WO2005122369A1 - ムービングマグネット形リニアスライダ - Google Patents
ムービングマグネット形リニアスライダ Download PDFInfo
- Publication number
- WO2005122369A1 WO2005122369A1 PCT/JP2005/008678 JP2005008678W WO2005122369A1 WO 2005122369 A1 WO2005122369 A1 WO 2005122369A1 JP 2005008678 W JP2005008678 W JP 2005008678W WO 2005122369 A1 WO2005122369 A1 WO 2005122369A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- armature
- length
- linear
- linear slider
- magnetic
- Prior art date
Links
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
- 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
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
Definitions
- the present invention relates to a linear motor that is used for various industrial machines such as, for example, electric component mounting apparatuses, semiconductor-related apparatuses, and machine tools, and is suitable for driving a linear motion mechanism.
- the present invention relates to a moving magnet type linear slider in which a magnetic field is used as a mover and an armature having an armature coil is used as a stator.
- FIG. I Conventionally, a linear motor that is used for various industrial machines such as an electric component mounting apparatus, a semiconductor-related apparatus, and a machine tool and is suitable for driving a linear motion mechanism thereof is as shown in FIG. I have. 6A and 6B show a moving magnet type linear slider showing the prior art, wherein FIG. 6A is a plan view thereof, FIG. 6B is a front sectional view taken along the line BB of FIG. ) Corresponds to the view seen from arrow A in (b).
- 21 is a fixed base
- 22 is a magnet track
- 23 is a field permanent magnet
- 24 is a field yoke
- 25 is a guide rail
- 26 is a guide block
- 27 is a sensor head
- 28 is a linear scale
- 29 is Stono
- 30 is an armature
- 31 is an armature coil
- 32 is a connection board.
- a field yoke 24 is provided on the back surface of a field permanent magnet 23, and the field yoke 24 also functions as a mover and a magnetic circuit.
- the armature 30 has a structure having a plurality of slotless armature coils 31 fixed on a connection board 32, and has a movable base and a magnetic gap on a fixed base 21 made of a solid magnetic material. And form a stator. Note that a plurality of Hall elements, not shown, for performing magnetic pole detection are embedded in the connection substrate 32 so as to face the field permanent magnets 23!
- the Hall element detects the position of the opposing field magnet from one of the Hall elements at the initial time when the power is turned on, and adjusts the position of the detected field magnet 23.
- a detection signal for causing a drive current to flow through the armature coil 31 is output (for example, see Patent Document 1).
- On both sides of the armature 30, parallel guide rails 25 are fixed on a fixed base 21.
- On the guide rails 25, guide blocks 26 sliding on the rails are provided at lower portions of both ends of a field yoke 24.
- a magnetic linear scale 28 constituting a linear encoder is disposed on the side surface of the mover, and a sensor head for detecting the linear scale 28 on the fixed base 21 so as to face the linear scale 28. 27 are provided.
- a stopper 29 is provided between the ends of the two guide rails 25 to prevent the mover from overrunning!
- the linear slider has a magnetic circuit structure in which the magnetic flux of the field permanent magnet 23 is linked to the fixed base 21.
- the armature coil 31 When the armature coil 31 is excited, the movement generated by the field and the armature is generated.
- the mover is linearly moved by a magnetic field within a stroke that is the difference between the armature length and the mover length (for example, see Patent Documents 1 and 2).
- Patent document 1 Japanese Patent Application Laid-Open No. Hei 9 266659 (specification page 5, FIG. 3)
- Patent Document 2 Japanese Patent Application Laid-Open No. 2002-10617 (specification pages 7 to 9, FIG. 1 and FIG. 3)
- the conventional linear slider has a structure in which the armature and the field permanent magnet that constitute the linear motor face each other on one side, a magnetic attractive force acts between the two. Therefore, the guide rails and guide blocks that support the linear motor are structured in two rows to reduce torsional moment. However, with this structure, the magnetic attraction force applied a preload to the linear guide, increasing the guide friction. In addition, due to the parallelism error between the two rows of guide rails, a partial change in friction occurred in the stroke direction, and the thrust was not constant.
