JPS62203549A - Linear motion motor - Google Patents
Linear motion motorInfo
- Publication number
- JPS62203549A JPS62203549A JP4565286A JP4565286A JPS62203549A JP S62203549 A JPS62203549 A JP S62203549A JP 4565286 A JP4565286 A JP 4565286A JP 4565286 A JP4565286 A JP 4565286A JP S62203549 A JPS62203549 A JP S62203549A
- Authority
- JP
- Japan
- Prior art keywords
- armature
- field
- core
- magnetic
- cogging torque
- 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.)
- Granted
Links
- 238000004804 winding Methods 0.000 claims abstract description 20
- 239000000696 magnetic material Substances 0.000 claims description 6
- 239000011295 pitch Substances 0.000 claims 1
- 239000002131 composite material Substances 0.000 abstract 1
- 238000010030 laminating Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 7
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 6
- 229910052742 iron Inorganic materials 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000004907 flux Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000004575 stone Substances 0.000 description 2
- 229910001369 Brass Inorganic materials 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 235000009470 Theobroma cacao Nutrition 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 239000010951 brass Substances 0.000 description 1
- 244000240602 cacao Species 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Landscapes
- Linear Motors (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明は、たとえばプリンターのヘッド駆動あるいは直
交座標ロボットのX軸およびY軸駆動用等OA、FA用
の直線用の直線運動電動機に関する。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a linear motion motor for linear motion in OA and FA applications, such as for driving the head of a printer or for driving the X-axis and Y-axis of a Cartesian coordinate robot.
従来例として永久磁石を使用した3相2極の直線運動型
1Illvsについて説明する。As a conventional example, a three-phase two-pole linear motion type 1Illvs using permanent magnets will be explained.
第5図はその従来例の側断面図、第6図は3相2極の電
機子巻線のスロット内配置図である。FIG. 5 is a side sectional view of the conventional example, and FIG. 6 is a diagram showing the arrangement of three-phase, two-pole armature windings in slots.
第5図において、1は界磁で交互極性に着磁した複数個
の永久磁石2を設置しである。3は電機子で電機子コア
4に多相巻線5.5 5u11I・vll
5V2をそなえており、界Vif11とは平面状空隙を
介して対向し、多相巻線を所定の順序で励磁することに
より所定方向へ移動するようにしである。In FIG. 5, reference numeral 1 indicates a plurality of permanent magnets 2 which are magnetized with alternating polarity by a magnetic field. 3 is an armature, and the armature core 4 is equipped with a polyphase winding 5.5 5u11I/vll 5V2, which faces the field Vif11 through a planar gap, and excites the polyphase winding in a predetermined order. This allows the robot to move in a predetermined direction.
また、U、V、W相巻線のスロット内配置および接続は
、第6図に示すtηになっている。(J相どW相巻線は
集中巻きであるのに対して、V相巻線は2分割巻線とし
、巻線5v1ど5y2J:り構成されている。Further, the arrangement and connection of the U, V, and W phase windings in the slot is tη as shown in FIG. (While the J-phase and W-phase windings are concentrated windings, the V-phase winding is a two-part winding, and the windings are 5v1, 5y2j, and so on.
なお、48は電機子コア4の南部である。Note that 48 is the southern part of the armature core 4.
〔発明が解決しにうとする問題点]
このような永久磁石を使用した直線電動機は、小形軽量
に形成され優れた性能を持゛っているが、永久lI!!
石の洩れ磁束によるコギングトルク(Couinq t
orque)が生ずる。[Problems to be Solved by the Invention] A linear motor using such permanent magnets is small and lightweight and has excellent performance, but the permanent lI! !
Cogging torque due to leakage magnetic flux of stone
orque) occurs.
ここで、電償子コア4に働くコギングトルクFは
ただし、
Pは電機子コア4に端部のパーミアンス、Uは永久ta
石2による起磁力、
Xは電機子コア4の移動位防、
で表わされる。Here, the cogging torque F acting on the armature core 4 is, P is the permeance at the end of the armature core 4, and U is the permanent ta.
The magnetomotive force due to the stone 2, X is the movement position of the armature core 4, and is expressed as follows.
電機子3の位置を変えたときに術られるコギング1〜ル
クの12i性図を第7図に表わす。FIG. 7 shows a 12i characteristic diagram for cogging 1 to lux that is created when the position of the armature 3 is changed.
これは電機子3が状態■から漸次■→■→■→(■−→
■と移動ツるときのコギングトルク1:の大ぎさを示し
、Fは右向きつまり状態■における矢印の方向を正どし
ている。This means that armature 3 gradually changes from state ■ to ■→■→■→(■−→
(2) indicates the magnitude of the cogging torque 1: when moving, and F indicates the right direction, that is, corrects the direction of the arrow in state (2).
