WO2009101852A1 - リニアモータ - Google Patents

リニアモータ Download PDF

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Publication number
WO2009101852A1
WO2009101852A1 PCT/JP2009/051081 JP2009051081W WO2009101852A1 WO 2009101852 A1 WO2009101852 A1 WO 2009101852A1 JP 2009051081 W JP2009051081 W JP 2009051081W WO 2009101852 A1 WO2009101852 A1 WO 2009101852A1
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WO
WIPO (PCT)
Prior art keywords
coil
field magnet
coils
linear motor
bobbin
Prior art date
Application number
PCT/JP2009/051081
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
Toshiyuki Aso
Shuhei Yamanaka
Original Assignee
Thk Co., Ltd.
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 Thk Co., Ltd. filed Critical Thk Co., Ltd.
Priority to CN200980104631.5A priority Critical patent/CN101939897B/zh
Priority to DE112009000359T priority patent/DE112009000359T5/de
Priority to JP2009553386A priority patent/JP5444008B2/ja
Publication of WO2009101852A1 publication Critical patent/WO2009101852A1/ja

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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
    • H02K9/00—Arrangements for cooling or ventilating
    • H02K9/22—Arrangements for cooling or ventilating by solid heat conducting material embedded in, or arranged in contact with, the stator or rotor, e.g. heat bridges
    • H02K9/223—Heat bridges
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K3/00—Details of windings
    • H02K3/32—Windings characterised by the shape, form or construction of the insulation
    • H02K3/325—Windings characterised by the shape, form or construction of the insulation for windings on salient poles, such as claw-shaped poles
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K3/00—Details of windings
    • H02K3/46—Fastening of windings on the stator or rotor structure
    • H02K3/52—Fastening salient pole windings or connections thereto
    • H02K3/521—Fastening salient pole windings or connections thereto applicable to stators only
    • H02K3/522—Fastening salient pole windings or connections thereto applicable to stators only for generally annular cores with salient poles

Definitions

  • the present invention relates to a linear motor that obtains a thrust for linear motion by a magnetic field generated by a field magnet and a current flowing in a coil.
  • a linear motor is a flat type linear motor that faces a shape-like long plate-shaped field magnet via a gap, and a rod-type armature that surrounds a rod (shaft) -shaped field magnet with a cylindrical armature. It is divided into linear motors (also called shaft types).
  • a flat type linear motor the armature moves linearly relative to a field magnet formed in an elongated plate shape.
  • the field magnet is formed by arranging a plurality of flat magnets so that N and S poles are alternately formed on the surface.
  • the armature has U-, V-, and W-phase coils that face the field magnet through a magnetic clearance.
  • thrust for linear motion is generated by the magnetic field generated in the magnet and the current flowing in the coil (see, for example, Patent Document 1).
  • a flat type linear motor with a core in which a core is inserted into a coil is also known.
  • a cylindrical armature surrounding the rod moves linearly relative to a rod (shaft) in which N and S poles are alternately magnetized.
  • the armature has U, V, and W phase coils that are wound around a field magnet through a magnetic clearance.
  • the U, V, and W phase coils are arranged in the axial direction of the rod.
  • Linear motors are required to generate large thrust while being compact.
  • the thrust of the linear motor is proportional to the product of the magnetic flux density B generated in the magnet and the current I flowing through the coil. For this reason, the thrust can be increased by increasing the magnetic flux density B of the magnet or by increasing the current I flowing through the coil.
  • ferrite magnets In order to increase the magnetic flux density of magnets, in the history of linear motors, ferrite magnets have been changed to rare earth magnets. However, there is a limit to increasing the magnetic flux density of the magnet, and it is difficult to increase the magnetic flux density B beyond this limit.
  • Thrust can be increased even if the current I flowing through the coil is increased. However, it is necessary to increase the current flowing through the coil while preventing the coil from generating heat. This is because the coil conductor has resistance, and when a large current is passed through the coil, Joule heat proportional to the square of the current is generated. If the temperature of the coil continues to rise due to Joule heat, the insulating coating of the conductive wires melts and the conductive wires are not insulated from each other. If the conductive wires are not insulated from each other, this is equivalent to a reduction in the number of turns of the coil, and the thrust of the linear motor proportional to the number of turns of the coil is reduced. For this reason, the current flowing through the coil is limited to a temperature at which the insulating coating of the conducting wire does not melt. The ability to prevent the coil from generating heat is also closely related to the ability to increase the thrust generated by the motor.
  • fins are formed in a housing that covers the coil and a core that is inserted into the coil, and heat is released from the fin to the atmosphere. If the heat generated from the coil can be released, it is possible to prevent the coil temperature from rising even if the coil itself generates a large amount of heat. JP 2006-074975 A JP 2002-354780 A
  • the fins are formed in the coil housing and core, and the method of releasing heat has been devised structurally, so that the cooling efficiency cannot be improved any more.
  • an object of the present invention is to provide a new linear motor that can generate a higher thrust while being compact.
