between the armature blocks.
  • the phases are shifted by an electrical angle corresponding to the gap between them.
  • FIG. 1 shows the first embodiment, in which the number of armature blocks is 3, the number of teeth per armature block is 9, and the number of field poles is 6 per armature block.
  • the field poles 1 are made of permanent magnets and are provided at equal pitches on the stator 2 side.
  • an armature 3 forming a mover is provided on the stator 2.
  • the armature 3 includes a first armature block 4, a second armature block 5, and a third armature block 6, and a gap is maintained between the armature blocks by providing a spacing piece 7. I have. In this case, the gap size is 2Z3 with the pole pitch Pm.
  • Each armature block 4, 5, 6 and spacing piece 7 Are arranged in the thrust direction and are integrally held by fixing means 8.
  • the block cores 9 of the armature blocks 4, 5, and 6 are provided with nine teeth 10 arranged at the same tooth pitch Pt.
  • a concentrated winding armature coil 11 is wound around each tooth 10.
  • the field poles 1 can be of permanent magnet type or of winding excitation type.
  • the pitch of the stator 2 is equal to the total length in the thrust direction of the armature 3 plus the linear motor stroke. Arranged in Pm. Since the magnetic pole pitch Pm is an electrical angle of 180 °, the gap dimension Pm X 2Z3 is an electrical angle of 120 °. Therefore, the pitch Pt is set to an electrical angle of 120 °. Therefore, the armature coil arrangement of each of the armature blocks 4, 5, and 6 is as shown in FIG. 2 (a).
  • the armature coil 11 is wound in the order of the U-phase coil, the V-phase coil, and the W-phase coil, and in the second armature block 5, the V-phase coil, the W-phase coil,
  • the armature coil 11 is wound in the order of W-phase coil, U-phase coil, and V-phase coil, and the number of armature blocks exceeds 3,
  • the number of blocks is 9, 9 blocks, 12 blocks, etc., repeat the above arrangement and connect each phase coil in 3-phase balanced connection.
  • the armature coil 11 is provided in this way, the coil arrangement in the thrust direction of the armature 3 is as shown in Fig.
  • the electric power follows the last coil W phase of the first armature block 4. Since the spacing piece 7 having an angle of 120 ° is present and occupies the U-phase portion, the winding start of the armature coil 11 of the second armature block 5 is in the V-phase. Similarly, the winding start of the armature coil 11 of the third armature block 6 is in the W phase.
  • FIG. 3 shows the situation of cogging thrust generated by the above configuration.
  • TC1 is the cogging thrust generated by the first armature block 4
  • TC2 is the cogging thrust generated by the second armature block 5
  • TC3 is the cogging thrust generated by the third armature block 6. It can be seen that the cogging thrust is offset by the combination of the three.
  • FIG. 4 shows the second embodiment, in which the number of armature blocks is 3, the number of teeth per armature block is 9, and the number of field poles is 6 per armature block.
  • the field poles 1 are made of permanent magnets and are provided at equal pitches on the stator 2 side.
  • an armature 3 forming a mover is provided on the stator 2.
  • the armature 3 includes a first armature block 4, a second armature block 5, and a third armature block 6, and a gap is maintained between the armature blocks by providing a spacing piece 7. I have. In this case, the gap size is 1 Z3 of the magnetic pole pitch Pm.
  • the armature blocks 4, 5, 6 and the spacing pieces 7 are arranged in the thrust direction and are integrally held by fixing means 8.
  • the block cores 9 of the armature blocks 4, 5, and 6 are provided with nine teeth 10 arranged at the same tooth pitch Pt.
  • a concentrated winding armature coil 11 is wound around each tooth 10.
  • the field pole 1 may be of a permanent magnet type or a wound excitation type.
  • the pitch of the stator 2 is equal to the total length of the armature 3 in the thrust direction, plus the linear motor stroke. Arranged in Pm. Since the magnetic pole pitch Pm is an electrical angle of 180 °, the gap dimension Pm X 1/3 is 60 electrical degrees. The electrical angle of the tooth pitch Pt is 120. And Therefore, the armature coil arrangement of each armature block 4, 5, 6 is as shown in Fig. 5 (a).
