WO2013014780A1 - Linear motor - Google Patents
Linear motor Download PDFInfo
- Publication number
- WO2013014780A1 WO2013014780A1 PCT/JP2011/067196 JP2011067196W WO2013014780A1 WO 2013014780 A1 WO2013014780 A1 WO 2013014780A1 JP 2011067196 W JP2011067196 W JP 2011067196W WO 2013014780 A1 WO2013014780 A1 WO 2013014780A1
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- WIPO (PCT)
- Prior art keywords
- linear motor
- permanent magnet
- armature
- coils
- motor
- Prior art date
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Classifications
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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
-
- 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
- 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
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K2213/00—Specific aspects, not otherwise provided for and not covered by codes H02K2201/00 - H02K2211/00
- H02K2213/03—Machines characterised by numerical values, ranges, mathematical expressions or similar information
Definitions
- the disclosed embodiment relates to a linear motor.
- Patent Document 1 discloses a cylinder type linear motor having a stator in which n ring-shaped coils are arranged in parallel in the axial direction, and a mover having a permanent magnet assembly having one or more permanent magnets. Describes a technique in which the stroke S is (n ⁇ CM) or less, where C is the axial length of the coil and M is the axial length of the permanent magnet assembly.
- the axial length (3 ⁇ C) of three coils and the magnetic pole interval ( ⁇ ) of the permanent magnet are substantially equal.
- N the number of permanent magnets
- the total length of the motor is at least the thrust contribution length ( ⁇ ⁇ N) plus the length of three coils (3 ⁇ C)
- the stroke S is calculated from the length of three coils (3 ⁇ C).
- the total length of the motor is excessively increased by the length of (3 ⁇ C ⁇ S). As described above, the total length of the motor becomes unnecessarily long, resulting in a problem that the linear motor becomes larger and the weight and installation space increase.
- the present invention has been made in view of such problems, and an object of the present invention is to provide a linear motor capable of reducing the overall length of the motor and reducing the size and weight. is there.
- an armature having a cylindrical coil assembly formed by arranging a plurality of annular coils in parallel in the axial direction, and the shaft of the armature A linear motion shaft provided on the wire so as to be capable of reciprocating in the axial direction, and a field having a permanent magnet assembly including at least one permanent magnet provided on the linear motion shaft, and the armature,
- a linear motor that reciprocally moves the mover relative to the stator with either one of the field magnets as a stator and the other as a mover, wherein the number of coils is n and the axial length of the coils is C, a linear motor in which the stroke S is set to be at least larger than
- the overall length of the motor can be shortened, and the size and weight can be reduced.
- the linear motor 1 of this embodiment is a cylinder type linear motor.
- the linear motor 1 includes an armature 10 and a field 20.
- the armature 10 has a cylindrical coil assembly 12 formed by juxtaposing a plurality (six in the example shown in FIG. 1) of annular coils 11 in the axial direction (left-right direction in FIG. 1). Yes.
- the linear motor 1 is a three-phase AC motor, and the coil assembly 12 includes at least one set of three coils 11 corresponding to the U phase, V phase, and W phase (two sets in the example shown in FIG. 1).
- the field 20 includes a linear motion shaft 21 provided on the axis of the armature 10 so as to be capable of reciprocating in the axial direction, and two permanent magnets 23 provided on the linear motion shaft 21 with a spacer 22 interposed therebetween. Including a permanent magnet assembly 24. Each permanent magnet 23 is magnetized in the axial direction.
- the linear motor 1 includes a cylindrical or rectangular tube-shaped motor frame 2 provided on the outer peripheral side of the armature 10, and one side (left side in FIG. 1) and the other side (FIG. 1) of the motor frame 2 in the axial direction. Brackets 3 and 4 are provided at the ends of the middle right side). The brackets 3 and 4 are respectively provided with linear motion bearings 5 and 6 that support the linear motion shaft 21 so as to be capable of reciprocating in the axial direction.
- the linear motor 1 having such a configuration reciprocates the mover with respect to the stator using either the armature 10 or the field 20 as a stator and the other as a mover.
- the linear motor 1 is configured such that the axial length K of the coil assembly 12 and the axial length M of the permanent magnet assembly 24 are substantially equal.