  • the invention according to claim 1 obtains a thrust force for the coil to move linearly relative to the field magnet by the magnetic field generated in the field magnet and the current flowing in the coil.
  • a linear motor in which N poles and S poles are alternately arranged in the linearly moving direction, a plurality of coils opposed to the field magnets through a gap, and each of the plurality of coils
  • a core having a plurality of comb teeth to be inserted, and an armature having a bobbin interposed between each coil and each comb tooth, the bobbin being an insulator and having a thermal conductivity of 2 W / (M ⁇ K) or more is a linear motor.
  • a linear motor that obtains thrust for linearly moving the coil relative to the field magnet by a magnetic field generated in the field magnet and a current flowing through the coil.
  • a field magnet in which the S poles are alternately arranged in the linearly moving direction, a plurality of coils opposed to the field magnet through a gap, and a plurality of comb teeth inserted into each of the plurality of coils.
  • an armature having a molded body that covers the plurality of coils and that couples the plurality of coils to the core.
  • the molded body is an insulator and has a thermal conductivity of 2 W / ( m ⁇ K) or more.
  • a linear motor for obtaining a thrust for linearly moving the coil relative to the field magnet by a magnetic field generated in the field magnet and a current flowing through the coil.
  • a field magnet arranged alternately in the direction in which the S poles linearly move, a plurality of coils surrounding the field magnet, and an armature having a molded body covering the plurality of coils,
  • the molded body is an insulator and a linear motor having a thermal conductivity of 2 W / (m ⁇ K) or more.
  • a linear motor that obtains thrust for linearly moving the coil relative to the field magnet by a magnetic field generated in the field magnet and a current flowing through the coil.
  • a field magnet in which S poles are alternately arranged in the linearly moving direction, a plurality of coils provided around the field magnet via gaps, and a coil holder for holding the plurality of coils.
  • An armature, and the coil holder includes a holder main body portion extending over the plurality of coils in the linearly moving direction, and a plurality of spacer portions interposed between adjacent coils.
  • a linear motor that is an insulator and has a thermal conductivity of 2 W / (m ⁇ K) or more.
  • the invention according to claim 5 is the linear motor according to any one of claims 1 to 4, wherein the bobbin, the coil holder, or the molded body has an insulating metal oxide having a plurality of different average particle diameters. It is characterized by mixing physical particles with resin.
  • the bobbin, the coil holder, or the molded body is formed by injection molding a thermoplastic resin in which the insulating metal oxide particles are mixed. It is manufactured by doing.
  • the invention according to claim 7 is the linear motor according to claim 5, wherein the molded body is manufactured by casting a thermosetting resin mixed with the insulating metal oxide particles into a mold. It is characterized by that.
  • the invention according to claim 8 is the linear motor according to any one of claims 1 to 7, wherein a linear expansion coefficient of the bobbin, the coil holder, or the molded body is 10 ⁇ 10 ⁇ 6 or more and 30 ⁇ 10. -6 or less.
  • one of the systems that releases heat generated from the coil is a system that releases the heat from the coil to the core via the bobbin.
  • the bobbin is an insulator interposed between the coil and the core comb teeth, and has a role of insulating the coil from the core comb teeth.
  • the thermal conductivity is more than ten times that of the bobbin made of insulating paper. The heat generated from the coil can be effectively released to the core. Therefore, the current flowing through the coil and the thrust of the linear motor can be improved.
  • ⁇ In flat type linear motors another system that releases heat generated from the coil is a system that releases the heat from the coil through the molded body to the atmosphere.
  • the molded body has a role of covering the coil and coupling the coil to the core.
  • an insulating material having a thermal conductivity of 2 W / (m ⁇ K) or more is used for the molded body, the thermal conductivity is 10 times or more compared to the molded body made of resin. The heat generated from the coil can be effectively released to the atmosphere. Therefore, the current flowing through the coil and the thrust of the linear motor can be improved.
  • one of the systems that releases heat generated from a coil is a system that releases the heat from the coil to the atmosphere through a molded body.
  • the molded body has a role of covering the coil and a role of a housing.
  • an insulating material having a thermal conductivity of 2 W / (m ⁇ K) or more is used for the molded body, the thermal conductivity is 10 times or more compared to the molded body made of resin. The heat generated from the coil can be effectively released to the atmosphere. Therefore, the current flowing through the coil and the thrust of the linear motor can be improved.
  • one of the systems that releases heat generated from the coil is a system that releases the heat from the coil to the coil holder.
  • the coil holder serves to hold the coil and insulate adjacent coils.
  • the thermal conductivity is more than ten times that of the resin coil holder. The heat generated from the coil can be effectively released to the coil holder. Therefore, the current flowing through the coil and the thrust of the linear motor can be improved.
  • the resin gap between the large-diameter metal oxide particles is reduced with the small-diameter metal oxide.