  • the armature coil 11 is wound in the order of the U-phase coil, the V-phase coil, and the W-phase coil, and in the second armature block 5, the first armature block 5
  • the V-phase coil, the W-phase coil, and the U-phase coil are wound in the order of the W-phase coil, U-phase coil, and V-phase coil.
  • the winding start of the armature coil 11 of the second armature block 5 is in the W phase opposite to the winding direction of the first armature block. .
  • the winding start of the armature coil 11 of the third armature block 6 becomes the V phase.
  • FIG. 6 shows the situation of cogging thrust generated by the above configuration.
  • TC1 is the cogging thrust generated by the first armature block 4
  • TC2 is the cogging thrust generated by the second armature block 5
  • TC3 is the cogging thrust generated by the third armature block 6.
  • FIG. 7 is a longitudinal sectional view of a linear motor according to the third embodiment.
  • the armature 3 similarly to the first embodiment, the armature 3 includes first, second, and third armature blocks 4, 5, and 9 including nine teeth 10 in a block core 9.
  • the armature blocks are provided with a spacing piece 7 having a magnetic pole pitch Pm of 23 (electrical angle: 120 °), and the armature blocks are separated from each other and fixed by a fixing means 8. keeping.
  • the number of field poles 1 provided on the stator 2 is 10 per armature block. Then, as shown in Fig.
  • the first armature block 4 has a U-phase
  • the armature coil is wound in the order of the coil, the W-phase coil, and the V-phase coil
  • the second armature block 5 includes the third armature block 6 in the order of the V-phase coil, the U-phase coil, and the W-phase coil.
  • the armature coil 11 is wound in the order of the W-phase coil, the V-phase coil, and the U-phase coil.
  • the arrangement of the coil and the spacing piece 7 in the thrust direction is as shown in Fig. 8 (b).
  • the cogging thrusts TC1, TC2, and TC3 generated by the end effects of the first, second, and third armature blocks produce a phase difference of 120 ° as shown in FIG. The sum of is zero and is negated.
  • FIG. 10 is a longitudinal sectional view of the linear motor according to the fourth embodiment.
  • the number of field poles 1 provided on the stator 2 is 10 per armature block, and the number of teeth 10 of the block core 9 of the armature 3 is 9 Is the same as in the third embodiment.
  • the differences are that the size of the spacing piece 12 between the first, second, and third armature blocks 4, 5, and 6 is 13 of the magnetic pole pitch Pm, and that the fixing means 1 for the armature 3
  • the point is that the dimension in the thrust direction of 3 is shortened. That is, an example is shown in which each armature block is shifted by an electrical angle of 60 °.
  • the armature coil arrangement is such that the first armature block 4 sequentially winds the U-phase coil, the W-phase coil, and the V-phase coil from the end, Armature block 5 is out of phase with the first armature block 4 by an electrical angle of 60 °.
  • W-phase coil, V-phase coil, and U-phase coil in which the winding direction of the coil is reversed, are sequentially wound, and the third armature block 6 has a phase difference of 60 ° from that of the second armature block 5. Therefore, the V-phase coil, U-phase coil, and W-phase coil are wound in the same winding direction as the coil of the first armature block 4 in this order.
  • FIG. 13 is a longitudinal sectional view of the linear motor according to the fifth embodiment.
  • the dimensional arrangement of the field poles 1 provided on the stator 2 and the dimensional structure of the block core 9 including the number of teeth 10 are the same as those of the fourth embodiment.
  • the point that the armature 3 has a two-part structure of the first armature block 4 and the second armature block 5 the gap between the armature blocks, that is, the width dimension of the spacing piece 14 is the magnetic pole pitch Pm
  • the difference is that the point has become 2 and the fixing means 15 has been shortened by one armature block.