■の状態では、電機子コア4が多少動いでし左右両端の
パーミアンスの変動が小さく、コギングトルクFSよ)
へめで小さい値で安定しているが、■あるいは■の状態
ではfriljl子コア4の端部が永久磁石2の極性の
境界附近を通るので、電機子コア4の移動により、その
端部のエツジ効果のためパーミアンスが大きく変動し、
コギングトルクは定格推力の±30〜40%にも達する
。In the state (■), the armature core 4 moves a little, and the fluctuations in permeance at both left and right ends are small, and the cogging torque is FS.)
However, in the state of ■ or ■, the end of the frill child core 4 passes near the polarity boundary of the permanent magnet 2, so the movement of the armature core 4 causes the edge of that end to change. Permeance fluctuates greatly due to the effect,
The cogging torque reaches ±30 to 40% of the rated thrust.
また、速度起電力波形にも歪が生じて推力が変動し、特
に位PI決め用号−ボモータとして、位置決め精度を維
持できない欠点がめった。In addition, distortion occurs in the velocity electromotive force waveform, causing the thrust to fluctuate, and the drawback is that positioning accuracy cannot be maintained, especially as a positioning PI determining motor.
ここにおいて本発明は、従来例の難点を克服し、直線運
動電動機のコギングトルクを低減らしくは完全になくし
て位置決め用ナーボL−夕として使用できる手段を促供
することを、その目的とする。SUMMARY OF THE INVENTION It is therefore an object of the present invention to overcome the drawbacks of the prior art and to provide a means for reducing or even completely eliminating the cogging torque of a linear motion motor so that it can be used as a positioning motor.
電機子コア4の移動によって発生するコギングトルクは
(1)式で表わされ、位置に対し第7図に示す関係があ
る。The cogging torque generated by the movement of the armature core 4 is expressed by equation (1), and has the relationship shown in FIG. 7 with respect to position.
したがって、本発明は発生するコギングトルクとは反対
の力を電機子コアに作用させ、コギングl−ルウをなく
寸ようにした手段をそなえる。すなわら、
本発明は、複数個の永久磁石2からなる界la1ど多相
巻線5を貝えた電機子コア4からなる電機子3とを平面
状空隙を介して対向させ、多相巻線5を励磁することに
より、界Ia1と電機子3とを相対的に移動させるもの
において、
電機子コア4の移動方向の片側あるいは両側に有限な空
間を設けて、界磁1の電機子3に対向する上面に平行で
、磁性体片を界磁1と空隙を介して固定した
直線運動電動機である。Therefore, the present invention provides means for applying a force on the armature core opposite to the cogging torque generated, thereby eliminating the cogging l-route. In other words, in the present invention, a field la1 consisting of a plurality of permanent magnets 2 and an armature 3 consisting of an armature core 4 with a polyphase winding 5 facing each other through a planar gap are arranged to form a polyphase winding. In a device that moves the field Ia1 and the armature 3 relatively by energizing the wire 5, a finite space is provided on one side or both sides of the armature core 4 in the direction of movement, and the armature 3 of the field 1 is This is a linear motion motor in which a magnetic piece is fixed to the field 1 through an air gap, parallel to the upper surface facing the field.
(作 用)
磁性体片に作用づる水平分力Pが
コギングトルク1:として発生Jる推力を低減あるいは
抹消する。(Function) The horizontal component P acting on the magnetic piece reduces or eliminates the thrust generated as cogging torque 1:.
この原理を第3図に表ねり磁性体7に作用する水平分力
Pの解析図により説明する。This principle will be explained using an analytical diagram of the horizontal component force P acting on the magnetic body 7 shown in FIG.
界磁1に2行に、−電空間距離δを保って磁性体片7を
配置し、磁性体片7を平行移動させると、第7図に示し
た電機子コア4の場合と同様に磁気エネルギーの変化か
ら、磁性体片にら第3図に示すような水平分力Pが作用
する。When the magnetic pieces 7 are arranged in two rows in the field 1 while maintaining the -electrospace distance δ, and the magnetic pieces 7 are moved in parallel, the magnetic pieces 7 become magnetic as in the case of the armature core 4 shown in Fig. 7. Due to the change in energy, a horizontal force P as shown in FIG. 3 acts on the magnetic piece.