  • the linear expansion coefficient of the bobbin, the coil holder, or the molded body is one digit smaller than the linear expansion coefficient of the resin (120 ⁇ 10 ⁇ 6 ), and the steel (11 to 13 ⁇ 10 ⁇ 6 ), copper (19 to 20 ⁇ 10 ⁇ 6 ), aluminum (22 to 23 ⁇ 10 ⁇ 6 ), etc. Since the elongation of the bobbin, the coil holder, or the molded body and the elongation of the coil and the core when the temperature rises can be made substantially equal, these contacts can be maintained. Therefore, it is possible to prevent a vacuum gap or an air layer from being generated between them due to the temperature rise, making it difficult to transfer heat.
  • FIG. 1st embodiment of this invention Front view of the linear motor of FIG. Top view of field magnet Perspective view of armature Sectional view along the armature movement direction
  • Bobbin perspective view Frame used for casting Graph showing the relationship between particle diameter and mass% of metal oxide Schematic diagram of enlarged sectional view of bobbin
  • Field magnet 3 ... Coil 9 ... Armature 11 ... Core 11a-11c ... Comb 14 ... Bobbin 16 ... Molded body 21 ... Rod 22 ... Molded body (housing) 23 ... Field magnet 24 ... Coil 25 ... Coil holder
  • FIG. 1 and 2 show a flat type linear motor in a first embodiment of the present invention.
  • 1 shows a perspective view
  • FIG. 2 shows a front view.
  • the linear motor of this embodiment is a uniaxial actuator and is used to move a moving body such as a table in a uniaxial direction.
  • a plate-like field magnet 2 is provided on the elongated base 1 as a stator of the linear motor.
  • the coil 3 of the armature 9 of the linear motor faces the field magnet 2.
  • the armature 9 moves linearly with respect to the field magnet 2 by the thrust generated by the action of the current flowing in the coil 3 of the armature 9 and the magnetic field of the field magnet 2.
  • a magnetic gap g is provided between the field magnet 2 and the armature 9. Even when the armature 9 moves relative to the field magnet 2, the gap g is maintained constant.
  • the base 1 is elongated in the linear motion direction of the armature 9.
  • the base 1 has a rectangular bottom plate 1a and a pair of side wall portions 1b provided at both ends in the width direction of the bottom plate 1a.
  • a linear guide rail 5 is attached to each of the upper surfaces of the pair of side wall portions 1b.
  • the rail 5 elongates substantially over the entire length in the length direction of the side wall 1b.
  • rolling element rolling grooves are formed along the rail 5 in which rolling elements such as balls and rollers of the block 6 of the linear guide roll.
  • the field magnet 2 On the upper surface of the bottom plate 1a of the base 1, there is provided a field magnet 2 in which N poles and S poles are alternately formed in the linear motion direction of the armature 9.
  • the field magnet 2 has a plurality of parallelogram plate magnets 19 arranged in a line.
  • Each plate magnet 19 is magnetized with an N pole and an S pole in a direction perpendicular to the length direction of the field magnet 2 (a direction perpendicular to the paper surface in the figure).
  • the magnetic poles on the surface of the plate magnet 19 are opposite to the magnetic poles of the adjacent plate magnets 19 so that N poles and S poles are alternately formed in the length direction of the field magnet 2.
  • a linear guide block 6 is slidably mounted on each of the pair of left and right rails 5.
  • a gate-shaped coupling top plate 7 straddles the left and right blocks 6.
  • An armature 9 is suspended from the lower surface of the coupling top plate 7.
  • the combined top plate 7 includes a ceiling portion 7a that is elongated in the width direction, and a pair of leg portions 7b that are provided at both ends in the width direction of the ceiling portion 7a and hang downward.
  • a linear guide block 6 is attached to the lower end of the leg 7b.
  • An armature 9 is attached to the lower surface of the ceiling portion 7a.
  • a moving body is attached to the upper surface of the ceiling part 7a.
  • the block 6 is formed in a bowl shape straddling the rail 5.
  • two blocks 6 are assembled to one rail 5.
  • a load rolling element rolling groove facing the rolling element rolling groove of the rail 5 is formed, and a circuit-like rolling element circulation path for circulating the rolling element is provided.
  • a plurality of rolling elements are arranged and accommodated in the rolling element circulation path of the block 6.
  • the rolling element interposed between the rolling element rolling groove of the rail 5 and the loaded rolling element rolling groove of the block 6 performs rolling motion.
  • the rolling elements circulate in a circuit-like rolling element circulation path.
  • the rolling resistance of the rolling element reduces the frictional resistance when the block 6 slides with respect to the rail 5.
  • FIG. 4 and 5 show detailed views of the armature 9.
  • FIG. The armature 9 is a three-phase coil 3 (3a, 3b, 3c) facing the field magnet 2, a core 11 for strengthening the magnetic field generated in the coil 3, and heat generated from the coil 3 to escape to the atmosphere.
