JPH0345625B2 - - Google Patents
Info
- Publication number
- JPH0345625B2 JPH0345625B2 JP16752082A JP16752082A JPH0345625B2 JP H0345625 B2 JPH0345625 B2 JP H0345625B2 JP 16752082 A JP16752082 A JP 16752082A JP 16752082 A JP16752082 A JP 16752082A JP H0345625 B2 JPH0345625 B2 JP H0345625B2
- Authority
- JP
- Japan
- Prior art keywords
- tooth profile
- tooth
- pulse motor
- linear pulse
- gap
- Prior art date
- Legal status (The legal status 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 status listed.)
- Expired
Links
- 239000003302 ferromagnetic material Substances 0.000 claims description 9
- 230000005291 magnetic effect Effects 0.000 description 13
- 230000005284 excitation Effects 0.000 description 2
- 230000004907 flux Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005339 levitation Methods 0.000 description 1
- 239000000696 magnetic material Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
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
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Electromagnetism (AREA)
- Power Engineering (AREA)
- Linear Motors (AREA)
Description
【発明の詳細な説明】
(1) 発明の技術分野
本発明は有極形パルスモータに関し、特にソー
ヤー氏の原理に基く直進パルスモータの改良に関
するものである。DETAILED DESCRIPTION OF THE INVENTION (1) Technical Field of the Invention The present invention relates to a polarized pulse motor, and particularly to an improvement of a linear pulse motor based on Mr. Sawyer's principle.
(2) 技術の背景
ソーヤー氏の原理に基く直進パルスモータは、
コイルを巻回した複数の歯部を有し永久磁石と磁
気的に結合した強磁性体材料からなる駆動用歯形
とこの駆動用歯形に対面する複数の歯部を有する
強磁性体材料からなる被駆動歯形により構成さ
れ、駆動用歯形および被駆動歯形は歯部間の間隔
が異り、コイルの励磁によりこれと対面する被駆
動歯形の歯部の両側の磁束密度に差を与えその勾
配によつて両歯形間に相対的に移動する力を発生
させて一方の歯形を固定することにより他方の歯
形を歯並び方向に移動させるように構成したもの
である。このような直進パルスモータにおいて
は、永久磁石の作用により両歯形同士を吸着する
磁気吸着力が作用する。この磁気吸着力は移動方
向の駆動力よりはるかに大きく、この磁気吸着力
により両歯形間の磁極空隙が変化しないように両
歯形間はベアリング等によつて間隔を隔てて支承
されている。このようなベアリングは運動方向に
摩擦抵抗を生じ摩耗寿命の問題があるため、この
ような磁気吸着力を弱めた直進パルスモータが要
望されている。(2) Technical background The linear pulse motor based on Mr. Sawyer's principle is
A driving tooth profile made of a ferromagnetic material having a plurality of teeth around which a coil is wound and magnetically coupled to a permanent magnet, and a covering made of a ferromagnetic material having a plurality of teeth facing the drive tooth profile. The driving tooth profile and the driven tooth profile have different spacing between the tooth parts, and the excitation of the coil causes a difference in the magnetic flux density on both sides of the tooth part of the driven tooth profile that faces the coil. This structure generates a force that moves the two tooth profiles relatively, fixing one tooth profile and moving the other tooth profile in the direction of the tooth arrangement. In such a linear pulse motor, a magnetic attraction force that attracts both tooth profiles to each other is exerted by the action of the permanent magnet. This magnetic attraction force is much larger than the driving force in the moving direction, and the two tooth profiles are supported at a distance by bearings or the like so that the magnetic pole gap between the two tooth profiles does not change due to this magnetic attraction force. Since such a bearing generates frictional resistance in the direction of motion and has a problem of shortening its wear life, there is a demand for a linear pulse motor that has a weakened magnetic attraction force.
(3) 従来技術と問題点
このような磁気吸着力の問題に対処するため、
従来、被駆動歯形の両側に１対の駆動用歯形を配
置し、両駆動用歯形の磁気吸引力を打消し合うよ
うに構成した直進パルスモータが使用されてい
る。しかしながら、このような両側式の直進パル
スモータにおいても、製造組立上の機械的誤差あ
るいは運転中の衝撃、振動等により両側の磁極空
隙の間隔に差ができると、この差を助長する方向
に力が発生するためベアリングはやがて摩耗して
その差が増し欠第に大きな力がベアリングに作用
し磁気吸着力による問題を充分解消できない。(3) Prior art and problems In order to deal with the problem of magnetic attraction force,
BACKGROUND ART Conventionally, a linear pulse motor has been used in which a pair of driving teeth are arranged on both sides of a driven tooth so that the magnetic attraction forces of the driving teeth cancel each other out. However, even in such a double-sided linear pulse motor, if there is a difference in the spacing between the magnetic pole gaps on both sides due to mechanical errors in manufacturing and assembly or shocks and vibrations during operation, a force will be generated in the direction that increases this difference. As a result, the bearing will eventually wear out and the difference will increase, causing an increasingly large force to act on the bearing, making it impossible to sufficiently solve the problem caused by the magnetic attraction force.