  • the armature coil arrangement shown in FIG. 14A is adopted for each armature block. That is, in the first armature block 4, nine teeth 10 are divided into three groups, and the armature coils are wound in the order of the U-phase coil, the W-phase coil, and the V-phase coil, and Armature block 5, the first and second teeth have W-phase coils respectively, the third, fourth and fifth teeth have V-phase coils respectively, and the sixth, seventh and eighth teeth have W-phase coils are wound around the U-phase coil and ninth tooth, respectively.
  • the arrangement in the thrust direction of the armature coil and the spacing piece 14 in this case is shown in FIG. 14 (b). With this configuration, as shown in FIG. 15, the cogging thrust TC1 by the first armature block 4 and the cogging thrust TC2 by the second armature block 5 have a phase difference of 90 ° from each other. Becomes zero and is canceled out.
  • FIG. 16 is a vector diagram illustrating a circulating current according to the present embodiment.
  • FIG. 17 shows a sixth embodiment.
  • an example is shown in which only the armature coil portion of the fifth embodiment is changed. That is, in the first armature block 4, the armature coils are wound into the three tooth groups in the order of the U-phase coil, the W-phase coil, and the V-phase coil, and the second armature block 5 By winding V-phase coil, U-phase coil and W-phase coil, three-phase balanced connection can be achieved with a phase difference of 90 °.
  • FIG. 17B shows the arrangement of the armature coils and the spacing pieces 14 in the thrust direction in this case. Also in the case of this embodiment, as shown in FIG.
  • the cogging thrust TC1 of the first armature block and the cogging thrust TC2 of the second armature block that are out of phase by 90 ° are canceled out.
  • the circulating current can be eliminated by combining the magnetomotive force vectors.
  • FIG. 18 shows a seventh embodiment.
  • the number of divisions of the armature 3 is 2, and the block core 19 of the first armature block 16 and the second armature block 17 has The teeth 20 are provided, and the tooth pitch Pt is set to 150 °.
  • a gap of 12 with a magnetic pole pitch Pm is provided between the armature blocks 16 and 17, and a spacing piece 21 is provided there and is held integrally by fixing means 22.
  • the field poles 1 arranged on the stator 2 are provided in ten pieces per armature block. That is, the length of the armature blocks 16 and 17 in the thrust direction is 10 times the magnetic pole pitch Pm.
  • the armature coil 23 provided in the first armature block 16 has a positive-winding U-phase coil, a positive-winding V-phase coil, and a reverse-winding V-phase coil for each group of three teeth. Winded in the order of u-phase coil, reverse-winding V-phase coil. As shown in FIG.
  • the second armature block 17 is wound with a forward winding V-phase coil, a reverse winding u-phase coil, a reverse winding V-phase coil, and a forward winding U-phase coil.
  • the armature coils of the armature block are connected in two phases.
  • the armature coil arrangement in the thrust direction in this case is as shown in Fig. 18 (b).
  • the phase difference between the two armature blocks is 90 °, and the cogging thrust is canceled out to zero as in the case shown in Fig. 15.
  • a three-phase armature coil is applied to the armature block according to the seventh embodiment.
  • the teeth of each armature block are grouped into two groups, and as shown in FIG. 20, the first armature block 16 has a forward winding U-phase coil, a reverse winding V-phase coil, The armature coils are wound in the order of the forward winding W-phase coil, the reverse winding u-phase coil, the forward winding V-phase coil, the reverse winding w-phase coil, and the second armature block 17 is wound in the forward direction.
  • the armature coil is wrapped around for three-phase connection.
  • FIG. 21A is a longitudinal sectional view of the linear motor according to the ninth embodiment.
  • the number of field poles 1 provided on the stator 2 is 10 per armature block, and the number of divisions of the armature 3 is 3, and the first, second, and third armature blocks are provided.
  • Each block core 19 of 16, 17 and 18 has 12 teeth (tooth pitch Pt is 150 ° in electrical angle).
  • a spacing piece 24 having a dimension of 23 of the magnetic pole pitch Pm is inserted, and three armature blocks are integrally held by fixing means 25.
  • three teeth 20 are grouped as shown in FIG. 22 to form a forward winding U-phase coil, a forward winding V-phase coil, a reverse winding u-phase coil, and a reverse winding V-phase coil.