- the present invention has been made in order to solve the above-described problem, and eliminates the magnetic attraction force of the linear motor, does not apply pressure to the linear guide, and places the linear guide near the center axis of the linear motor thrust. It is an object of the present invention to provide a low-viscosity friction moving magnet type linear slider device in which a single linear guide device is disposed to minimize linear guide friction. Means for solving the problem To solve the above problems, the present invention is configured as follows.
- the moving magnet type linear slider according to claim 1 is a linear motor which is disposed on a fixed base in parallel to face to face, and comprises a field constituting a mover and an armature constituting a stator.
- the field of the linear motor is provided on the guide block and has a substantially U-shaped cross section.
- a magnetic yoke having a shape and arranged so that an opening thereof is oriented in a horizontal direction, and along a longitudinal direction of an inner facing surface of the magnetic yoke.
- the linear motor is constituted by a magnet track including a pair of field permanent magnets in which magnetic poles having different polarities are provided side by side and the magnetic poles facing each other have opposite polarities.
- the armature is provided vertically on one side surface of the fixed base, and is provided so as to be orthogonal to the armature holder.
- the armature is provided inside the pair of field permanent magnets.
- a linear scale provided on a lower surface of a bottom of the magnetic yoke opposite to the opening of the magnetic yoke.
- a sensor head mounted on a side surface opposite to the fixed base on which the armature holder is disposed so as to face the linear scale.
- the length L in the stroke direction of the magnet track is set to the stroke of the armature.
- a magnetic pole detector is built in the armature, and the magnetic pole detector detects an initial magnetic pole of the linear slider.
- the length L of the magnet track in the stroke direction is defined by a stroke of the armature.
- the invention of claim 4 provides the moving magnet linear slider according to claim 1!
- the length L of the magnet track in the stroke direction is defined by the stroke direction of the armature.
- the magnetic pole detector When a magnetic pole detector is arranged and fixed at an end of the armature opposite to the motor lead side so as to be separate from the armature, and is moved to the end of the magnet track force s stroke. In this case, the magnetic pole can be always detected.
- the bottom of the magnet track is balanced with the weight of the mover so as to face the fixed base.
- the spring is provided with a gravity compensation spring.
- the magnetic attraction force of the linear motor is eliminated, the linear guide is prevented from being pressurized, and the linear guide is disposed at one location near the linear motor thrust center axis. Only, linear guide friction can be minimized. As a result, the fine thrust control of the linear slider can be improved.
- the drive stroke can be secured within the entire length of the fixed base by making the magnet track shorter than the coreless armature length, and the linear slider size can be made compact.
- FIG. 1 is a front sectional view of a moving magnet type linear slider common to the first to third embodiments of the present invention.
- FIG. 2 is a moving magnet type linear slider showing a first embodiment of the present invention, wherein (a) is a perspective view seen in the direction of arrow A in FIG. 1, and (b) is a view seen in the direction of arrow in FIG. B direction force Perspective side view Equivalent to the figure
- FIG. 3 A thrust characteristic diagram showing the operation of a moving magnet type linear slider according to the present embodiment.
- FIG. 4 A moving magnet type linear slider according to a second embodiment of the present invention, wherein (a) shows FIG. View in the direction of arrow A in the perspective view (b) corresponds to the side view in the direction of arrow B in FIG.
- FIG. 5 is a moving magnet type linear slider showing a third embodiment of the present invention, wherein (a) is a plan view seen through an A-direction force in FIG. 1 and (b) is a perspective view in FIG. B direction force Perspective side view Equivalent to the figure
- FIG. 6 is a moving magnet type linear slider showing a conventional technique, wherein (a) is a plan view thereof, (b) is a front sectional view taken along line BB of (a), Is equivalent to the view seen from arrow A in (b).
- FIG. 1 is a front sectional view of a moving magnet type linear slider common to the first to third embodiments of the present invention
- FIG. 2 is a moving magnet type linear slider showing the first embodiment of the present invention.
- (A) is a plan view seen through the force in the direction of arrow A in FIG. 1
- (b) is a side view seen through the direction of arrow B in FIG. 1.
- 1 is a fixed base
- 1A is a female screw provided on the fixed base
- 2 is a magnet track
- 3 is a field permanent magnet
- 4 is a magnetic yoke
- 4A is a female screw provided on a magnetic yoke 4
- 5 Is the guide rail of the linear guide
- 6 is the guide block
- 7 is the sensor head
- 8 is the linear scale
- 9 is the bolt
- 10 is the armature
- 11 is the armature coil
- 12 is the armature holder
- 12A is the armature holder 12.
