JPS6139847A - Cylindrical linear pulse motor - Google Patents

Abstract

PURPOSE:To improve the dynamic characteristic and the positioning accuracy by increasing the number of poles at an opposite permanent magnet side of yokes larger than that of a permanent magnet side, thereby reducing the thrust difference between the phases of a movable element. CONSTITUTION:The numbers of pole teeth 11, 14 of phases I, IV are increased than those of the teeth 12, 13 of phases II, III so that the magnetic resistance of the phases I, IV (the total sum of the magnetic resistances of a magnetic gap, the stator 1 and yokes) becomes equal to that of the phases II, III (the magnetic resistance of the magnetic gap). Thus, the thrust difference between the phases can be almost reduced to improve the dynamic characteristics and the positioning accuracy.

Description

【発明の詳細な説明】 （イ）発明の分野 この発明は、例えばワードプロセッサの７０ツピーヘツ
ドドライブ等に用いられる円筒型リニアパルスモータに
関する。DETAILED DESCRIPTION OF THE INVENTION (a) Field of the Invention The present invention relates to a cylindrical linear pulse motor used, for example, in a 70-point head drive of a word processor.

（ロ）発明の背景 従来のこの種のリニアパルスモータとして社例えば実開
ｔｉｌｌ（５８−９７７５９号公報に記載のものが知ら
れている。(b) Background of the Invention As a conventional linear pulse motor of this type, the one described in Japanese Utility Model Application Publication No. 58-97759, for example, is known.

すなわち、このリニアパルスモータ＃′ｉ第３図に示す
如く、用筒状固定子４１の中心にその軸線にそってガイ
ド軸４２を配設し、このガイド軸４２に軸受４３を介し
て移動子４４を摺動可能に取り付けている。That is, as shown in FIG. 3 of this linear pulse motor #'i, a guide shaft 42 is disposed at the center of a cylindrical stator 41 along its axis, and a slider is connected to this guide shaft 42 via a bearing 43. 44 is slidably attached.

そして、この移動子４４は中央の永久磁石４５と、その
左右両側に連結したヨーク４６．４７とからなり、これ
ら各ヨーク４６．４７の中央凹部にコイル４８．４９を
巻回すると共に、前述の各ヨーク４６．４７におけるコ
イル４８．４９をへだてた左右に磁極歯５１．５２．５
３．５４をそれぞれ形成したものである。The mover 44 consists of a central permanent magnet 45 and yokes 46,47 connected to both left and right sides of the permanent magnet 45, and coils 48,49 are wound around the central recesses of each of these yokes 46,47. Magnetic pole teeth 51.52.5 on the left and right side of each yoke 46.47 apart from the coil 48.49
3.54 respectively.

また、これらの各磁極歯５１〜５４は、固定子４１の磁
極歯５０に対して、Ｉ相磁極歯５１を基準にすると、夏
相磁極歯５２は１／２ピツチ、ｌ相磁極歯５３は１／４
ピツチ、ｌ相磁極歯５４Ｆｉ３／４ピッチ位相をずらせ
ている。Furthermore, with respect to the magnetic pole teeth 50 of the stator 41, the summer phase magnetic pole teeth 52 have a 1/2 pitch, and the l phase magnetic pole teeth 53 have a 1/2 pitch, and the magnetic pole teeth 51 to 54 have a pitch of 1/2 with respect to the magnetic pole teeth 50 of the stator 41. 1/4
The l-phase magnetic pole teeth 54Fi3/4 pitch are shifted in phase.

暑 上記構成の従来のリニアパルスモータ等価磁気回路は第
４図の通りである。The equivalent magnetic circuit of a conventional linear pulse motor having the above configuration is shown in FIG.

つまり、Ｒ１，Ｒ２，Ｒ３，Ｒ４はそれぞ五二相、１相
、工相、ｌ相の磁気ギャップ部分の磁気抵抗、Ｒ５ｔｉ
５定子４１の磁気抵抗、ＲＹＨヨーク４６．４７の磁気
抵抗、ＦＦｉ氷久磁石４５の起磁力を表わし、同図の如
き回路構成となる。In other words, R1, R2, R3, and R4 are the magnetic resistances of the magnetic gap parts of the 52-phase, 1-phase, 1-phase, and 1-phase, respectively, and R5ti
5 represents the magnetic resistance of the constant 41, the magnetic resistance of the RYH yokes 46 and 47, and the magnetomotive force of the FFi Hyaku magnet 45, and has a circuit configuration as shown in the figure.