(4) 発明の目的
本発明は上記従来技術の問題点に鑑みなされた
ものあつて、上記被駆動歯形の両側に駆動用歯形
を配置した両側式の直進パルスモータにおいて、
被駆動歯形の移動方向に直角な磁気吸着力をほと
んどなくし被駆動歯形を両駆動用歯形の中間に浮
揚させるように構成した直進パルスモータの提供
を目的とする。(4) Purpose of the Invention The present invention has been made in view of the problems of the prior art described above, and provides a double-sided linear pulse motor in which driving tooth profiles are arranged on both sides of the driven tooth profile.
An object of the present invention is to provide a linear pulse motor configured to almost eliminate magnetic attraction force perpendicular to the moving direction of a driven tooth profile and to float the driven tooth profile in the middle between both drive tooth profiles.
(5) 発明の構成
この目的を達成するため、本発明では、通常の
バリアブルリラクタンス形パルスモータでは強磁
性体同士の吸着力は空隙間隔と印加アンペアター
ンに対し非線形であつて中間浮揚状態を制御しに
くく空隙間隔に基く制御方法は実用困難であつた
が、ソーヤー氏の原理に基く直進パルスモータで
は吸着力が空隙間隔に対しある範囲で線形に近く
なることに着目して空隙間隔に基く線形制御理論
を適用している。従つて本発明ではコイルを巻回
した複数の歯部を有し永久磁石と磁気的に結合し
た強磁性体材料からなる１対の駆動用歯形を相互
に歯部面を対向させて配置し、該１対の駆動用歯
形間に、上記両歯形に対向する複数の歯部を有す
る強磁性材料からなる被駆動歯形を歯並び方向に
移動可能に配置した直進パルスモータにおいて、
両駆動用歯形の各々と被駆動歯形間の空隙の差を
検知する空隙測定手段を備え、該空隙測定手段の
出力に応じて上記コイルの駆動制御を行うように
構成している。(5) Structure of the Invention In order to achieve this object, the present invention provides that in a normal variable reluctance type pulse motor, the attraction force between ferromagnetic materials is non-linear with respect to the gap distance and the applied ampere-turn, and the intermediate levitation state is controlled. However, in the linear pulse motor based on Mr. Sawyer's principle, the control method based on the gap spacing was difficult to implement, but focusing on the fact that the suction force is close to linear with the gap spacing within a certain range, a linear control method based on the gap spacing was developed. Applying control theory. Therefore, in the present invention, a pair of drive tooth profiles made of a ferromagnetic material and magnetically coupled to a permanent magnet and having a plurality of tooth parts around which a coil is wound are arranged with the tooth surfaces facing each other, A linear pulse motor in which a driven tooth profile made of a ferromagnetic material and having a plurality of teeth facing both tooth profiles is disposed between the pair of drive tooth profiles so as to be movable in the direction of the tooth arrangement,
The apparatus is equipped with a gap measuring means for detecting the gap difference between each of the driving tooth profiles and the driven tooth profile, and is configured to control the driving of the coil in accordance with the output of the gap measuring means.