- Provided through holes, 13 is a stopper
- 14 is a pressing portion
- 15 is a sensor holder
- 16 is a motor lead
- 17 is a magnetic pole detector lead
- 18 is a linear scale lead
- 19 is a gravity compensation spring.
- the moving magnet type linear slider is such that the field of the linear motor is provided on the guide block 6 and has a substantially U-shaped cross-sectional shape.
- the magnetic yoke 4 is disposed so as to face the horizontal direction, and the magnetic poles having different polarities are arranged side by side along the longitudinal direction of the inner facing surface of the magnetic yoke and face each other. It is composed of a magnet track 2 composed of a pair of field permanent magnets 3 provided so that the polarities of the magnetic poles are opposite to each other.
- the armature of the linear motor is mounted on one side surface of the fixed base 1 in a vertical direction.
- An armature holder 12 attached to the armature holder, and a flat coreless type that is provided so as to be orthogonal to the armature holder 12, and is disposed inside a pair of field permanent magnets 3 via a magnetic gap. Composed of armature coil 11 It has a suction force canceling structure,
- the detecting means includes a linear scale 8 provided on the lower surface of the bottom opposite to the opening of the magnetic yoke 4 and a linear scale provided on the side opposite to the fixed base 1 on which the armature holder 12 is provided.
- the length L of the magnet track 2 in the stroke direction is set to the length of the armature 10 in the stroke direction.
- the armature 10 has a built-in magnetic pole detector (not shown), and the magnetic pole detector (not shown) detects the initial magnetic pole of the linear slider. Further, a gravity compensating spring 19 for balancing the weight of the mover is provided at the bottom of the magnet track 2 so as to face the fixed base 1. Next, the operation will be described.
- FIG. 3 is a thrust characteristic diagram showing the operation of the moving magnet type linear slider according to the present embodiment.
- the present invention of (a) has no hysteresis in the thrust characteristic with respect to the current as compared with the prior art of (b), and it is possible to control the minute thrust of the linear slider.
- the arrangement of the field of the linear motor and the armature has an attractive force canceling structure as in the above configuration, so that the magnetic attractive force of the linear motor is eliminated and no preload is applied to the linear guide.
- the linear guide can be arranged at one location near the center axis of the thrust of the linear motor, and the friction of the linear guide can be minimized. As a result, fine thrust control of the linear slider can be improved.
- the linear slider of this embodiment has a configuration in which the length of the magnet track is longer than the length of the coreless armature and the armature has a built-in magnetic pole detector, so that the difference in length is equal to the effective stroke of the linear slider.
- the initial magnetic pole can be easily detected by the magnetic pole detector built in the armature.
- a gravity compensation spring 19 is provided at the bottom of the magnet track 2 so as to oppose the fixed base 1 to move the weight of the mover. I have to.
- FIG. 4 shows a moving magnet type linear slider according to a second embodiment of the present invention.
- FIG. 4 (a) is a plan view showing the force in the direction of arrow A in FIG. 1, and FIG. 4 (b) is the arrow in FIG.
- the force in the direction of sight B also corresponds to a side view seen through.
- the difference between the second embodiment and the first embodiment is that the length L of the magnet track 2 in the stroke direction is made shorter than the length L of the armature 10 in the stroke direction, and a difference L mg in the stroke direction is obtained. aa Let L be the effective stroke of the linear slider, and detect the initial magnetic pole of the linear slider mg
- the magnet track is made shorter than the coreless armature length, so that the difference in the length becomes the effective stroke of the linear slider.
- the stroke can be secured, and the size of the linear slider can be reduced.
- FIG. 5 shows a moving magnet type linear slider according to a third embodiment of the present invention.
- FIG. 5 (a) is a plan view showing the force in the direction of arrow A in FIG. 1, and FIG. 5 (b) is the arrow in FIG.
- the force in the direction of sight B also corresponds to a side view seen through.
- the third embodiment is different from the first embodiment in that the length L of the magnet track 2 in the stroke direction is made longer than the length L of the armature 10 in the stroke direction, and the difference L mg in the stroke direction is obtained.
