WO2010038325A1 - 磁石可動型リニアモータ - Google Patents
磁石可動型リニアモータ Download PDFInfo
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- WO2010038325A1 WO2010038325A1 PCT/JP2008/073044 JP2008073044W WO2010038325A1 WO 2010038325 A1 WO2010038325 A1 WO 2010038325A1 JP 2008073044 W JP2008073044 W JP 2008073044W WO 2010038325 A1 WO2010038325 A1 WO 2010038325A1
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- stator
- linear motor
- movable
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- mover
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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
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- 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
- H02K41/031—Synchronous motors; Motors moving step by step; Reluctance motors of the permanent magnet type
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K16/00—Machines with more than one rotor or stator
- H02K16/02—Machines with one stator and two or more rotors
-
- 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
- H02K3/47—Air-gap windings, i.e. iron-free windings
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- 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
- H02K7/08—Structural association with bearings
Definitions
- the present invention relates to a linear motor, and more particularly to a magnet-movable linear motor that drives a load in one direction along a track.
- a magnet-movable linear motor in which a coreless coil or a core coil is disposed on the stator side and a permanent magnet is disposed on the mover side does not require expensive magnets to be arranged on a long track. Since no heat is generated and it is not necessary to supply power to the movable element side, it is widely applied as a drive source for a transport mechanism having a particularly long track.
- FIG. 5 shows a double-sided magnet movable linear motor that conveys an object and a load along a track on the base (8).
- a coil body (80) in which a plurality of coils are arranged in one direction is supported on a base (8) via a support member (81), and the coil body (80)
- the stator is configured by.
- a U-shaped yoke (9) surrounding the coil body (80) is movably supported via a wheel (93).
- a plurality of permanent magnets (91) and (92) are fixed on both sides of the coil body (80), and the mover is formed by the yoke (9) and the plurality of permanent magnets (91) and (92).
- a moving magnetic field is formed by flowing a multiphase alternating current through the coils constituting the stator, and this causes a thrust in the same direction as the moving magnetic field to be generated in the mover.
- the load can be conveyed in one direction by connecting the load to the yoke (9) constituting the mover.
- the yoke (9) has a shape in which the upper and lower horizontal wall portions (9a) and (9b) are connected by the vertical wall (9c). Only the base end portion (83) of the coil body (80) is connected to the support member (81), and the tip end portion (82) must be a free end. In such a one-end support structure, the support strength of the coil body (80) greatly decreases as the coil body (80) becomes thinner.
- the stator composed of the coil body (80) may be deformed by the influence of the temperature rise accompanying power supply and the reaction force against the thrust.
- the stator comes into contact with the mover while the mover is moving, and the coil is damaged or short-circuited. Therefore, conventionally, the entire coil is molded with resin or the like to increase the strength, but as a result, the magnetic gap is increased and the thrust is reduced.
- An object of the present invention is to provide a magnet movable linear motor capable of obtaining a larger thrust than before.
- the magnet movable linear motor is: A stator (7) having a both-end support structure in which a plurality of coils are arranged in one direction, and both ends in a direction orthogonal to the one direction are supported; A pair of movers (5), (6), each of which has a plurality of permanent magnets facing both surfaces of the stator (7), and is movable relative to each other along the one direction;
- the movable elements (5) and (6) are independently provided with a guide mechanism for guiding the movable elements in one direction so that either one of the movable elements (6) is connected to a load.
- each of the pair of movers (5) and (6) is configured by joining a yoke to the plurality of permanent magnets, or generating a suitable magnetic field by using the plurality of permanent magnets. They are arranged according to similar means.
- the mover portion to be arranged so as to sandwich the stator from both sides is separated into two, and a pair of movers (5), (6) on both sides of the stator.
- the pair of movable elements (5) and (6) can be moved relative to each other. Since the pair of movers (5) and (6) has a split structure, the stator (7) can adopt a both-end support structure in which both ends are connected to a fixing member.