- the stroke S is set to be larger than at least
- the linear motor 1 causes the permanent magnet 23 of the field 20 to protrude from the end face of the coil 11 of the armature 10 by a certain amount (half of the stroke S), as indicated by the one-dot chain line in FIG. Even in a range in which the permanent magnet 23 of the field magnet 20 and the coil 11 of the armature 10 do not overlap in the direction perpendicular to the axial direction (vertical direction in FIG. 1), the movable element is reciprocated.
- the stroke S is set to be 1.6 times or less of the axial length of the three coils 11, that is, “1.6 ⁇ 3 ⁇ C” or less.
- the setting range of the stroke S is derived from the results of analysis and examination with various models by the inventors of the present invention changing the axial length of the permanent magnet, the outer diameter, the presence or absence of a hollow, the presence or absence of pole pieces at both ends, and the like. It has been.
- an example of a simulation result performed by the present inventors will be described with reference to FIGS. 2 and 3.
- a linear motor 1 ′ as a comparative example includes an armature 10 ′ and a field 20.
- the armature 10 ' is a cylinder formed by arranging three sets of three coils 11 corresponding to the U phase, V phase, and W phase, that is, nine coils 11 in parallel in the axial direction (left and right direction in FIG. 2).
- the motor frame 2 ′ is formed to have a longer axial length than the motor frame 2 of the linear motor 1 described above, as the number of the coils 11 is increased.
- Other configurations including the field 20 of the linear motor 1 ′ are the same as those of the linear motor 1 described above.
- the stroke S is normally set to “n ⁇ CM” ( ⁇ 3C) or less. That is, the linear motor 1 ′ reciprocates the mover only within a range in which the permanent magnet 24 of the field 20 and the coil 11 of the armature 10 overlap in the direction perpendicular to the axial direction (up and down direction in FIG. 2).
- FIG. 3 shows the relationship between the stroke S (mm) and the thrust (N) when the loss is the same in the linear motor 1 of the present embodiment shown in FIG. 1 and the linear motor 1 ′ of the comparative example shown in FIG. Show.
- the magnitude of the thrust that can be output by the linear motors 1 and 1 ' is substantially the same.
- the thrust is greatly reduced when the permanent magnet 23 protrudes axially outward from the end surface of the coil 11 (position where the stroke S is ⁇ 0.5 ⁇ 3C).
- the thrust reduction can be suppressed until the protruding amount of the permanent magnet 23 from the coil end surface becomes 0.8 times the axial length 3 ⁇ / b> C of the three coils 11. Therefore, the applicable stroke range is 1.6 times 3C “1.6 ⁇ 3C”, which is particularly effective for a motor having a short stroke.
- the stroke S is set to be at least larger than
- the linear motor 1 of the present embodiment projects the permanent magnet 23 of the field 20 by a certain amount outward in the axial direction from the end face of the coil 11 of the armature 10. Even in a range where the permanent magnet 23 and the coil 11 of the armature 10 do not overlap in the direction perpendicular to the axial direction, the mover is reciprocated.
- the armature 10 and the field 20 are particularly “n ⁇ C ⁇ M”, that is, the axial lengths of the coil assembly 12 and the permanent magnet assembly 24 are substantially equal. Yes.
- “stroke S ⁇ 0” and the stroke cannot be secured. 1
- the permanent magnet 23 of the field magnet 20 protrudes a certain amount outward from the end face of the coil 11 of the armature 10 in the axial direction to move the mover back and forth, so that the stroke can be ensured.
- the permanent magnet 23 is projected outward in the axial direction from the end face of the coil 11.
- the thrust is greatly reduced.
- the permanent magnet 23 The reduction in thrust can be suppressed until the amount of protrusion from the coil end face becomes 0.8 times the axial length 3C of the three coils 11. Therefore, it is possible to reduce the size and weight of the motor while suppressing a reduction in thrust.
- the field magnet 20 has a permanent magnet assembly 24 formed by a permanent magnet 23 magnetized in the axial direction.
- the direction of the magnetic flux generated by the permanent magnet 23 can be set as the axial direction. Therefore, when the permanent magnet magnetized in the direction perpendicular to the axial direction is used for the field 20 (that is, the direction of the magnetic flux is perpendicular to the axial direction).