- a mg / L is the effective stroke of the linear slider.
- a magnetic pole detector (magnetic pole detector head 20) is arranged and fixed at the opposite end so as to be separate from the armature 10, and magnetic pole detection is always performed even when the magnet track 2 moves to the stroke end. The point is that we can do it.
- the linear slider of the third embodiment is configured as described above, the length of the magnet track is made longer than the length of the coreless armature, and the magnetic pole is detected separately from the armature at the end of the armature. Since the magnetic pole detector is used, the initial magnetic pole can always be detected even when the armature force S stroke length is moved by the magnetic pole detector. Magnetic pole detection can be dispensed with at power up.
- the present invention can also be applied to applications such as glass cutting machines that require precise control of the tip.
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Electromagnetism (AREA)
- Power Engineering (AREA)
- Linear Motors (AREA)
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2006514426A JP4702629B2 (ja) | 2004-05-14 | 2005-05-12 | ムービングマグネット形リニアスライダおよびそれを用いた工作機械 |
KR1020067022023A KR101066357B1 (ko) | 2004-05-14 | 2005-05-12 | 무빙 마그넷형 리니어 슬라이더 |
US11/637,245 US7659641B2 (en) | 2004-05-14 | 2006-12-12 | Moving magnet type linear slider |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004175306 | 2004-05-14 | ||
JP2004-175306 | 2004-06-14 |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US11/637,245 Continuation-In-Part US7659641B2 (en) | 2004-05-14 | 2006-12-12 | Moving magnet type linear slider |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2005122369A1 true WO2005122369A1 (ja) | 2005-12-22 |
Family
ID=35503422
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2005/008678 WO2005122369A1 (ja) | 2004-05-14 | 2005-05-12 | ムービングマグネット形リニアスライダ |
Country Status (6)
Country | Link |
---|---|
US (1) | US7659641B2 (ja) |
JP (1) | JP4702629B2 (ja) |
KR (1) | KR101066357B1 (ja) |
CN (1) | CN100553085C (ja) |
TW (1) | TWI362162B (ja) |
WO (1) | WO2005122369A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPWO2020208732A1 (ja) * | 2019-04-10 | 2020-10-15 |
Families Citing this family (17)
Publication number | Priority date | Publication date | Assignee | Title |
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DE102006022193B4 (de) * | 2006-05-12 | 2009-08-27 | Rovema - Verpackungsmaschinen Gmbh | Vertikale Schlauchbeutelmaschine mit zwei Linearmotoren |
DE102006022192B4 (de) * | 2006-05-12 | 2009-08-27 | Rovema - Verpackungsmaschinen Gmbh | Vorrichtung zum Verschweißen einer Folienbahn |
JP5250268B2 (ja) * | 2008-01-11 | 2013-07-31 | ヤマハ発動機株式会社 | 部品移載装置 |
JP5253824B2 (ja) * | 2008-01-11 | 2013-07-31 | ヤマハ発動機株式会社 | リニアモータ、部品実装装置及び部品検査装置 |
JP5250267B2 (ja) * | 2008-01-11 | 2013-07-31 | ヤマハ発動機株式会社 | リニアモータ及び部品移載装置 |
JP5598757B2 (ja) * | 2010-01-26 | 2014-10-01 | 株式会社安川電機 | 冷媒冷却リニアモータ |
JP5859856B2 (ja) * | 2012-01-11 | 2016-02-16 | ヤマハ発動機株式会社 | リニアモータ及び部品実装装置 |
JP5824647B2 (ja) * | 2012-10-18 | 2015-11-25 | パナソニックIpマネジメント株式会社 | 発電装置 |