これにより、従来“のリニアパルス千−夕では永久磁石
４５から１相磁極歯５１までの距離と、■相磁極歯５２
までの距離とが互に異なるので、磁気抵抗の差（ＲＹ十
Ｒ５）が生じる。As a result, in the conventional "linear pulse train", the distance from the permanent magnet 45 to the first phase magnetic pole tooth 51, and the distance from the first phase magnetic pole tooth 52
Since the distances to the ends are different from each other, a difference in magnetic resistance (RY + R5) occurs.

したがって、コイル４８に通電して保持力特性を測定す
ると、ｉ図に示す如く、■相と１相とで推力に差が生じ
、このような各相間の推力差は、リニアパルスモータと
してのダイナミック特性、すなわち、整定時間あるいは
自起動周波数のばらつきとなる問題点を有していた。Therefore, when the coil 48 is energized and the holding force characteristics are measured, there is a difference in the thrust between the ■ phase and the 1st phase, as shown in figure i, and this thrust difference between each phase is due to the dynamic The problem was that the characteristics, ie, the settling time or self-starting frequency, varied.

なお、特開昭５０−９８６１８号公報に既に開示されて
いる如くフラット型のリニアパルスモータにおいてはス
ケールおよびスライダの磁極歯対向面積を変えて各相銀
の保持力を等しくするものがあるが、円筒型のリニアパ
ルスモータにおいては、このような先行技術は存在しな
い。As already disclosed in Japanese Patent Application Laid-Open No. 50-98618, there is a flat type linear pulse motor in which the opposing areas of the scale and slider's magnetic pole teeth are changed to equalize the holding force of each phase silver. No such prior art exists for cylindrical linear pulse motors.

（ハ）発明の目的 この発明は、移動子の各相間における推力差（推力変動
）を小さくシ、以ってダイナミック特性、位置決め精度
の向上を図ることができる円筒型リニアパルスモータの
抵供を目的とする。(c) Purpose of the Invention The present invention provides a cylindrical linear pulse motor that can reduce the thrust difference (thrust fluctuation) between each phase of a moving element, thereby improving dynamic characteristics and positioning accuracy. purpose.

仲）発明の要約 この発明は、移動子における各ヨークの反永久磁石側（
永久磁石に遠い外側）の磁極歯数を、永久磁石側（永久
磁石に近ｍ１１りの磁極歯数よシも大と成した円筒型リ
ニアパルスモータであることを特徴とする。Summary of the Invention This invention provides an anti-permanent magnet side of each yoke in a mover.
The motor is characterized by being a cylindrical linear pulse motor in which the number of magnetic pole teeth on the outside far from the permanent magnet is larger than the number of magnetic pole teeth on the permanent magnet side (closer to the permanent magnet m11).

（ホ）発明の効果 この発明によれば、移動子の各相の磁極歯の数を変える
ことにより、永久磁石よりみた各相の磁気ギャップ部で
の磁気抵抗が等しくなるので、相聞の推力差を小さくす
ることができる効果がある。(E) Effects of the Invention According to this invention, by changing the number of magnetic pole teeth of each phase of the mover, the magnetic resistance at the magnetic gap portion of each phase as seen from the permanent magnet becomes equal, so that the thrust difference between the phases becomes equal. This has the effect of making it smaller.

したがってダイナミック特性、位置決め精度の向上を図
ることができる。Therefore, it is possible to improve dynamic characteristics and positioning accuracy.

（ハ）発明の実施例 この発明の一実施例を以下図面に基づいて詳述する。(c) Examples of the invention An embodiment of the present invention will be described in detail below based on the drawings.