- the permanent magnet 23 protrudes from the end face of the coil 11 and the permanent magnet 23 and the coil 11 are in a range that does not overlap in the direction perpendicular to the axial direction, the magnetic flux contributing to the thrust The decrease can be suppressed, and the decrease in thrust can be suppressed.
- the linear motor 1A of the present modification has a mover on one side of the motor electromagnetic part 7 having the armature 10, the field 20, the motor frame 2, etc.
- An encoder unit 30 for detecting the position is included.
- the encoder unit 30 is configured as a magnetic linear encoder in this example.
- the encoder unit 30 is provided on a scale mounting shaft 34 (left side in FIG. 4), a scale 31 on which a magnetic pattern is formed, a sensor 32 that detects a magnetic field by the magnetic pattern provided on the scale 31, and an encoder cover 33. And have.
- a magnetic shielding plate 40 is provided on one end face of the permanent magnet assembly 24 in the linear motion shaft 21.
- the magnetic shielding plate 40 is a plate-like member made of a ferromagnetic material such as iron, and extends in the radial direction from the outer peripheral surface of the linear motion shaft 21 to the vicinity of the inner peripheral surface of the motor frame 2.
- the magnetic shielding plate 40 is provided with a scale mounting shaft 34 which is a nonmagnetic material, and suppresses the influence of the magnetic field generated from the field 20 of the motor electromagnetic unit 7 on the encoder unit 30.
- Other configurations of the linear motor 1A are the same as those of the linear motor 1 described above.
- the magnetic shielding plate 40 When the magnetic shielding plate 40 is provided on the encoder unit 30 side of the permanent magnet assembly 24 in the linear motion shaft 21 as in this modification, the magnetic shielding plate 40 has a permanent magnet assembly 24 in order to increase the magnetic shielding effect. It is preferable to provide as close as possible the gap with the inner peripheral surface of the motor frame 2 as small as possible.
- the magnetic shielding plate is provided near the end face of the permanent magnet assembly 24.
- the axial lengths of the coil assembly 12 of the armature 10 and the permanent magnet assembly 24 of the field magnet 20 are configured to be substantially equal, as shown in FIG.
- the magnetic shielding plate 40 can be provided at a position separated from the end face of the permanent magnet assembly 24 by the stroke S / 2. Thereby, a magnetic shielding effect can be enlarged.
- the armature 10 has six coils 11 and the field 20 has two permanent magnets 23.
- the numbers of the coils 11 and the permanent magnets 23 are examples, and may be changed as appropriate. May be.
- the armature 10 has one set of three coils 11 (three coils 11) corresponding to the U phase, V phase, and W phase, and the field 20 has three coils 11. It is good also as a structure which has the one permanent magnet 23 which is the length substantially equal to the axial direction length. In this case as well, the same effect as in the above embodiment can be obtained.
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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
本変形例のリニアモータ1Aは、電機子10及び界磁20並びにモータフレーム2等を有するモータ電磁部7の一方側に、可動子の位置を検出するエンコーダ部30を有している。 (1) When the linear motor has an encoder part and a magnetic shielding plate The
以上では、コイル組立体12と永久磁石組立体24の軸方向長さが略等しくなるように構成されたリニアモータを説明したが、必ずしも等しくする必要はない。例えば図2に示すような「n×C>M」となるようなリニアモータ1′において、界磁20の永久磁石23を電機子10のコイル11の端面より軸方向外側に一定量(ストロークSの半分)突出させて用いてもよい。但し、この場合には推力低下が許容範囲内となるようにストロークSを設定する必要がある。 (2) Others In the above description, the linear motors configured so that the axial lengths of the
2 モータフレーム
10 電機子
11 コイル
12 コイル組立体
20 界磁
21 直動軸
23 永久磁石
24 永久磁石組立体
30 エンコーダ部
34 スケール取付軸
40 磁気遮蔽板 DESCRIPTION OF
Claims (5)