- stator (7) Since the stator (7) has the both-end support structure in this way, the support strength is increased as compared with the conventional one-end support structure stator. Therefore, even if the stator (7) is affected by the reaction force against the temperature rise and thrust force caused by the power supply and other similar forces perpendicular to the direction of movement, the amount of deflection is small, and the limit of the amount of deflection is limited. Even if the distance between the movers (5) and (6) is narrowed, the mover (5) (6) and the stator (7) come into contact with each other during the movement of the movers (5) and (6). There is no fear.
- a moving magnetic field is formed on both sides of the stator (7) by passing a multiphase alternating current through a plurality of coils constituting the stator (7).
- the pair of movers (5) and (6) generate a thrust in the same direction as the moving magnetic field.
- the pair of movers (5) and (6) are separated from each other, they simultaneously receive the moving magnetic field in the same direction, so that they are respectively guided by the guide mechanism and moved in the same direction.
- the load can be moved by driving the mover (6). Since the other movable element (5) is not connected to a load, it moves freely as the one movable element (6) moves.
- both ends of the stator (7) are connected to a fixing member in a state where tension is applied in a direction orthogonal to the one direction.
- the tensile force is always applied to the stator (7), the amount of deformation in the bending direction due to the action of the external force is smaller than that when the tensile force is not applied, and the two movers are further reduced.
- the interval of (6) can be reduced.
- the stator (7) since the stator (7) has a both-ends support structure and exhibits high support strength, the stator (7) can be thinned. By reducing the distance between the movable elements (5) and (6), a larger thrust than before can be obtained.
- FIG. 1 is a sectional view of a magnet movable linear motor according to the present invention.
- FIG. 2 is a perspective view of a magnet movable linear motor according to the present invention.
- FIG. 3 is a perspective view of a magnet movable linear motor in which the mover is omitted.
- FIG. 4 is a perspective view showing the configuration of the stator.
- FIG. 5 is a sectional view of a conventional magnet movable linear motor.
- the magnet movable linear motor reciprocates a movable table (2) along a predetermined track on a base (1). And a first mover (5) and a second mover (6) arranged on both upper and lower sides of the stator (7). . And the movable stand (2) is arrange
- stator (7) On the base (1), support members (11) and (11) are erected on the left and right sides of the stator (7) and the mover (5) and (6), and are fixed to the inside of each support member (11).
- a member (12) is provided, and both ends (7a) and (7a) of the stator (7) are supported over the entire length of the track by the fixing members (12) and (12) on both sides.
- the stator (7) is connected to the fixing members (12) and (12) in a state where a tensile force is applied by the fixing members (12) and (12) on both sides.
- a pair of left and right rails (31) and (31) extending along the predetermined track are arranged on the base (1), and both rails (31) and (31) are provided on both rails (31) and (31).
- Sliders (32) and (32) are slidably engaged with each other, and both sliders (32) and (32) are connected to the first movable element (5).
- the first guide mechanism (3) (3) for guiding the reciprocating movement of the first mover (5) is configured.
- a pair of left and right rails (41) (41) extending along the predetermined track is provided on both support members (11) (11), and sliders (42) are provided on both rails (41) (41). ) (42) is slidably engaged, and both sliders (42), (42) are connected to the movable base (2).
- the second guide mechanism (4) (4) for guiding the reciprocating movement of the movable base (2) and the second movable element (6) is configured.
- the stator (7) has plate-shaped U-phase, V-phase, and W-phase coil bodies (72), (73), and (74) that are long in the width direction as one coil set (71).
- a plurality of coil sets (71) are connected in the track direction.
- the plurality of coil bodies (72), (73), and (74) are electrically connected to each other by the connecting member (70).
- Each of the coil bodies (72), (73), and (74) adopts a structure formed from a strip made of aluminum or copper, or a structure in which a coil conductor is wound and molded into a plate shape with a resin or the like. I can do it.