図面は円筒型リニアパルス門−夕を示し、第１図に驚い
て、ｌは用筒状の固定子で、この固定子ｌの内周面Ｋｌ
／−１多数のリング状の磁極歯２・・・を一体形成して
いる。The drawing shows a cylindrical linear pulse gate, and as you can see in Figure 1, l is a cylindrical stator, and the inner circumferential surface of this stator l is Kl.
/-1 A large number of ring-shaped magnetic pole teeth 2 are integrally formed.

また、この固定子ｌ内の中心部Ｖｒ、、はその軸線にそ
ってガイド軸３を配設し、このガイド軸３に軸受４を介
して移動子５を摺動可能に取り付けて−る。A guide shaft 3 is disposed along the axis of the central portion Vr within the stator l, and a slider 5 is slidably attached to the guide shaft 3 via a bearing 4.

そして、この移動子５＃ｉ中央の永久磁石６と、その左
右両側に連結したヨーク７．８とからなり、これら左右
の各ヨーク７．８の外周略中央部分の凹溝にコイル９．
ｌＯを巻回すると共に、これら各・ローフ７．８におけ
るコイル９，１ｏをへだてた左右に磁極歯１１，１２．
１３．１４をそれぞれ形成している。It consists of a permanent magnet 6 at the center of the mover 5#i and yokes 7.8 connected to both left and right sides of the permanent magnet 6, and a coil 9.
At the same time, magnetic pole teeth 11, 12 .
13 and 14 respectively.

ここで、Ｉ相磁極歯１１を基準にすると、１相磁極歯１
゛２はｌ／２ピツチ、夏相磁極歯１３＃ｉ１／４ピツチ
、工相磁極歯１４は３／４ピッチ位相°をそれぞれずら
せている。Here, if the I-phase magnetic pole tooth 11 is used as a reference, the 1-phase magnetic pole tooth 1
2 is shifted by 1/2 pitch, the summer phase magnetic pole teeth 13 #i 1/4 pitch, and the engineering phase magnetic pole teeth 14 by 3/4 pitch.

しかも、反永久磁石側の１相、二相の磁極歯１１．１４
の数を３とし、永久磁石側の■相、！相め磁極歯１２．
１３の数を２として、 磁極歯１１．１４０数〉磁極歯１２．１３の数の関係式
が成立するように構成している。Moreover, the 1-phase and 2-phase magnetic pole teeth 11.14 on the anti-permanent magnet side
The number of is 3, and the ■ phase on the permanent magnet side, ! Compatible magnetic pole teeth 12.
The number of magnetic pole teeth 11.140>the number of magnetic pole teeth 12.13 is configured so that the relational expression holds true, assuming that the number of 13 is 2.

図示実施例は上記の如く構成するものにして、以下作用
を説明する。The illustrated embodiment is constructed as described above, and its operation will be explained below.

第１図において９６ｍは永久磁石６による磁束、φ９は
左側のコイル９により発゛生ずる磁束を示し、移動子５
の１相磁極歯１１と、固定子１の磁極歯２とが互に対向
した状態になっている。In FIG. 1, 96m indicates the magnetic flux generated by the permanent magnet 6, φ9 indicates the magnetic flux generated by the left coil 9, and the moving element 5
The one-phase magnetic pole teeth 11 of the stator 1 and the magnetic pole teeth 2 of the stator 1 are opposed to each other.

この状態下において、左側のコイル９への通電を遮断し
、右側のコイル１０に通電し第１図の矢印方向の磁束？
１０を流すと、この磁束９！１１０発生部位における移
動子５例の磁極歯が固定子ｌ側の磁極歯２と対向するよ
うに移動子５Ｆｉ右方向へ歩進する。Under this condition, the current to the left coil 9 is cut off, and the right coil 10 is energized to generate magnetic flux in the direction of the arrow in FIG.
10, the mover 5Fi steps to the right so that the magnetic pole teeth of the five movers at the magnetic flux 9!110 generation site face the magnetic pole teeth 2 on the stator l side.

同様に１相、！相の磁極歯１２．１４を、固定子１の磁
極歯２に対向させるように各コイル９゜１０に通電する
と、移動子５／Ｉｉ右方向へ推進移動する。Similarly, 1 phase! When the coils 9 and 10 are energized so that the magnetic pole teeth 12 and 14 of the phase are opposed to the magnetic pole teeth 2 of the stator 1, the mover 5/Ii is propelled to the right.