  • Heat sink 12
  • the coil 3 is formed by winding a conductive wire around the comb teeth 11 a, 11 b, 11 c of the core 11 (more precisely, the bobbin 14 covering the comb teeth), and is formed in an annular shape elongated in the width direction of the armature 9. .
  • the three-phase coils 3a, 3b, 3c are arranged adjacent to each other in the linear motion direction of the armature 6.
  • a three-phase alternating current having a phase difference of 120 ° is applied to the three-phase coils 3a, 3b, and 3c composed of U, V, and W phases, a moving magnetic field is generated in the direction in which the armature 9 moves linearly.
  • the current flowing through the coil 3 is controlled by a control device (not shown).
  • a linear scale for detecting the position of the armature 6 is attached to the base 1.
  • the control device feeds back the position information and speed information of the armature 9 detected by the linear scale, calculates the difference from the target value, and the three-phase coil 3a so that the position and speed of the armature 9 approaches the target value. , 3b, 3c.
  • the core 11 includes a plate-like base plate 11d that extends in the arrangement direction of the plurality of coils 3, and a plurality of comb teeth 11a, 11b that protrude from the base plate 11d toward the inside of the three-phase coils 3a, 3b, 3c. , 11c.
  • the upper surface of the base plate 11 d contacts the lower surface of the heat sink 12.
  • the plurality of 11a, 11b, and 11c protrude in a direction orthogonal to the base plate 11d.
  • the material of the core 11 is a magnetic material such as silicon steel.
  • the heat sink 12 is formed in a substantially cubic shape, and a plurality of grooves 12a extending in the traveling direction of the armature 9 are formed on the upper surface thereof. By forming the plurality of grooves 12 a, cooling fins that increase the surface area are formed on the upper surface of the heat sink 12.
  • the heat sink 12 is made of aluminum or aluminum alloy having a high thermal conductivity.
  • FIG. 6 shows a perspective view of the armature 9 in an inverted state (the coil 3 is cut along the moving direction of the armature 9 in order to make the bobbin 14 easy to see).
  • the coil 3 is formed by annularly winding a conductive wire coated with an insulating film around copper. Insulation between the conducting wires is maintained by an insulating film covering the outside. However, when the coil 3 is inserted into the comb teeth 11a to 11c, it is considered that the coil 3 and the comb teeth 11a to 11c are not insulated by the insulating film of the conductive wire.
  • FIG. 7 shows a perspective view of the bobbin 14.
  • the bobbin 14 includes a frame-shaped bobbin main body 14a surrounding the periphery of the comb teeth, and a flange 14b provided at an end of the bobbin main body 14a in the axial direction.
  • the flange portion 14b is interposed between the end face in the axial direction of the coil 3 and the base plate 11d of the core 11, and insulates them.
  • insulating paper called Nomex (registered trademark) paper has been used for insulating purposes. It is a paper with an insulation capacity of several thousand volts with a thickness of several tens of ⁇ m, and an excellent insulation ability even when it is thin.
  • the insulating paper When insulating paper is used, the insulating paper is wound around the comb teeth 11a to 11c, and the coil 3 is wound around the insulating paper. However, the insulating paper cannot be wound around the comb teeth 11a to 11c unless it is manually performed. Since the operation of winding the insulating paper is troublesome, a molded bobbin 14 that completely covers the periphery of the comb teeth 11a to 11c is used instead of the insulating paper. After the coil 3 is wound around the bobbin 14, the bobbin 14 is fitted on the comb teeth. By making the bobbin 14 an insulator, the coil 3 and the comb teeth 11a to 11c can be insulated.
  • the bobbin 14 Since it is a molded product, the bobbin 14 has a thickness of 0.2 mm, 0.3 mm, 0.5 mm or the like at a minimum. If the bobbin 14 is injection-molded with a heat-resistant liquid crystal polymer (thermal conductivity of about 0.2 W / (m ⁇ K)), the thermal conductivity is low and the thickness is increased, so that the thermal resistance is increased. When the thermal resistance of the bobbin 14 increases, the heat of the coil 3 cannot be released to the core 11. For this reason, the bobbin 14 is made of a material having a thermal conductivity of 2 W / (m ⁇ K) or more, preferably 6 W / (m ⁇ K) or more.
  • Coil 3 and bobbin 14 are in contact.
  • the bobbin 14 and the core 11 are in contact with each other, and the core 11 and the heat sink 12 are also in contact with each other.
  • the heat generated from the coil 3 is transmitted to the bobbin 14, the core 11, and the heat sink 12 and is released from the cooling fins of the heat sink 12 to the atmosphere.
  • the thermal conductivity of the bobbin 14 is 2 W / (m ⁇ K) or more
  • the thrust more than that obtained when the insulating paper having a thickness of about 1/10 of the bobbin 14 is wound is obtained. If the generated thrust is the same, the heat generation of the coil 11 can be suppressed, so that the effect of heat such as thermal expansion becomes a problem, and it is effective in applications that require high accuracy such as not wanting to raise the temperature much.