- both ends of the stator (7) since the first mover (5) and the second mover (6) are separated from each other, both ends of the stator (7). It is possible to connect the portion to the fixing members (12) and (12) on both sides, thereby realizing a support structure for both ends of the stator (7). As a result, the support strength of the stator (7) is larger than that of the conventional one-end support structure. However, since the pulling force is always applied to the stator (7), the amount of bending due to the action of the external force is smaller than that when the pulling force is not applied. Therefore, even if the stator (7) is affected by the temperature rise accompanying power supply or the reaction force against the thrust, the amount of deflection is small.
- the both-sides system which has arrange
- the stator (7) can be made thinner so long as the stator (7) and the movers (5) (6) do not come into contact with each other during the movement of both the movers (5) and (6).
- the gap between the stator (7) and each movable element (5) (6) is narrowed.
- a moving magnetic field is formed on both sides of the stator (7) by passing a multiphase alternating current through a plurality of coils constituting the stator (7).
- the first movable element (5) and the second movable element (6) generate thrust in the same direction as the moving magnetic field.
- the first movable element (5) and the second movable element (6) are separated from each other, they simultaneously receive the moving magnetic field in the same direction, so that the first guide mechanism (3) and the second guide mechanism ( 4) will move in the same direction.
- the movable table (2) moves on the track.
- the first mover (5) moves freely as the second mover (6) moves.
- the stator (7) has a double-sided support structure and exhibits high support strength, so that the stator (7) can be thinned.
- the distance between the first movable element (5) and the second movable element (6) can be narrowed to obtain a larger thrust than in the prior art.
- the effective length of the stator (7) (the length in the width direction orthogonal to the track direction) can be increased, thereby improving the efficiency of use of the coils and the conveyance space constituting the stator (7). improves.
- each of the first mover (5) and the second mover (6) is not limited to an example in which yokes (52) (62) are joined to a plurality of permanent magnets (51) (61). It is also possible to adopt a configuration in which the permanent magnets are arranged in accordance with the Halbach arrangement, thereby omitting the yoke or replacing the yoke with a non-magnetic material.