(6) 発明の実施例
第１図は本発明に係る直進パルスモータの断面
図である。１対の駆動用歯形６，６′の間に被駆
動歯形７が配置される。各駆動用歯形６，６′は
同様の構成であり、永久磁石１の両側に各々２個
の歯部４を配列して有する強磁性材料からなる歯
形２，３が磁気的の結合されて固定される。各歯
部４にはコイル５が巻回される。各歯形２，３に
おける両コイルは互に逆接続した１組のコイルを
構成する。被駆動歯形７は強磁性体材料からな
り、両駆動用歯形６，６′に対向する複数の歯部
９を有し、各歯部間は非磁性材料８で充填され
る。駆動用歯形の歯部間の間隔と被駆動歯形の歯
部間の間隔は異なり、コイルの励磁により対面す
る歯部同士がずれた位置の被駆動歯形の歯部９の
両側の磁束密度に差ができ、その勾配によつて両
歯部間に相対的に移動する力が発生して被駆動歯
形７が歯並び方向に移動する。各駆動用歯形６，
６′は各々各駆動用歯形６，６′の歯部４，４′と
これと対面する被駆動歯形７の歯部９間の間隔を
測定するための距離センサ１０，１０′を備えて
いる。距離センサ１０，１０′は例えば静電容量
を測定して距離を検知する形式のものあるいは光
を照射してその反射光の強さにより距離を検知す
る形式のもの等が用いられる。このような距離セ
ンサ１０，１０′により両駆動用歯形６，６′と被
駆動歯形７間の間隔の差が検出され、被駆動歯形
７の両駆動用歯形６，６′間の中心位置からのず
れが分り、これに基づいて対面するコイル５，
５′の電流の強さを変えて磁気吸引力を上記間隔
の差がなくなる方向に作用するようにコイルの駆
動制御を行うことができる。このように各駆動用
歯形６，６′が別個の距離センサ１０，１０′を備
える代りに、コイル５，５′を含む電子回路によ
り両駆動用歯形６，６′と被駆動歯形７間の空隙
のインダクタンスを検知しこれに基き被駆動歯形
７の位置を修正するようにコイルへの電流を自動
的に制御する回路を形成することができる。この
ような回路の一例を第２図に示す。対面するコイ
ル５，５によりブリツジ回路を形成し、この回路
に高周波電圧１１を印加して空隙によつて変化す
るインダクタンスの差を検出しこれに応じてコイ
ルへの電流を制御可能としている。(6) Embodiments of the Invention FIG. 1 is a sectional view of a linear pulse motor according to the present invention. A driven tooth profile 7 is arranged between the pair of drive tooth profiles 6, 6'. Each drive tooth profile 6, 6' has a similar configuration, and the tooth profiles 2, 3 made of a ferromagnetic material each having two teeth 4 arranged on both sides of the permanent magnet 1 are magnetically coupled and fixed. be done. A coil 5 is wound around each tooth 4. Both coils in each tooth profile 2, 3 constitute a set of coils connected in reverse to each other. The driven tooth profile 7 is made of a ferromagnetic material and has a plurality of tooth parts 9 facing both the driving tooth profiles 6, 6', and the space between each tooth part is filled with a non-magnetic material 8. The spacing between the teeth of the driving tooth profile and the spacing between the teeth of the driven tooth profile are different, and the magnetic flux density on both sides of the tooth part 9 of the driven tooth profile is different when the facing teeth are shifted due to the excitation of the coil. The slope generates a force for relative movement between both tooth portions, and the driven tooth profile 7 moves in the direction of tooth arrangement. Each drive tooth profile 6,
6' is provided with a distance sensor 10, 10' for measuring the distance between the teeth 4, 4' of each driving tooth profile 6, 6' and the tooth part 9 of the driven tooth profile 7 facing thereto. . The distance sensors 10, 10' are of a type that detects distance by measuring capacitance, or of a type that irradiates light and detects distance based on the intensity of the reflected light. Such a distance sensor 10, 10' detects the difference in the distance between the driving tooth profile 6, 6' and the driven tooth profile 7, and the distance between the driven tooth profile 7 and the center position between both the driving tooth profile 6, 6' is detected. Based on this, the facing coils 5,
By changing the strength of the current 5', the drive of the coil can be controlled so that the magnetic attraction force is applied in a direction that eliminates the difference in the distance. In this way, instead of each drive tooth profile 6,6' having a separate distance sensor 10,10', the distance between the two drive tooth profiles 6,6' and the driven tooth profile 7 is determined by an electronic circuit including a coil 5,5'. A circuit can be formed that automatically controls the current to the coil to sense the inductance of the air gap and modify the position of the driven tooth profile 7 based thereon. An example of such a circuit is shown in FIG. A bridge circuit is formed by the facing coils 5, 5, and a high frequency voltage 11 is applied to this circuit to detect the difference in inductance that changes due to the air gap, and the current to the coil can be controlled accordingly.
(7) 発明の効果
以上説明したように、本発明では、被駆動歯形
の両側に駆動用歯形を配置した両側式直進パルス
モータにおいて、両駆動用歯形と被駆動歯形間の
間隔を検出してその差をなくす方向に被駆動歯形
が移動するようにコイルへの電流制御を行うこと
ができるため、被駆動歯形は常に両駆動用歯形の
中間に浮揚して保持され摩擦の少ない円滑な移動
動作が得られる。(7) Effects of the Invention As explained above, in the present invention, in a double-sided linear pulse motor in which driving tooth profiles are arranged on both sides of the driven tooth profile, the interval between both drive tooth profiles and the driven tooth profile is detected. The current to the coil can be controlled so that the driven tooth profile moves in a direction that eliminates the difference, so the driven tooth profile is always held suspended between the two drive tooth profiles, resulting in smooth movement with less friction. is obtained.