  • the material of the bobbin 14 is a molding material obtained by mixing insulating metal oxide particles with a thermoplastic resin as a filler.
  • the bobbin 14 is manufactured by injection molding a thermoplastic resin mixed with metal oxide particles.
  • the metal oxide particles include small-sized metal oxide particles B classified so that the average particle diameter is in the range of 0.5 to 2 ⁇ m, and the average particle diameter is in the range of 5 to 20 ⁇ m. And mixed with large-sized metal oxide particles A classified as described above.
  • the particle size of the metal oxide particles B is about 1/10 of the particle size of the metal oxide particles A.
  • the metal oxide particles B may be further mixed with metal oxide particles C having a particle size of about 1/10.
  • the mass% of the overlapping portion d of the distribution of the metal oxide particles A and the metal oxide particles B is 40% or less, preferably 1% or less. When it is 1% or less, the distribution of the metal oxide particles A and the distribution of the metal oxide particles B hardly overlap each other, and the entire distribution curve becomes discontinuous.
  • the resin gap between the large-diameter metal oxide particles A is reduced by the small-diameter metal oxide particles B. Buried. For this reason, the filling rate of the metal oxide particles A and B can be increased. Since heat can be transmitted through the metal oxide particles A and B having an increased filling rate, the thermal conductivity is improved.
  • the particle diameter of the metal oxide is smaller than 0.5 ⁇ m, the agglomeration state of particles (some particles become lumpy and clumped) becomes remarkable, and the dispersion efficiency deteriorates. As a result, the heat conduction efficiency deteriorates, which is not preferable.
  • the particle diameter is larger than 20 ⁇ m
  • the thin-wall formability is impaired, and only a product having a large thickness can be produced.
  • the thermal resistance increases, which is not preferable.
  • the member through which heat is passed must be thin. No matter how good the heat conduction is, if the thickness of the material is large, the thermal resistance increases as a result, and the heat dissipation effect is impaired.
  • Insulating metal oxide particles include aluminum oxide (Al 2 O 3 ), silica (SiO 2 ), zirconia (ZrO 2 ), titanium oxide (TiO 2 ), magnesium oxide (MgO), and mullite (3Al 2 O 3 ⁇ 2SiO 2 ), zircon (especially ZrO 2 ⁇ SiO 2 ), cordierite (2MgO ⁇ 2Al 2 O 3 ⁇ 5SiO 2 ), manganese oxide (MnO 2 ), iron oxide (Fe 2 O 3 ), cobalt oxide ( CoO) and the like can be mentioned, but are not limited to these metal oxides.
  • those having a thermal conductivity of 1 W / (m ⁇ K) or more such as silicon nitride (Si 3 N 4 ), carbonized Silicon (SiC), boron nitride (BN), aluminum nitride (AlN), or the like can also be used.
  • the volume% of the metal oxide particles with respect to the total volume of the molding material is at least 50% or more, and is preferably in the range of 55 to 65%. Below 50% by volume, the thermal conductivity decreases dramatically. If it exceeds 50% by volume, the thermal conductivity starts to improve, but the range of 55% to 65% is an appropriate range for achieving both fluidity and thermal conductivity in injection molding. If it exceeds 65% by volume, the molding fluidity is extremely lowered, which causes problems such as the inability to form a thin wall and the inability to form a complex three-dimensional shape.
  • thermoplastic resin refers to a synthetic resin that can be melt-molded. Specific examples thereof include non-liquid crystalline polyesters such as non-liquid crystalline semi-aromatic polyesters and non-liquid crystalline fully aromatic polyesters, and liquid crystal polymers (liquid crystalline polyesters).
  • Liquid crystalline polyester amide, etc. polycarbonate, aliphatic polyamide, aliphatic-aromatic polyamide, wholly aromatic polyamide, polyamide, polyoxymethylene, polyimide, polyamide, polybenzimidazole, polyketone, polyetheretherketone, polyether Olefins such as ketone, polyethersulfone, polyetherimide, modified polyphenylene ether, polysulfone, polyarylene sulfide, polypropylene and polyethylene, and olefins such as ethylene / propylene copolymer Examples thereof include one or a mixture of two or more selected from polymers, styrene copolymers such as ABS, AS, and polystyrene, methacrylic resins, polyester ether elastomers, polyester elastomers, polyamide elastomers, and the like. 6 nylon, PPS, LCP or PET is used.
  • the electrical insulation property of the thermoplastic resin is preferably a specific resistance of 10 12 ⁇ ⁇ cm or more and a dielectric breakdown strength of 10 kV / mm or more, and the thermal conductivity is at least 1 W / (m ⁇ K) to the maximum. Then, about 20 W / (m ⁇ K) is desirable.
  • the thermal conductivity is 2 W / (m ⁇ K) or more, for example, 6 W / (m ⁇ K), 8 W / (m ⁇ K). , 10 W / (m ⁇ K),..., Up to 20 W / (m ⁇ K) bobbins 14 can be manufactured.