  • the armature coils are wound in this order, and the reverse-winding u-phase coil, reverse-winding V-phase coil,
  • the armature coil is wound in the order of the forward winding U-phase coil, the reverse winding V-phase coil, and the reverse winding u-phase coil, and the reverse winding V-phase coil is wound on the tooth group of the block core of the third armature block.
  • the armature coil is wound in the order of a forward winding U-phase coil, reverse winding V-phase coil, forward winding U-phase coil, and forward winding V-phase coil to form a two-phase connection.
  • the arrangement of the armature coils in the thrust direction is shown in FIG. Phase difference between the armature blocks in this embodiment is 1 20 °, as in the case shown in FIG. 9, first, second, cogging thrust TC1 of the third armature block, TC 2, TC 3 Is zero and is negated.
  • a positive winding U-phase coil, a reverse winding V-phase coil, a positive winding W-phase coil, and a reverse winding are arranged in the tooth group of the block core of the first armature block.
  • the armature coil is wound in the order of winding u-phase coil, forward winding V-phase coil, reverse winding w-phase coil, and forward winding V-phase coil and reverse winding in the teeth group of the block core of the second armature block.
  • the armature coils are wound in the order of w-phase coil, forward winding U-phase coil, reverse winding V-phase coil, forward winding W-phase coil, reverse winding u-phase coil, and the third armature block Forward-wound W-phase coil, reverse-wound u-phase coil, forward-wound V-phase coil, reverse-wound w-phase coil, forward-wound U-phase coil, reverse-wound Armature in V-phase coil order And 3-phase connection winding yl. Also in the case of this embodiment, the phase difference is 120 °, and the cogging thrust is zero as shown in FIG.
  • FIG. 24A is a longitudinal sectional view of the linear motor according to the eleventh embodiment.
  • This embodiment is the same as the ninth and tenth embodiments except for the spacing piece 26, the fixing means 27 and the armature coil arrangement. That is, the spacing piece 26 provided between the first, second, and third armature blocks 16, 17, and 18 has a magnetic pole pitch Pm of 13 (electrical angle of 60 °). 16, 17, 18 and the spacing piece 26 are united by the fixing means 27. Will be retained.
  • the armature coil 23 is provided with three teeth as a group, and a positive-winding U-phase coil and a positive-winding V-phase coil are wound around the tooth group of the block core of the first armature block.
  • the armature coil is wound in the order of the reverse-winding u-phase coil, the reverse-winding V-phase coil, and the forward-winding V-phase coil and the forward-winding are wound on the block group of the second armature block.
  • the arrangement of the armature coils in the thrust direction is shown in Fig. 24 (b). With this configuration, the cogging thrust is canceled out to zero as shown in FIG.
  • the armature coil of the first embodiment is a three-phase connection.
  • the two teeth are grouped into the tooth group of the block core of the first armature block, with a forward winding U-phase coil, reverse winding V-phase coil, and forward winding W-phase coil.
  • Fig. 27 shows an example of the structure of a linear motor.
  • (A) is a plan view of the linear motor with a part cut away from the top, and (b) is a plan view of a plane perpendicular to the thrust direction A of the linear motor. It is a longitudinal cross-sectional view.
  • the block core 28 constituting the armature block includes a yoke portion 28a having an engagement protrusion 28b formed on one side and an engagement portion 28c meshing with the engagement protrusion 28b on the opposite side.
  • the iron portions 28a are sequentially fitted and connected.
  • the armature coil 31 is housed in the teeth 23d in an aligned winding.
  • the armature block 28 is held on the table 29 via a port 29a.
  • the field magnetic poles 33 held by the stator 32 are provided so as to be sandwiched through gaps on both sides in the longitudinal direction of the block core row.
  • Reference numeral 30 denotes a cooling passage for cooling the armature coil 31.
  • FIG. 28 shows an example of forming a block core.
  • a plurality of T-shaped core segments 36 are formed in the yoke portion 35, the lower end of which forms the teeth portion 34 and the upper end portion of which forms the yoke portion 35.