第１図は本発明に係る直進パルスモータの断面
図、第２図はその駆動回路の一例の回路図であ
る。
１……永久磁石、４，４′，９……歯部、５，
５′……コイル、６，６′……駆動用歯形、７……
被駆動歯形、１０，１０′……距離センサ。
FIG. 1 is a sectional view of a linear pulse motor according to the present invention, and FIG. 2 is a circuit diagram of an example of its drive circuit. 1... Permanent magnet, 4, 4', 9... Teeth, 5,
5'...Coil, 6,6'...Driving tooth profile, 7...
Driven tooth profile, 10, 10'...Distance sensor.
Claims (1)
と磁気的に結合した強磁性体材料からなる１対の
駆動用歯形を相互に歯部面を対向させて配置し、
該１対の駆動用歯形間に、上記両歯形に対向する
複数の歯部を有する強磁性体材料からなる被駆動
歯形を歯並び方向に移動可能に配置した直進パル
スモータにおいて、両駆動用歯形の各々と被駆動
歯形間の空隙の差を検知する空隙測定手段を備
え、該空隙測定手段の出力に応じて空隙の広い方
の歯形に巻回されたコイルの電流を強め空隙の狭
い方の歯形に巻回されたコイルの電流を弱める駆
動制御を行うように構成したことを特徴とする直
進パルスモータ。 ２ 特許請求の範囲第１項記載の直進パルスモー
タにおいて、各駆動用歯形が各々該歯形と被駆動
歯形間の距離を測定する距離センサを具備して上
記空隙測定手段を構成したことを特徴とする直進
パルスモータ。 ３ 特許請求の範囲第１項記載の直進パルスモー
タにおいて、対向する両駆動用歯形のコイルによ
りブリツジ回路を形成し、この回路に高周波電圧
を印加して空隙によつて変化するインダクタンス
の差を検出可能とする回路を形成して上記空隙測
定手段を構成したことを特徴とする直進パルスモ
ータ。[Scope of Claims] 1. A pair of drive tooth profiles made of a ferromagnetic material and magnetically coupled to a permanent magnet, each having a plurality of teeth around which a coil is wound, and arranged with the tooth surfaces facing each other. death,
In a linear pulse motor in which a driven tooth profile made of a ferromagnetic material and having a plurality of teeth facing both tooth profiles is disposed between the pair of drive tooth profiles so as to be movable in the direction of tooth alignment, It is equipped with a gap measuring means for detecting the difference in the gap between each tooth profile and the driven tooth profile, and in accordance with the output of the gap measuring means, the current of the coil wound around the tooth profile with the wider gap is increased to increase the current in the tooth profile with the narrower gap. A linear pulse motor characterized in that the linear pulse motor is configured to perform drive control to weaken the current in a coil wound around the coil. 2. The linear pulse motor according to claim 1, characterized in that each driving tooth profile is provided with a distance sensor for measuring the distance between the tooth profile and the driven tooth profile, thereby constituting the gap measuring means. A linear pulse motor. 3. In the linear pulse motor according to claim 1, a bridge circuit is formed by the coils having both opposing drive tooth shapes, and a high frequency voltage is applied to this circuit to detect the difference in inductance that changes due to the air gap. 1. A linear pulse motor, characterized in that the air gap measuring means is constructed by forming a circuit that enables this.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP16752082A JPS5959063A (en) | 1982-09-28 | 1982-09-28 | Linear pulse motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP16752082A JPS5959063A (en) | 1982-09-28 | 1982-09-28 | Linear pulse motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS5959063A JPS5959063A (en) | 1984-04-04 |
| JPH0345625B2 true JPH0345625B2 (en) | 1991-07-11 |
Family
ID=15851209
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP16752082A Granted JPS5959063A (en) | 1982-09-28 | 1982-09-28 | Linear pulse motor |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS5959063A (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2717174B2 (en) * | 1987-08-10 | 1998-02-18 | 俊郎 樋口 | Non-contact linear actuator |
| US4945268A (en) * | 1987-12-26 | 1990-07-31 | Hitachi, Ltd. | Permanent magnet type linear pulse motor |
| KR100984488B1 (en) * | 2008-06-04 | 2010-10-01 | 한국과학기술연구원 | Linear motor |
-
1982
- 1982-09-28 JP JP16752082A patent/JPS5959063A/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS5959063A (en) | 1984-04-04 |
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