  • the bobbin 14 around which the coils 3a to 3c are wound is fixed to the comb teeth 11a to 11c of the core 11 by an adhesive.
  • the adhesive alone, the bond is unstable and there is no confidence that the bobbin 14 is completely fixed to the core 11. If the adhesion between the coil 3 and the core 11 is insufficient, there arises a problem that the coil 3 moves relative to the core 11 when a current is passed through the coil 3. For this reason, after bonding the bobbin 14 to the core 11, the core 11, the bobbin 14, and the coil 3 are integrally formed with the molded body 16.
  • the coil 3 is covered with the molded body 16 so as not to be exposed.
  • the molded body 16 In order to securely fix the coil 3 to the core 11, the molded body 16 needs to have mechanical strength. Moreover, the molded body 16 must be an insulator. This is because a current may be transmitted from the coil 3 to the field magnet 2 that is a conductor, or a current may be transmitted from the coil 3 to the tips of the comb teeth 11a to 11c by bypassing the bobbin 14. .
  • the molded body 16 is an insulator, the heat dissipation characteristics of the molded body 16 tend to deteriorate. If the heat dissipation characteristics of the molded body 16 are poor, the heat generated by the coil 3 accumulates inside the molded body 16 and the temperature of the coil 3 rises. For this reason, it is necessary to improve the heat dissipation characteristics of the molded body 16 and to release the heat of the coil 3 to the atmosphere.
  • the material of the molded body 16 is a molding material obtained by mixing insulating metal oxide particles with a thermoplastic resin as a filler, like the bobbin 14.
  • the molded body 16 is manufactured by injection molding a thermoplastic resin mixed with insulating metal oxide particles, or a thermosetting resin mixed with insulating metal oxide particles is formed into a frame shape. It is manufactured by casting into a mold 17 (see FIG. 8).
  • thermosetting resin used when casting a molded body is a substance having a linear polymer structure that softens when heated and hardens when cooled. Examples thereof include one or a mixture of two or more selected from epoxy resins, polyurethanes, phenol resins, urea resins (urea resins), and melamine resins.
  • the thermal conductivity is 2 W / (m ⁇ K) by injection molding the thermoplastic resin mixed with the metal oxide particles described above or casting the thermosetting resin mixed with the metal oxide particles. )
  • the thermal conductivity is 2 W / (m ⁇ K) by injection molding the thermoplastic resin mixed with the metal oxide particles described above or casting the thermosetting resin mixed with the metal oxide particles.
  • the current flowing through the coil 3 can be increased to about 1.4 times (current 1).
  • the temperature of the coil 3 does not change even if it is multiplied by 4), and the thrust of the flat type linear motor can be increased to about 1.4 times.
  • the improvement of thrust by 40% is an epoch-making thing.
  • the linear expansion coefficient (flow / right angle) of the bobbin 14 and the molded body 16 is set to 10 ⁇ 10 ⁇ 6 or more and 30 ⁇ 10 ⁇ 6 or less.
  • FIG. 11 shows a perspective view of a rod type linear motor according to the second embodiment of the present invention.
  • the linear motor of this embodiment is a uniaxial actuator in which a rod 21 (shaft) moves in the axial direction with respect to a molded body (housing) 22 and is used to move a movable body such as an electronic component in a uniaxial direction. .
  • a movable body such as an electronic component in a uniaxial direction.
  • This linear motor may be used with only one axis, or a plurality of linear motors may be combined in parallel to be used as a multi-axis actuator in order to increase work efficiency.
  • the linear motor obtains a force for causing the rod 21 to linearly move by the magnetic field of the field magnet 23 and the current flowing through the coil 24.
  • the periphery of the rod 21 is surrounded by a plurality of coils 24 stacked in the axial direction. In other words, the rod 21 penetrates the laminated coil 24.
  • FIG. 12 shows the positional relationship between the field magnet 23 and the coil 24 of the linear motor.
  • a plurality of disk-shaped magnets 31 as the field magnets 23 are opposed to each other, that is, the N pole and the N pole are the S pole and the S pole.
  • a plurality of coils 24 surrounding the rod 21 are stacked around the rod 21.
  • the plurality of coils 24 is composed of a three-phase coil composed of U, V, and W phases.
  • the rod 21 of the linear motor is supported by the molded body 22 so as to be movable in the axial direction of the rod 21.
  • the coil unit is held by a coil holder 25, and the coil unit and the coil holder 25 are covered with a molded body 22.
  • the rod 21 is made of a nonmagnetic material such as stainless steel and has a hollow space like a pipe. As described above, a plurality of cylindrical magnets 31 (segment magnets) are stacked in the hollow space of the rod 21 so that the same poles face each other. A pole shoe 27 (magnetic pole block) made of a magnetic material such as iron is interposed between the magnets 31. By interposing the pole shoe 27, the magnetic field formed by the field magnet 23 can be brought close to a sine wave.