ここで、前述の移動子５の各相の磁極歯１１゜１２．１
３．１４のＩｉｌ：は、Ｉ相、■相では３に、また■相
、ｌ相でＦｉ２に七れぞれ選定して、永久磁石６よりみ
た各相の磁気ギャップ部での磁気抵抗が等しくなるよう
に形成している。Here, the magnetic pole teeth 11°12.1 of each phase of the above-mentioned mover 5
3.14 Iil: is 3 for the I and ■ phases, and Fi2 for the ■ and l phases, and the magnetic resistance at the magnetic gap of each phase as seen from the permanent magnet 6 is They are formed to be equal.

つまり、■相、！相の磁極歯１１．１４の数を、１相、
Ｉ相の磁極歯１２．１３０数よりも大とし、Ｉ相および
１相の磁気抵抗（磁気ギャップ部分の磁気抵抗と、固定
子ｌの磁気抵抗と、ヨークの磁気抵抗との総和）が■相
および１相の磁気抵抗（磁気ギャップ部分の磁気抵抗）
と等しく成るように形成しているので、各相間の推力差
は第２図に示す如くほとんどなくなる。In other words, ■phase! The number of magnetic pole teeth 11.14 of the phase is 1 phase,
The number of magnetic pole teeth of the I phase is 12.130, and the magnetic resistance of the I phase and 1 phase (the sum of the magnetic resistance of the magnetic gap part, the magnetic resistance of the stator l, and the magnetic resistance of the yoke) is and one-phase magnetic resistance (magnetic resistance in the magnetic gap)
As shown in FIG. 2, the thrust force difference between each phase is almost eliminated.

したがって、移動子５を滑らかに推進移動させることが
でき、ダイナミック特性、位置決め精度の向上を図るこ
とができるのである。Therefore, the mover 5 can be smoothly propelled and moved, and dynamic characteristics and positioning accuracy can be improved.

【図面の簡単な説明】[Brief explanation of drawings]

図面社との発明の一実施例を示し、 第１図は円筒型リニアパルスモータの断・面図、第２図
はその特性図、 第３図は従来例のリニアパルスモータの断面図、１・・
・固定子　　　　、　　２・・・磁極歯５・・・移動子
　　　　　　６・・・永久磁石７．８・・・ヨーク １１．１２，１３．１４・・・磁極歯 代理人　弁理士　永　１）良　昭 第１図 第４ｍ 第５図An embodiment of the invention with Zukosha is shown; Fig. 1 is a sectional view of a cylindrical linear pulse motor, Fig. 2 is a characteristic diagram thereof, and Fig. 3 is a sectional view of a conventional linear pulse motor.・・・
・Stator, 2...Magnetic pole tooth 5...Switcher 6...Permanent magnet 7.8...Yoke 11.12, 13.14...Magnetic pole tooth agent Patent attorney Yoshiaki 1) Yoshiaki Figure 1 Figure 4m Figure 5

Claims (1)

【特許請求の範囲】 １、多数の磁極歯を有する用筒状の固定子と、各別にコ
イルを有する左右のヨークを永久磁石の左右両側に取り
付けた移動子とからなり、前記各ヨークのコイルをへだ
てた左右に磁極歯をそれぞれ形成してなる円筒型リニア
パルスモータであって、 前記各ヨークの反永久磁石側の磁極歯数を、永久磁石側
の磁極歯数よりも大と成した 円筒型リニアパルスモータ。[Scope of Claims] 1. Consisting of a cylindrical stator having a large number of magnetic pole teeth, and a mover in which left and right yokes each having a coil are attached to both left and right sides of a permanent magnet, the coil of each yoke is A cylindrical linear pulse motor having magnetic pole teeth formed on the left and right sides separated from each other, wherein the number of magnetic pole teeth on the side opposite to the permanent magnet of each yoke is larger than the number of magnetic pole teeth on the permanent magnet side. type linear pulse motor.