- the magnet movable linear motor according to the present invention is not limited to a vehicle or carriage transport mechanism that reciprocates a load in a horizontal direction along a track, but is applied to a transport mechanism that reciprocates a load in a vertical direction such as an elevator. It is also possible to do. Furthermore, the present invention is not limited to a linear synchronous motor, and can also be implemented in a linear DC motor.
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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
磁石可動型のリニアモータには、固定子の両側に永久磁石を配置した両側方式と、固定子の片側にのみ磁石を配置した片側方式とがあり、両側方式によれば、固定子と可動子の間に発生する垂直力を相殺することが可能である。
該磁石可動型リニアモータにおいては、ベース(8)上に、複数のコイルを一方向に配列してなるコイル体(80)が支持部材(81)を介して支持され、該コイル体(80)によって固定子が構成されている。又、ベース(8)上には、コイル体(80)を包囲する断面U字状のヨーク(9)が車輪(93)を介して移動可能に支持され、該ヨーク(9)の内面には、コイル体(80)の両面にそれぞれ対向させて複数の永久磁石(91)(92)が固定されており、該ヨーク(9)と複数の永久磁石(91)(92)とによって可動子が構成されている(日本国公開特許公報2005-86858号、日本国特許公報第3698585号、日本国特許公報第3478084号、日本国特許公報第3387324号)。
そこで、図5に示す磁石可動型リニアモータにおいては、可動子を構成するヨーク(9)に負荷を連結することにより、該負荷を一方向に搬送することが出来る。
そこで従来より、コイル全体を樹脂等でモールドすることによって強度の増大を図ることも行なわれていたが、その結果、磁気ギャップの増大を招き、推力の低下を来たしていた。
複数のコイルを一方向に配列してなり、該一方向とは直交する方向の両端部が支持された両端支持構造の固定子(7)と、
前記固定子(7)の両面に対向してそれぞれ複数の永久磁石を配置してなり、前記一方向に沿って互いに相対移動が可能な一対の可動子(5)(6)と、
両可動子(5)(6)をそれぞれ独立に、前記一方向の移動が可能に案内する案内機構
とを具え、何れか一方の可動子(6)が負荷に連結されている。
一対の可動子(5)(6)が分割構造を有しているため、固定子(7)は、その両端部を固定部材に連結した両端支持構造を採用することが可能となっている。
従って、固定子(7)は、給電に伴う温度上昇や推力に対する反力や、その他運動方向に垂直な類似の力の影響を受けたとしても、撓み量は僅かであり、その撓み量の限度内で両可動子(5)(6)の間隔を狭めたとしても、可動子(5)(6)の移動中に該可動子(5)(6)と固定子(7)とが互いに接触する虞はない。
ここで、一対の可動子(5)(6)は互いに切り離されているが、同時に同じ方向の移動磁界を受けるため、それぞれ案内機構に案内されて同一方向に移動することになる。
該具体的構成によれば、固定子(7)に常に引っ張り力が作用しているため、外力の作用による撓み方向の変形量は、引っ張り力が作用しない場合よりも減少し、更に両可動子(5)(6)の間隔を狭めることが出来る。
(2) 可動台
(3) 第1ガイド機構
(4) 第2ガイド機構
(5) 第1可動子
(51) 永久磁石
(52) ヨーク
(6) 第2可動子
(61) 永久磁石
(62) ヨーク
(7) 固定子
(71) コイル組
(72) コイル体
(73) コイル体
(74) コイル体
本発明に係る磁石可動型リニアモータは、図1及び図2に示す如く、ベース(1)上にて可動台(2)を所定の軌道に沿って往復移動させるものであり、後述の如く複数のコイルを一方向に配列してなる固定子(7)と、該固定子(7)の上下両側に配備された第1可動子(5)及び第2可動子(6)とを具えている。
そして、第2可動子(6)上に可動台(2)が配備されている。
ここで、固定子(7)は、図3に示す如く、両側の固定部材(12)(12)によって引っ張り力を作用させた状態で固定部材(12)(12)に連結されている。
斯くして、第1可動子(5)の往復移動を案内する第1ガイド機構(3)(3)が構成される。
斯くして、可動台(2)及び第2可動子(6)の往復移動を案内する第2ガイド機構(4)(4)が構成される。
尚、複数のコイル体(72)(73)(74)はそれぞれ、アルミニウムや銅からなる帯板から形成する構成や、コイル導線を巻回したものを樹脂等で板状にモールドした構成を採用することが出来る。
この結果、従来の如き一端支持構造の固定子と比較して、固定子(7)の支持強度は大きなものとなっている。然も、固定子(7)に常に引っ張り力が作用しているため、外力の作用による撓み量は、引っ張り力が作用しない場合よりも減少することになる。
従って、固定子(7)は、給電に伴う温度上昇や推力に対する反力の影響を受けたとしても、撓み量は僅かである。
そこで、両可動子(5)(6)の移動中に固定子(7)と可動子(5)(6)とが互いに接触することのない限度内で、固定子(7)の薄型化と、固定子(7)と各可動子(5)(6)との間のギャップの狭小化が図られている。
ここで、第1可動子(5)と第2可動子(6)は互いに切り離されているが、同時に同じ方向の移動磁界を受けるため、それぞれ第1ガイド機構(3)及び第2ガイド機構(4)に案内されて同一方向に移動することになる。
一方、第1可動子(5)は、負荷が連結されていないため、第2可動子(6)の移動に連れて、自由に移動する。
又、固定子(7)の有効長(軌道方向とは直交する幅方向の長さ)を増大させることが可能であり、これによって固定子(7)を構成するコイルや搬送スペースの利用効率が向上する。
更に本発明は、リニア同期型モータに限らず、リニア直流モータに実施することも可能である。
Claims (4)
- 複数のコイルを一方向に配列してなり、該一方向とは直交する方向の両端部が支持された両端支持構造の固定子(7)と、
前記固定子(7)の両面に対向して少なくともその内の1つがそれぞれ複数の永久磁石を配置してなり、前記一方向に沿って互いに相対移動が可能な一対の可動子(5)(6)と、