このとき作用する水平分力Pの位置に対する形状は、磁
性体片7と界磁1との空間距離δ、および磁性体片7の
機械寸法すなわら幅W、艮ざり。The shape with respect to the position of the horizontal component P acting at this time is determined by the spatial distance δ between the magnetic piece 7 and the field 1, and the mechanical dimension, that is, the width W, of the magnetic piece 7.
高さHを変えることによって、特性曲線a、b。By changing the height H, the characteristic curves a, b.
Cのような形状となる。It will have a shape like C.
ところで、この特性曲線a、b、cの形状を作る一例を
示せば、磁性体片7の材質は鉄材を用い、…(ヘピツチ
τに対して磁性体片70幅Wを小さくしていくど、曲線
の形状は、Cからbへさらにaのようになる。By the way, to give an example of creating the shapes of the characteristic curves a, b, and c, the material of the magnetic piece 7 is iron, and... The shape of becomes from C to b and then to a.
そこで、電機子コア4の移動に伴って発生するコギング
トルクをなくり−には、これを打消すにうな水平分力P
が作用りる磁性体片7を作り、それに作用する水平分力
Pとコギング1〜ルクFとの合成力が零になるように、
電機子3に配置してコギング1−ルクを打消す。Therefore, in order to eliminate the cogging torque that occurs with the movement of the armature core 4, it is necessary to
Create a magnetic piece 7 on which the force acts, and make the combined force of the horizontal component P and the cogging 1 to luc F acting on it to be zero.
Place it on armature 3 to cancel cogging 1-lux.
仮りに、磁性体片7に作用する水平分力Pの形状が電機
子コア4に作用するコギングトルクFを打消すのに必要
な理想的な形状でなくても、磁性体片7と¥1電機子コ
アの位置関係を適切に調整すれば、可成りコギングトル
クFの低減が計れる。Even if the shape of the horizontal component force P acting on the magnetic piece 7 is not the ideal shape necessary to cancel the cogging torque F acting on the armature core 4, the magnetic piece 7 and ¥1 By appropriately adjusting the positional relationship of the armature core, the cogging torque F can be reduced considerably.
この状態は第4図に表わしたコギングトルク位置の関係
図で示される。This state is shown in the cogging torque position relationship diagram shown in FIG.
本発明の一実施例にJ3ける断面で表わした側面図を第
1図に示す。FIG. 1 shows a side view of an embodiment of the present invention taken in section at J3.
すべての図面において、同一符号は同一部材を表わす。The same reference numerals represent the same parts in all drawings.
ここでは、永久磁石界磁同期機形、3相、4極を例に示
す。Here, a permanent magnet field synchronous machine type, 3-phase, 4-pole is shown as an example.
第1図はにおいで、界磁1は磁気回路を構成する鉄部材
の上に複数個の永久磁石2を接着固定することによって
構成されている。In FIG. 1, a magnetic field 1 is constructed by adhesively fixing a plurality of permanent magnets 2 onto an iron member constituting a magnetic circuit.
また、電機子3は3相の電機予巻′fA5を収納するス
ロットを打抜いた電磁鉄板を積層して櫛歯状に形成した
?[f II子ココア4電8i子コア4のスロワ1−内
に収納された3相雷磯子巻線5と電機子コア4を固定し
たフレーム部8より構成されている。Also, the armature 3 is formed into a comb-like shape by stacking electromagnetic iron plates with punched slots for storing the three-phase electric prewinding 'fA5'. [f II Child Cocoa 4 Electric 8 I Child Core 4 Consists of a 3-phase lightning Isogo winding 5 housed in the thrower 1- of the child core 4 and a frame portion 8 to which the armature core 4 is fixed.
さらに、電機子コア4の移動方向のフレーム部8の片側
には、電機子コア4に発生するコギングトルクFを打潤
すに必要な水平分力Pが作用Cきるような形状寸法に鉄
部材より加工された磁性体片7が、それに作用寸ろ水平
分力Pと電機子コア4に発生するコギングトルクFの合
成力が最小になるように、界!11の上面に空隙長δを
隔てて平行にアルミニウムあるいは眞鍮等の非磁性材料
(必ずしも非磁性材料でなくてもよい)からなる支持部
材9を介して、フレーム8に固定されている。Further, on one side of the frame portion 8 in the moving direction of the armature core 4, a steel member is shaped and dimensioned so that the horizontal component force P necessary to counteract the cogging torque F generated in the armature core 4 can be applied. The processed magnetic material piece 7 is placed in the field so that the resultant force of the horizontal component force P acting on it and the cogging torque F generated in the armature core 4 is minimized! It is fixed to the frame 8 via a support member 9 made of a non-magnetic material (not necessarily a non-magnetic material) such as aluminum or brass, which is parallel to the upper surface of the support member 11 with a gap length δ in between.