  • the coil 24 is formed by winding a conductive wire in a spiral shape and is held by a coil holder 25.
  • the coil 24 and the coil holder 25 are covered with the molded body 22.
  • a plurality of fins 22a are formed on the molded body 22 in order to improve heat dissipation characteristics.
  • the molded body 22 is processed with a screw 22b for attaching to the mating part. Since it is attached to the mating part, the molded body 22 is required to have high mechanical strength. Since it is necessary to maintain insulation from the coil 24, the molded body 22 is required to have high insulation.
  • the material of the molded body 22 is a molding material formed by mixing insulating metal oxide particles into a thermoplastic resin as a filler, as in the molded body of the first embodiment.
  • the molded body 22 is manufactured by injection molding a thermoplastic resin in which insulating metal oxide particles are mixed.
  • the molded body 22 is formed integrally with the coil 24 and the coil holder 25 by insert molding in which the coil 24 and the coil holder 25 are set in an injection mold and a molding material is flowed.
  • thermoplastic resin mixed with metal oxide particles
  • the thermal conductivity is 2 W / (m ⁇ K) or more, for example, 6 W / (m ⁇ K), 8 W / (m ⁇ K), 10 W / ( m ⁇ K),..., 20 W / (m ⁇ K) at maximum.
  • the rod 21 is in a floating state in the coil 24 during operation of the linear motor.
  • a metal bush 28 is provided in order to support the linear motion of the rod 21, .
  • the bush 28 is fixed to end members 29 provided at both ends of the molded body 22.
  • FIG. 13 shows the coil unit held by the coil holder 25.
  • the coil unit is formed by laminating a plurality of, for example, several tens, one coil 24 in which a conductive wire is spirally wound.
  • the lead wires 24a of the coils 24 must be connected one by one.
  • An insulating substrate 26 is used to simplify the wiring of the lead wires 24a of the coil 24.
  • a conductive pattern for wiring the plurality of coils 24 is formed on the insulating substrate 26. The conductive pattern is formed so as to connect coils of U phases, coils of V phases, and coils of W phases.
  • FIG. 14 is a detailed view of the coil holder 25 that holds the coil 24. Since adjacent coils 24 need to be insulated from each other, a resin spacer 25b is interposed between the coils 24.
  • the spacer portion 25 b is formed in an annular shape like the front shape of the coil 24.
  • the spacer portion 25b is formed integrally with a plate-shaped holder main body portion 25a that extends in the direction in which the coils 24 are arranged.
  • the length of the coil 24 in the arrangement direction of the holder main body 25a is substantially equal to the entire length of the coil unit, and the lateral width is substantially equal to the diameter of the coil 24.
  • An insulating substrate 26 is attached to the upper surface of the holder body 25a. Further, a projection 25c (see FIG. 13) for fixing the coil holder 25 to the mold when injection molding is provided on the side surface of the holder main body 25a. This is to prevent the coil holder 25 from being displaced due to the pressure at the time of injection molding.
  • a curved recess 25d that matches the outer shape of the coil 24 is formed.
  • the coil 24 has a lead wire 24a. In order to guide the lead wire 24 a to the through hole of the insulating substrate 26, a plurality of wiring holes are formed in the holder main body portion 25 a at the same position as the through hole of the insulating substrate 26.
  • the spacer portion 25b is formed in an annular shape like the front shape of the coil 24, and protrudes downward from the plate-like main body portion 25a.
  • the spacer portion 25b is interposed between all adjacent coils 24, and is also provided at both ends of the coil unit. Therefore, the number of spacer portions 25 b is one more than the number of coils 24.
  • the material of the coil holder 25 is a molding material obtained by mixing insulating metal oxide particles with a thermoplastic resin as a filler, as in the bobbin 14 of the first embodiment.
  • the coil is manufactured by injection molding a thermoplastic resin in which insulating metal oxide particles are mixed.
  • the configuration and type of metal oxide particles, the type of thermoplastic resin, and the thermal conductivity when the coil holder 25 is injection-molded are the same as when the bobbin 14 is injection-molded.
  • the thermal conductivity is 2 W / (m ⁇ K) or more, for example, 6 W / (m ⁇ K), 8 W / (m ⁇ K), 10 W / ( m ⁇ K),..., a maximum of 20 W / (m ⁇ K) coil holder 25 can be manufactured.
  • the current flowing through the coil can be increased to about 1.4 times (the current is 1).
  • the coil temperature does not change even if it is multiplied by 4), and the thrust of the rod type linear motor can be increased to about 1.4 times. That the thrust is improved by about 40% is an epoch-making thing.
  • the linear expansion coefficients (flow / right angle) of the coil holder 25 and the molded body 22 are set to 10 ⁇ 10 ⁇ 6 or more and 30 ⁇ 10 ⁇ 6 or less.