- 複数の環状のコイルを軸方向に並設して形成された筒状のコイル組立体を有する電機子と、
前記電機子の軸線上に軸方向に往復移動可能に設けられた直動軸、及び、前記直動軸に設けられた少なくとも1つの永久磁石を含む永久磁石組立体を有する界磁と、を備え、
前記電機子と前記界磁のいずれか一方を固定子、他方を可動子として、前記可動子を前記固定子に対し往復移動させるリニアモータであって、
前記コイルの個数をn、前記コイルの軸方向長さをC、前記永久磁石組立体の軸方向長さをMとするとき、ストロークSが少なくとも|n×C-M|よりも大きくなるように設定されている
ことを特徴とするリニアモータ。 An armature having a cylindrical coil assembly formed by juxtaposing a plurality of annular coils in the axial direction;
A linear motion shaft provided on the axis of the armature so as to be capable of reciprocating in the axial direction, and a field having a permanent magnet assembly including at least one permanent magnet provided on the linear motion shaft. ,
A linear motor that reciprocally moves the mover relative to the stator with either the armature or the field as a stator and the other as a mover,
When the number of the coils is n, the axial length of the coils is C, and the axial length of the permanent magnet assembly is M, the stroke S is at least larger than | n × CM |. Linear motor characterized by being set. - 前記電機子及び前記界磁は、
(n×C≒M)となるように構成されている
ことを特徴とする請求項1に記載のリニアモータ。 The armature and the field are
The linear motor according to claim 1, wherein the linear motor is configured to satisfy (n × C≈M). - 前記永久磁石は、
軸方向に磁化されている
ことを特徴とする請求項2に記載のリニアモータ。 The permanent magnet is
The linear motor according to claim 2, wherein the linear motor is magnetized in an axial direction. - 前記電機子の外周側に設けられたモータフレームの一方側に位置し、前記可動子の位置を検出する磁気式のエンコーダ部と、
前記直動軸における前記永久磁石組立体の一方側端面近傍に位置し、前記直動軸の外周面より前記モータフレームの内周面近傍まで半径方向に沿って延設された磁気遮蔽板と、をさらに備える
ことを特徴とする請求項2又は3に記載のリニアモータ。 A magnetic encoder unit which is located on one side of a motor frame provided on the outer peripheral side of the armature and detects the position of the mover;
A magnetic shielding plate located in the vicinity of one end face of the permanent magnet assembly in the linear motion shaft and extending in the radial direction from the outer peripheral surface of the linear motion shaft to the vicinity of the inner peripheral surface of the motor frame; The linear motor according to claim 2, further comprising: - 前記電機子の前記コイル組立体が、U相、V相、W相に対応する3つの前記コイルを少なくとも1組有する三相交流モータであり、
前記ストロークSは、(1.6×3×C)以下となるように設定されている
ことを特徴とする請求項2乃至4のいずれか1項に記載のリニアモータ。 The coil assembly of the armature is a three-phase AC motor having at least one set of three coils corresponding to the U phase, the V phase, and the W phase;
5. The linear motor according to claim 2, wherein the stroke S is set to be equal to or less than (1.6 × 3 × C).
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
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DE112011105473.4T DE112011105473T5 (en) | 2011-07-28 | 2011-07-28 | linear motor |
CN201180072496.8A CN103718437A (en) | 2011-07-28 | 2011-07-28 | Linear motor |
PCT/JP2011/067196 WO2013014780A1 (en) | 2011-07-28 | 2011-07-28 | Linear motor |
JP2013525512A JP5972876B2 (en) | 2011-07-28 | 2011-07-28 | Linear motor |
KR1020137034487A KR20140015588A (en) | 2011-07-28 | 2011-07-28 | Linear motor |
Applications Claiming Priority (1)
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PCT/JP2011/067196 WO2013014780A1 (en) | 2011-07-28 | 2011-07-28 | Linear motor |
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WO2013014780A1 true WO2013014780A1 (en) | 2013-01-31 |
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PCT/JP2011/067196 WO2013014780A1 (en) | 2011-07-28 | 2011-07-28 | Linear motor |
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JP (1) | JP5972876B2 (en) |
KR (1) | KR20140015588A (en) |
CN (1) | CN103718437A (en) |
DE (1) | DE112011105473T5 (en) |
WO (1) | WO2013014780A1 (en) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2014192959A (en) * | 2013-03-26 | 2014-10-06 | Sanyo Denki Co Ltd | Linear motor |
DE102018004905A1 (en) | 2017-07-19 | 2019-01-24 | Fanuc Corporation | Engine configuration selector, engine configuration selection method and program |