このように形成することによって、コギングトルク1:
が低減でき、高精度な直線電動機が達成できた。By forming in this way, cogging torque 1:
This enabled us to achieve a highly accurate linear motor.
そして、コギングトルクを低減する方法としては、本発
明の他の実施例を側断面図C−艮わづ第2図に示すよう
に、フレーム部8の両サイドに、一実施例(第1図)と
同様の考え方を適用しで、磁性体片7を取り付ける手段
がある。As a method for reducing the cogging torque, one embodiment of the present invention (see FIG. ) There is a method for attaching the magnetic piece 7 by applying the same idea.
かくして本発明によれば、小形軽伍で構成される永久磁
石を使用した直線運動電動機を保有する優れた性能が十
二分に発揮され、永久磁石の洩れ磁束によるコギングト
ルクの発生も低減もしくは抹消され、特に位置決め用サ
ーボモータとして、位置決め精度を高度に維持でき、信
頼性の向上と作業効率が著しく改善される。Thus, according to the present invention, the excellent performance of the linear motion motor using permanent magnets composed of small and light vehicles is fully exhibited, and the generation of cogging torque due to leakage magnetic flux of the permanent magnets is also reduced or eliminated. In particular, as a positioning servo motor, a high degree of positioning accuracy can be maintained, and reliability and work efficiency are significantly improved.
第1図は本発明の一実施例の側断面図、第2図は本発明
の他の実施例の側断面図、第3図は磁性体片に作用する
水平分力解析図、第4図はコギングトルク−位置の関係
図、第5図、第6図ti&従来例の説明図、第7図は電
機子コアの移動に伴って発生ずるコギングトルクの大き
ざと位置の関係図である。
1・・・界磁、2・・・永久磁石、3・・・電機子、4
・・・電機子コアで4aはその南部、5・・・多相巻線
で5゜はU相巻線、5 はW相巻線、5 ・5 はV相
W VI V2
巻線、7・・・磁性体片、8・・・フレーム部、9・・
・支持材。
出願人代理人 佐 藤 −雄
慎1図
H:磁性体片の高さ
氾4図
帛5区
馬6図Fig. 1 is a side sectional view of one embodiment of the present invention, Fig. 2 is a side sectional view of another embodiment of the invention, Fig. 3 is an analysis diagram of horizontal component force acting on a magnetic piece, and Fig. 4 5 and 6 are explanatory diagrams of the conventional example, and FIG. 7 is a diagram showing the relationship between the magnitude and position of the cogging torque generated as the armature core moves. 1... Field, 2... Permanent magnet, 3... Armature, 4
...In the armature core, 4a is the southern part of it, 5...In the multi-phase winding, 5° is the U-phase winding, 5 is the W-phase winding, 5 ・5 is the V-phase W VI V2 winding, 7. ...Magnetic material piece, 8...Frame part, 9...
・Support material. Applicant's agent Sato - Yushin Figure 1 H: Height of magnetic material piece Figure 4 Figure 5 Ward horse Figure 6
Claims (1)
等ピッチに直線状に接着固定し配設した界磁と、側面が
櫛状をなす電機子コアに多相巻線を巻回した電機子とを
平面状空隙を介して対向させ、前記多相巻線を励磁する
ことにより、界磁と電機子とを相対的にに移動させるも
のにおいて、前記電機子コアの移動方向の片側あるいは
両側に有限な空間を設けて、界磁の電機子に対向する面
に平行に、磁性体片を界磁と空隙を介して固定し付設し
たことを特徴とする直線運動電動機。1. A field consisting of a plurality of permanent magnets magnetized with alternating magnetic polarities glued and fixed in a straight line at equal pitches, and a multiphase winding wound around an armature core with a comb-shaped side surface. The field and the armature are moved relative to each other by energizing the multiphase windings by arranging the rotated armature to face each other with a planar gap interposed therebetween, and in which the field and the armature are moved relatively. A linear motion motor characterized in that a finite space is provided on one or both sides, and a piece of magnetic material is fixed and attached to the field through an air gap in parallel to the surface facing the armature of the field.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP61045652A JPH07108086B2 (en) | 1986-03-03 | 1986-03-03 | Linear motion motor |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP61045652A JPH07108086B2 (en) | 1986-03-03 | 1986-03-03 | Linear motion motor |
Publications (2)
Publication Number | Publication Date |
---|---|
JPS62203549A true JPS62203549A (en) | 1987-09-08 |
JPH07108086B2 JPH07108086B2 (en) | 1995-11-15 |
Family
ID=12725306
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP61045652A Expired - Fee Related JPH07108086B2 (en) | 1986-03-03 | 1986-03-03 | Linear motion motor |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPH07108086B2 (en) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2000001059A1 (en) * | 1998-06-29 | 2000-01-06 | Siemens Aktiengesellschaft | Linear synchronous motor |