  • An example is shown in which the engagement protrusions 38 are fitted to the engagement portions 37 and connected to each other so that the armature coils 39 can be arranged.
  • FIG. 29 shows that in the embodiment shown in FIG. 7, the temperature sensor 40 is arranged in the space above the spacing piece 7 provided between the first, second, and third armature blocks, and this is adjoined by the resin mold 40a. In contact with the armature coil. By doing so, the internal temperature of the armature coil can be detected.
  • FIG. 30 is an upper surface ⁇ of the linear motor according to the thirteenth embodiment, and shows the inclination of the armature blocks 4, 5, and 6.
  • the fixing means 8 of the armature blocks 4, 5, and 6 are removed for ease of explanation, and the lower surfaces of the armature blocks 4, 5, and 6 are arranged in parallel with the field pole 1.
  • the basic configuration of the armature is the same as that of the first embodiment.
  • the cross-sectional side view is the same as in Fig. 1 at the center.
  • the armature blocks 4, 5, and 6 are arranged to be inclined at a predetermined angle 0 with respect to the direction orthogonal to the thrust direction of the armature blocks 4, 5, and 6. That is. Assuming that the width of the armature block is W and the pitch of the magnetic poles is Pm,
  • Figure 31 shows the state of the cogging thrust generated by the first embodiment, including the higher-order cogging thrust components.
  • the cogging thrust contains a large number of secondary and tertiary components in addition to the primary (electrical angle of 180 degrees).
  • TC1 is the cogging thrust generated by armature block 4
  • TC2 is the cogging thrust generated by armature block 5
  • TC3 is the cogging thrust generated by armature block 6.
  • the cogging thrust resulting from the combination of the three is such that the first and second order components are canceled out and the third order component is superimposed.
  • Fig. 32 shows the state of cogging thrust generated by the present embodiment, and also includes higher-order cogging thrust components.
  • TC1, TC2, and TC3 do not include a third-order component. Therefore, the cogging thrust due to the combination of the three can be further reduced than in the first embodiment.
  • Fig. 33 is a top view of the linear motor according to the fourteenth embodiment, and shows the inclination of the armature blocks 4 and 9.
  • the fixing means 8 of the armature blocks 4 and 9 is removed for ease of explanation, and the lower surfaces of the armature blocks 4 and 9 are arranged in parallel with the field pole 1.
  • the basic configuration of the armature is the same as that of the fifth embodiment.
  • the cross-sectional side view is the same as Fig. 13 at the center.
  • the cogging thrust generated by the fifth embodiment includes not only the first order but also the second and third order components.
  • the cogging thrust resulting from the combination of the two is such that the first and third order are canceled out and the second order component is superimposed.
  • Fig. 34 shows the state of the cogging thrust generated by the present embodiment, and also includes the higher-order cogging thrust components.
  • the skew at an electrical angle of 90 degrees is performed, so that the cogging thrust generated in the armature blocks 4 and 9 does not include a secondary component. Therefore, the cogging thrust resulting from the combination of the two can be further reduced than in the fifth embodiment.
  • the above-described effects can be obtained by a simple mover structure in which the pre-configured armature blocks are simply arranged at an angle.
  • the linear motor according to the present invention is useful as a transport system for an FA device, for example, one used for a table feed of a machine tool.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Electromagnetism (AREA)
  • Linear Motors (AREA)

Abstract

Une armature est divisée en plusieurs blocs d'armature (4, 5, 6). L'armature est disposée dans le sens de la poussée. Des dents (10) dont le nombre est un entier multiple du nombre de phases sont placées à des intervalles réguliers sur des parties centrales (9) des blocs, et des bobinages d'armature (11) enroulés de façon concentrique sont ajoutés aux dents. Des espaces qui correspondent à l'angle électrique représentant un entier multiple du quotient de la division de l'intervalle du pôle magnétique par le nombre de blocs sont établis entre les blocs. Les bobinages d'armature sont enroulés de sorte que les phases soient mutuellement décalées selon l'angle électrique correspondant à l'espace entre les blocs. Ainsi, les phases des poussées d'engrenage établies dans les blocs sont différentes, et les poussées sont annulées de sorte que leur somme soit nulle.