両可動子(5)(6)をそれぞれ独立に、前記一方向の移動が可能に案内する案内機構
とを具え、何れか一方の可動子(6)が負荷に連結されていることを特徴とする磁石可動型リニアモータ。 - 前記固定子(7)は、前記一方向とは直交する方向に張力が加えられた状態で、両端部がそれぞれ固定部材に連結されている請求項1に記載の磁石可動型リニアモータ。
- 前記一対の可動子(5)(6)はそれぞれ、前記複数の永久磁石にヨークを接合して構成されている請求項1又は請求項2に記載の磁石可動型リニアモータ。
- 前記一対の可動子(5)(6)はそれぞれ、前記複数の永久磁石をハルバッハ配列に従って配列して構成されている請求項1又は請求項2に記載の磁石可動型リニアモータ。
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KR1020117007208A KR101321253B1 (ko) | 2008-09-30 | 2008-12-18 | 자석 가동형 리니어 모터 |
EP08877175.3A EP2333942B1 (en) | 2008-09-30 | 2008-12-18 | Magnet movable linear motor |
PL08877175T PL2333942T3 (pl) | 2008-09-30 | 2008-12-18 | Silnik liniowy poruszany magnesami |
US13/120,253 US8502421B2 (en) | 2008-09-30 | 2008-12-18 | Moving magnet type linear motor |
CN200880131342.XA CN102171915B (zh) | 2008-09-30 | 2008-12-18 | 磁铁可动型线性电动机 |
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JP2008253407A JP5357485B2 (ja) | 2008-09-30 | 2008-09-30 | 磁石可動型リニアモータ |
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CN103208903A (zh) * | 2013-03-06 | 2013-07-17 | 北京工业大学 | 一种泵用直线电机 |
EP2994407A4 (en) * | 2013-05-06 | 2017-01-11 | Otis Elevator Company | Stator structure for self-propelled elevator |
JP6303029B2 (ja) * | 2015-01-07 | 2018-03-28 | 株式会社日立製作所 | モータシステム及び圧縮機 |
US10384913B2 (en) | 2016-06-13 | 2019-08-20 | Otis Elevatro Company | Thermal management of linear motor |
WO2020140178A1 (zh) * | 2018-12-30 | 2020-07-09 | 中国科学院沈阳自动化研究所 | 一种在轨发射装置 |
NL2022467B1 (en) * | 2019-01-28 | 2020-08-18 | Prodrive Tech Bv | Position sensor for long stroke linear permanent magnet motor |
EP4106161A1 (en) * | 2021-06-18 | 2022-12-21 | Isochronic AG | Double-sided linear motor |
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- 2008-09-30 JP JP2008253407A patent/JP5357485B2/ja active Active
- 2008-12-18 PL PL08877175T patent/PL2333942T3/pl unknown
- 2008-12-18 US US13/120,253 patent/US8502421B2/en active Active
- 2008-12-18 KR KR1020117007208A patent/KR101321253B1/ko not_active IP Right Cessation
- 2008-12-18 CN CN200880131342.XA patent/CN102171915B/zh active Active
- 2008-12-18 EP EP08877175.3A patent/EP2333942B1/en not_active Not-in-force
- 2008-12-18 WO PCT/JP2008/073044 patent/WO2010038325A1/ja active Application Filing
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Also Published As
Publication number | Publication date |
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JP2010088189A (ja) | 2010-04-15 |
JP5357485B2 (ja) | 2013-12-04 |
PL2333942T3 (pl) | 2014-04-30 |
CN102171915B (zh) | 2014-07-02 |
KR101321253B1 (ko) | 2013-10-28 |
EP2333942B1 (en) | 2013-11-13 |
EP2333942A1 (en) | 2011-06-15 |
US20110221282A1 (en) | 2011-09-15 |
CN102171915A (zh) | 2011-08-31 |
KR20110081811A (ko) | 2011-07-14 |
US8502421B2 (en) | 2013-08-06 |
EP2333942A4 (en) | 2012-01-25 |
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