KR101308317B1 (ko) * | 2013-03-19 | 2013-10-04 | 장석호 | 분할 코일체를 갖는 코일판과 분할 자석을 갖는 왕복 이동형 자석판을 이용한 발전겸용 전동장치 |
CN104259869B (zh) * | 2014-05-20 | 2017-03-22 | 大连日佳电子有限公司 | 一种双层双相反应式线性精密调整滑台 |
US10471610B2 (en) | 2015-06-16 | 2019-11-12 | Samsung Electronics Co., Ltd. | Robot arm having weight compensation mechanism |
TWI589100B (zh) * | 2016-05-13 | 2017-06-21 | 台達電子工業股份有限公司 | 致動器和直線運動模組 |
CN107370331B (zh) * | 2016-05-13 | 2019-11-29 | 台达电子工业股份有限公司 | 致动器和直线运动模块 |
NL2018266B1 (en) * | 2017-01-31 | 2018-08-16 | Ccm Beheer Bv | Planar positioning device |
US11387727B2 (en) | 2019-04-29 | 2022-07-12 | Kulicke And Soffa Industries, Inc. | Linear motors and wire bonding machines including the same |
CN109980891A (zh) * | 2019-04-30 | 2019-07-05 | 郑雨 | 一种圈轨式直线电动机 |
CN111564947A (zh) * | 2020-05-19 | 2020-08-21 | 广州市昊志机电股份有限公司 | 一种无铁芯圆弧直线电机和驱动装置 |
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JPH06253526A (ja) * | 1993-03-01 | 1994-09-09 | Sharp Corp | 直線駆動装置 |
JPH08140329A (ja) * | 1994-11-07 | 1996-05-31 | Toyota Auto Body Co Ltd | 磁石可動型リニアモータ |
JP2003172615A (ja) * | 2001-12-07 | 2003-06-20 | Hitachi Metals Ltd | 位置検出手段および相対移動装置 |
Family Cites Families (5)
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JP3815750B2 (ja) * | 1995-10-09 | 2006-08-30 | キヤノン株式会社 | ステージ装置、ならびに前記ステージ装置を用いた露光装置およびデバイス製造方法 |
JP4094799B2 (ja) * | 2000-06-22 | 2008-06-04 | 日本トムソン株式会社 | 可動マグネット型リニアモータを内蔵したスライド装置 |
JP2004015904A (ja) * | 2002-06-06 | 2004-01-15 | Canon Inc | リニアステージ、リニアポジショナおよびリニアスピンスタンド |
JP2005278280A (ja) * | 2004-03-24 | 2005-10-06 | Yaskawa Electric Corp | ムービングコイル形リニアスライダ |
JP4521221B2 (ja) * | 2004-05-18 | 2010-08-11 | 日本トムソン株式会社 | 可動マグネット型リニアモータを内蔵したスライド装置 |
-
2005
- 2005-05-12 WO PCT/JP2005/008678 patent/WO2005122369A1/ja active Application Filing
- 2005-05-12 KR KR1020067022023A patent/KR101066357B1/ko not_active IP Right Cessation
- 2005-05-12 JP JP2006514426A patent/JP4702629B2/ja not_active Expired - Fee Related
- 2005-05-12 CN CNB2005800188077A patent/CN100553085C/zh not_active Expired - Fee Related
- 2005-06-08 TW TW094118914A patent/TWI362162B/zh active
-
2006
- 2006-12-12 US US11/637,245 patent/US7659641B2/en not_active Expired - Fee Related
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH06253526A (ja) * | 1993-03-01 | 1994-09-09 | Sharp Corp | 直線駆動装置 |
JPH08140329A (ja) * | 1994-11-07 | 1996-05-31 | Toyota Auto Body Co Ltd | 磁石可動型リニアモータ |
JP2003172615A (ja) * | 2001-12-07 | 2003-06-20 | Hitachi Metals Ltd | 位置検出手段および相対移動装置 |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPWO2020208732A1 (ja) * | 2019-04-10 | 2020-10-15 | ||
WO2020208732A1 (ja) * | 2019-04-10 | 2020-10-15 | ヤマハ発動機株式会社 | リニア駆動装置及び部品実装用ヘッド |
JP7231715B2 (ja) | 2019-04-10 | 2023-03-01 | ヤマハ発動機株式会社 | リニア駆動装置及び部品実装用ヘッド |
Also Published As
Publication number | Publication date |
---|---|
US7659641B2 (en) | 2010-02-09 |
KR20070021184A (ko) | 2007-02-22 |
JPWO2005122369A1 (ja) | 2008-04-10 |
JP4702629B2 (ja) | 2011-06-15 |
US20070096567A1 (en) | 2007-05-03 |
CN1965460A (zh) | 2007-05-16 |
KR101066357B1 (ko) | 2011-09-20 |
TWI362162B (ja) | 2012-04-11 |
CN100553085C (zh) | 2009-10-21 |
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