DE102018215911A1 (en) | 2017-09-22 | 2019-03-28 | Fanuc Corporation | Device for selecting a motor configuration, method for selecting a motor configuration and program. |
US11270826B2 (en) * | 2019-10-02 | 2022-03-08 | Honda Motor Co., Ltd. | Electric suspension device |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105553147A (en) * | 2016-01-28 | 2016-05-04 | 北京明正维元电机技术有限公司 | Alternating-current permanent magnet synchronous motor rotor for axial motion |
CN107896020B (en) * | 2017-12-20 | 2024-04-12 | 浙江宝龙机电有限公司 | Driving motor |
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WO2008013053A1 (en) * | 2006-07-26 | 2008-01-31 | Kabushiki Kaisha Yaskawa Denki | Cylindrical linear motor armature, cylindrical linear motor field pole, and cylindrical linear motor using them |
JP2008067462A (en) * | 2006-09-06 | 2008-03-21 | Mitsubishi Electric Corp | Linear motor and mounting device using the same |
JP2009100617A (en) * | 2007-10-19 | 2009-05-07 | Nippon Thompson Co Ltd | Mounting head with built-in shaft type linear motor |
JP2009194991A (en) * | 2008-02-13 | 2009-08-27 | Iai:Kk | Linear motor an actuator |
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KR100365009B1 (en) * | 2000-05-20 | 2002-12-16 | 미래산업 주식회사 | Arrangement Structure of a Group of Coils in Tubular Linear Motor |
JP2008048565A (en) * | 2006-08-21 | 2008-02-28 | Murata Mach Ltd | Linear motor and machine tool mounting it |
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2011
- 2011-07-28 WO PCT/JP2011/067196 patent/WO2013014780A1/en active Application Filing
- 2011-07-28 JP JP2013525512A patent/JP5972876B2/en not_active Expired - Fee Related
- 2011-07-28 CN CN201180072496.8A patent/CN103718437A/en active Pending
- 2011-07-28 DE DE112011105473.4T patent/DE112011105473T5/en not_active Withdrawn
- 2011-07-28 KR KR1020137034487A patent/KR20140015588A/en not_active IP Right Cessation
Patent Citations (4)
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WO2008013053A1 (en) * | 2006-07-26 | 2008-01-31 | Kabushiki Kaisha Yaskawa Denki | Cylindrical linear motor armature, cylindrical linear motor field pole, and cylindrical linear motor using them |
JP2008067462A (en) * | 2006-09-06 | 2008-03-21 | Mitsubishi Electric Corp | Linear motor and mounting device using the same |
JP2009100617A (en) * | 2007-10-19 | 2009-05-07 | Nippon Thompson Co Ltd | Mounting head with built-in shaft type linear motor |
JP2009194991A (en) * | 2008-02-13 | 2009-08-27 | Iai:Kk | Linear motor an actuator |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2014192959A (en) * | 2013-03-26 | 2014-10-06 | Sanyo Denki Co Ltd | Linear motor |
DE102018004905A1 (en) | 2017-07-19 | 2019-01-24 | Fanuc Corporation | Engine configuration selector, engine configuration selection method and program |
JP2019022365A (en) * | 2017-07-19 | 2019-02-07 | ファナック株式会社 | Motor configuration selection device, motor configuration selection method, and program |
US10387610B2 (en) | 2017-07-19 | 2019-08-20 | Fanuc Corporation | Motor configuration selection device, motor configuration selection method, and recording medium |
DE102018215911A1 (en) | 2017-09-22 | 2019-03-28 | Fanuc Corporation | Device for selecting a motor configuration, method for selecting a motor configuration and program. |
US10673314B2 (en) | 2017-09-22 | 2020-06-02 | Fanuc Corporation | Motor configuration selection device, motor configuration selection method, and non-transitory computer-readable medium storing program |
US11270826B2 (en) * | 2019-10-02 | 2022-03-08 | Honda Motor Co., Ltd. | Electric suspension device |
Also Published As
Publication number | Publication date |
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JPWO2013014780A1 (en) | 2015-02-23 |
JP5972876B2 (en) | 2016-08-17 |
CN103718437A (en) | 2014-04-09 |
DE112011105473T5 (en) | 2014-04-17 |
KR20140015588A (en) | 2014-02-06 |
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