  • the linear expansion coefficients of the coil holder 25 and the molded body 22 are one digit smaller than the linear expansion coefficient of the resin (120 ⁇ 10 ⁇ 6 ), and are steel (11 to 13 ⁇ 10 ⁇ 6 ), copper (19 to 20 ⁇ 10 6 ). -6 ), close to the linear expansion coefficient of metals such as aluminum (22-23 ⁇ 10 -6 ). Since the elongation of the coil holder 25 and the molded body 22 and the elongation of the coil 24 when the temperature rises can be made substantially equal, these contacts can be maintained.
  • the molded body 22 also functions as an armature housing, and the molded body 22 is processed with a screw 22b (see FIG. 11) for attaching to a counterpart component. Even when the molded body 22 is attached to a metal counterpart such as aluminum, the extension of the mounting pitch of the screw 22b of the molded body 22 and the extension of the mounting pitch of the counterpart part can be made substantially equal. It is possible to prevent an excessive force from being applied to 22.
  • the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the scope of the present invention.
  • the armature moves linearly with respect to the field magnet, but the field magnet may move linearly.
  • the rod moves linearly with respect to the armature, but the armature may move linearly.
  • a molding material having a thermal conductivity of 6 W / (m ⁇ K) was used for the bobbin and the molded body.
  • the temperature of the coil 14 was measured when the current value I was changed to x1, x1.15, and x1.63.
  • FIG. 15 shows a graph of measurement results.
  • (A) shows the current value I ⁇ 1 times
  • (B) shows the current value I ⁇ 1.15 times
  • (C) shows the current value I ⁇ 1.63 times.
  • a liquid crystal polymer is used for the bobbin and an epoxy resin is used for the molded body.
  • the coil temperature can be suppressed by using a high thermal conductivity material for the bobbin and the molded body as in the present invention example. Further, as shown in (B) and (C) in the figure, the coil temperature (91.5 degrees) of the comparative example when the current value is I ⁇ 1.15 times, and the current value I ⁇ 1.63 times The temperature (91.2 degrees) of the coil of the example of the present invention is substantially equal. In the example of the present invention, it can be seen that an extra current can be applied up to 1.63 / 1.15 ⁇ 1.4 times compared to the comparative example.

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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)
  • Insulation, Fastening Of Motor, Generator Windings (AREA)
PCT/JP2009/051081 2008-02-14 2009-01-23 リニアモータ WO2009101852A1 (ja)

Priority Applications (3)

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CN200980104631.5A CN101939897B (zh) 2008-02-14 2009-01-23 线性电动机
DE112009000359T DE112009000359T5 (de) 2008-02-14 2009-01-23 Linearmotor
JP2009553386A JP5444008B2 (ja) 2008-02-14 2009-01-23 リニアモータ

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JP2008032518 2008-02-14
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US20170141656A1 (en) * 2014-03-28 2017-05-18 Fuji Machine Mfg. Co., Ltd. Linear motor heat dissipation structure
JP7442469B2 (ja) 2021-01-27 2024-03-04 Ｊｆｅテクノリサーチ株式会社 磁石損失測定システム及び磁石損失測定方法

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JP2013026268A (ja) * 2011-07-15 2013-02-04 Hitachi High-Tech Instruments Co Ltd ２軸駆動機構及びダイボンダ
JP5542894B2 (ja) * 2012-10-26 2014-07-09 三菱電機株式会社 回転電機の固定子製造方法
TWI558067B (zh) * 2015-09-18 2016-11-11 財團法人工業技術研究院 一種電機繞線框架結構
CN115371605A (zh) 2016-04-08 2022-11-22 瑞尼斯豪公司 坐标定位机器
DE102016122612A1 (de) 2016-11-23 2018-05-24 Kessler energy GmbH Motorkomponente, Primärteil und Linearmotor
JP2022116950A (ja) * 2021-01-29 2022-08-10 日本電産サンキョー株式会社 アクチュエータ

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JPH0616239A (ja) * 1992-06-29 1994-01-25 Hitachi Ltd 磁気浮上搬送装置
JPH07312839A (ja) * 1994-05-16 1995-11-28 Mitsubishi Electric Corp 交流発電機用コイル装置
JPH09154272A (ja) * 1995-11-28 1997-06-10 Nippon Seiko Kk リニアモータの冷却構造
JP2001128438A (ja) * 1999-10-28 2001-05-11 Sodick Co Ltd リニアモータおよびその製造方法
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Publication number Priority date Publication date Assignee Title
US20170141656A1 (en) * 2014-03-28 2017-05-18 Fuji Machine Mfg. Co., Ltd. Linear motor heat dissipation structure
JP7442469B2 (ja) 2021-01-27 2024-03-04 Ｊｆｅテクノリサーチ株式会社 磁石損失測定システム及び磁石損失測定方法

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TWI482398B (zh) 2015-04-21
CN101939897B (zh) 2014-03-12
JP5444008B2 (ja) 2014-03-19
JPWO2009101852A1 (ja) 2011-06-09
CN101939897A (zh) 2011-01-05
DE112009000359T5 (de) 2011-01-20

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