PCT/JP2000/006381 2000-09-18 2000-09-18 Moteur lineaire WO2002023702A1 (fr)

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WO2006032639A2 (fr) * 2004-09-24 2006-03-30 Siemens Aktiengesellschaft Aimant de sustentation pour systeme de chemin de fer suspendu et procede permettant de le produire
JP2006187079A (ja) * 2004-12-27 2006-07-13 Hitachi Ltd 円筒型リニアモータ，電磁サスペンション及びそれを用いた車両
WO2010103575A1 (fr) * 2009-03-13 2010-09-16 株式会社日立製作所 Moteur linéaire
CN101958633A (zh) * 2010-09-26 2011-01-26 华中科技大学 一种基于组合铁芯初级的永磁同步直线电机
JP2013102695A (ja) * 2013-03-07 2013-05-23 Hitachi Ltd リニアモータ
CN107104574A (zh) * 2017-05-16 2017-08-29 海安县申菱电器制造有限公司 一种散热型直线电机
CN107104573A (zh) * 2017-05-16 2017-08-29 海安县申菱电器制造有限公司 一种直线电机
CN109889014A (zh) * 2019-04-01 2019-06-14 哈尔滨工业大学 一种初级绕组分段永磁直线同步电机
CN109923775A (zh) * 2016-12-23 2019-06-21 韩国电气研究院 用于削减磁阻力的永磁电机

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KR101865354B1 (ko) * 2011-07-13 2018-06-07 주식회사 코베리 전동기
CN103780043B (zh) * 2013-11-22 2016-05-11 杭州娃哈哈科技有限公司 一种降低齿槽力的直线电机
CN103683802A (zh) * 2013-12-23 2014-03-26 哈尔滨工业大学 高效率、低推力脉动圆筒型直线运动机构

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Cited By (16)

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WO2006032639A3 (fr) * 2004-09-24 2008-07-17 Siemens Ag Aimant de sustentation pour systeme de chemin de fer suspendu et procede permettant de le produire
US7806056B2 (en) 2004-09-24 2010-10-05 Siemens Aktiengesellschaft Magnet block for a magnetic levitation transport system and method for the production thereof
CN101310428B (zh) * 2004-09-24 2011-11-16 西门子公司 磁浮铁路系统的磁体及其制造方法
WO2006032639A2 (fr) * 2004-09-24 2006-03-30 Siemens Aktiengesellschaft Aimant de sustentation pour systeme de chemin de fer suspendu et procede permettant de le produire
JP2006187079A (ja) * 2004-12-27 2006-07-13 Hitachi Ltd 円筒型リニアモータ，電磁サスペンション及びそれを用いた車両
US8810082B2 (en) 2009-03-13 2014-08-19 Hitachi, Ltd. Linear motor
WO2010103575A1 (fr) * 2009-03-13 2010-09-16 株式会社日立製作所 Moteur linéaire
CN102326324A (zh) * 2009-03-13 2012-01-18 株式会社日立制作所 线性马达
JP5313333B2 (ja) * 2009-03-13 2013-10-09 株式会社日立製作所 リニアモータ
CN101958633A (zh) * 2010-09-26 2011-01-26 华中科技大学 一种基于组合铁芯初级的永磁同步直线电机
JP2013102695A (ja) * 2013-03-07 2013-05-23 Hitachi Ltd リニアモータ
CN109923775A (zh) * 2016-12-23 2019-06-21 韩国电气研究院 用于削减磁阻力的永磁电机
US11139727B2 (en) 2016-12-23 2021-10-05 Korea Electrotechnology Research Institute Permanent magnet electrical machine for reducing detent force
CN107104574A (zh) * 2017-05-16 2017-08-29 海安县申菱电器制造有限公司 一种散热型直线电机
CN107104573A (zh) * 2017-05-16 2017-08-29 海安县申菱电器制造有限公司 一种直线电机
CN109889014A (zh) * 2019-04-01 2019-06-14 哈尔滨工业大学 一种初级绕组分段永磁直线同步电机

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