WO2006082134A1 (en) * | 2005-01-31 | 2006-08-10 | Siemens Aktiengesellschaft | Linear motor with force ripple compensation |
WO2009035050A1 (en) * | 2007-09-14 | 2009-03-19 | Thk Co., Ltd. | Linear motor and linear motor cogging reduction method |
WO2009116343A1 (en) * | 2008-03-18 | 2009-09-24 | 株式会社安川電機 | Modular type linear motor armature, modular type linear motor having the armature, and conveyor apparatus |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5843428U (en) * | 1981-09-16 | 1983-03-23 | 日東電工株式会社 | medical bandage |
JPS591415U (en) * | 1982-06-24 | 1984-01-07 | 三菱重工業株式会社 | Support device for multi-body winding machine and unwinding machine |
JPS6030195A (en) * | 1983-07-28 | 1985-02-15 | シャープ株式会社 | Method of connecting lead |
-
1986
- 1986-03-03 JP JP61045652A patent/JPH07108086B2/en not_active Expired - Fee Related
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5843428U (en) * | 1981-09-16 | 1983-03-23 | 日東電工株式会社 | medical bandage |
JPS591415U (en) * | 1982-06-24 | 1984-01-07 | 三菱重工業株式会社 | Support device for multi-body winding machine and unwinding machine |
JPS6030195A (en) * | 1983-07-28 | 1985-02-15 | シャープ株式会社 | Method of connecting lead |
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2000001059A1 (en) * | 1998-06-29 | 2000-01-06 | Siemens Aktiengesellschaft | Linear synchronous motor |
US6713899B1 (en) | 1998-06-29 | 2004-03-30 | Siemens Aktiengesellschaft | Linear synchronous motor |
WO2006082134A1 (en) * | 2005-01-31 | 2006-08-10 | Siemens Aktiengesellschaft | Linear motor with force ripple compensation |
WO2009035050A1 (en) * | 2007-09-14 | 2009-03-19 | Thk Co., Ltd. | Linear motor and linear motor cogging reduction method |
US8030804B2 (en) | 2007-09-14 | 2011-10-04 | Thk Co., Ltd. | Linear motor and linear motor cogging reduction method |
WO2009116343A1 (en) * | 2008-03-18 | 2009-09-24 | 株式会社安川電機 | Modular type linear motor armature, modular type linear motor having the armature, and conveyor apparatus |
JP5376257B2 (en) * | 2008-03-18 | 2013-12-25 | 株式会社安川電機 | Modular linear motor armature, modular linear motor including the same, and conveying device |
TWI482399B (en) * | 2008-03-18 | 2015-04-21 | Yaskawa Denki Seisakusho Kk | Variable linear motor armature and its adjustable linear motor and handling device |
Also Published As
Publication number | Publication date |
---|---|
JPH07108086B2 (en) | 1995-11-15 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US6960858B2 (en) | Motor using permanent magnet | |
JP3360606B2 (en) | Linear motor | |
JP2004364374A (en) | Linear motor | |
JP4023290B2 (en) | Linear motor | |
JPWO2018174235A1 (en) | Linear motor | |
JP2009213211A (en) | Mounting structure for linear motors | |
JPH0135592B2 (en) | ||
JPH11178310A (en) | Linear motor | |
JPS62203549A (en) | Linear motion motor | |
JP3409223B2 (en) | Linear motor | |
JPS59153457A (en) | Hybrid linear stepping motor | |
JP4110335B2 (en) | Linear motor | |
JPH11313475A (en) | Linear motor | |
Mitsui et al. | Detent force reduction by positional shifting of permanent magnets for a pmlsm without compromising thrust | |
JP2003134791A (en) | Permanent magnet synchronous linear motor | |
JP2002101636A (en) | Linear motor | |
JP3824060B2 (en) | Linear motor | |
JP2642240B2 (en) | Linear motor | |
JP2001008432A (en) | Linear motor | |
JP2526819B2 (en) | Linear motor | |
JP2000152599A (en) | Pulse motor | |
JPH11122903A (en) | Linear motor | |
JP3218811B2 (en) | Linear motor | |
JP2006136156A (en) | Linear motor | |
JP2001045735A (en) | Moving body structure of linear motor |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
LAPS | Cancellation because of no payment of annual fees |