JP2653183B2 - Linear motor - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a linear motor suitable for use in factory automation (FA) equipment requiring relatively large thrust, such as an industrial robot. It is.

"Prior art" As is well known, a linear pulse motor is based on a pulse signal supplied to each coil on the primary side, and moves a primary or secondary scale in a stepwise manner.
The configuration of the magnetic circuit is as shown in FIG. In this figure, reference numeral 1 denotes a secondary scale composed of a long plate-shaped magnetic material, and on its upper surface, teeth 1a, 1a, ... are arranged at regular intervals along the longitudinal direction (the left-right direction in the drawing). Is formed. The primary side 2 is placed on the upper surface of the secondary scale 1 in a state where the primary side 2 is movably supported in the longitudinal direction of the scale 1 by a support mechanism including rollers (not shown).
The primary side 2 includes U-shaped iron cores 4 and 5, coils 6a and 6b wound around magnetic poles 4a and 4b of the iron core 4, and coils wound around magnetic poles 5a and 5b of the iron core 5, respectively. 7a and 7b, permanent magnets 8 and 9 attached to the upper surfaces of the iron cores 4 and 5 with the illustrated polarities, and a back plate 10 constituted by a plate-like magnetic material attached to the upper surfaces of the permanent magnets 8 and 9. It is composed of And the magnetic pole
The pitch P of the tooth portion 1a of the secondary scale 1
And three pole teeth 14a having the same pitch as the magnetic poles 4b,
Similarly, pole teeth 14b, 15a, 15b are formed on the lower end surfaces of 5a, 5b, respectively. These pole teeth 15b, 14b, 15a are sequentially shifted by P / 4 with respect to the pole teeth 14a.
The positions a, 4b, 5a, and 5b are different from each other in phase by 90 degrees. Further, a predetermined gap G is formed between each lower end surface of the pole teeth 14a, 14b, 15a, 15b and the upper surface of the tooth portion 1a. Then, by sequentially supplying predetermined pulse signals to the coils 6a, 6b, 7a, 7b, the magnetic flux generated by the coils 6a, 6b, 7a, 7b and the magnetic flux generated by the permanent magnets 8, 9 are each
a, 4b, 5a, and 5b, the secondary scale 1
, The magnetically stable position of the primary side 2 moves sequentially, whereby the primary side 2 moves along the longitudinal direction of the secondary scale 1. In addition, if the primary side 2 is fixed, the secondary scale 1 will move.

[Problems to be Solved by the Invention] In general, linear pulse motors are used for carriage drive of printers of OA (office automation) equipment because open-loop high-precision positioning is possible. Since a large thrust cannot be obtained, it has been difficult to apply it to FA equipment requiring a relatively large thrust, such as an industrial robot. Therefore, as shown in FIGS. 6 and 7, two sets of the primary side 2 movably supported in the longitudinal direction of the secondary scale 1 by four rollers 16, 16,.
It has been considered that the primary sides 2, 2 of the set are placed in series on the same secondary side scale 1 and connected to the connecting plate 17 via bolts and nuts to increase the thrust. However, in such a structure, two sets of primary sides
There is a problem that high accuracy is required for setting the distance L between the two magnetic poles, and that the dimensional adjustment of each part during the assembly operation is extremely complicated. Further, since the size of the gap G between the primary side 2 and the secondary scale 1 changes depending on the mounting accuracy of the rollers 16, 16,. Therefore, it is difficult to make the thrusts coincide with each other, so that the generated thrust is different for each of the primary sides 2 and 2, so that there is a problem that a smooth operation cannot be realized.

The present invention has been made in view of the above circumstances, and in a case where a plurality of primary units are provided, it is possible to equalize the generated thrust for each of the primary units and to measure the dimensions of each part at the time of assembly work It is intended to provide a linear motor that can be easily adjusted.

[Means for Solving the Problems] A linear motor that linearly moves a primary unit composed of a plurality of magnetic poles linearly relative to a secondary scale on which teeth are formed at regular intervals along a certain direction. At least one opening for placing and fixing each core end of the primary unit so that a plurality of the primary units are arranged in parallel and the gap between each magnetic pole and the secondary scale is made uniform. And a support mechanism for supporting the frame so as to be linearly movable in the predetermined direction.

[Operation] According to the above configuration, a plurality of primary units are arranged in parallel in an opening formed in a single frame supported linearly movable along the trajectory of the secondary scale, and each primary unit is arranged in parallel. Since each magnetic pole of the side unit is inserted and the core end of each primary unit is placed on the frame, the flatness of the surface where the core end of the primary unit and the frame abut is managed. Only with this, all the dimensions of the gaps between the magnetic poles of the plurality of primary units and the secondary scale can be matched.

"Example" Hereinafter, an example of the present invention will be described with reference to the drawings.

FIG. 1 is a diagram showing a configuration of a first embodiment of the present invention. In this figure, reference numeral 20 denotes a frame which is constituted by a single metal member or the like and is movably supported along the longitudinal direction of the scale 1. Shafts 21 and 21 are fixed to both ends of the frame 20 in the moving direction, respectively.
Rollers are attached to both ends of 1, 21 via bearings (not shown)
16,16, ... are rotatably mounted. Frame 20
Rollers 16, 16 located on one side face are formed with flanges 16a, 16a, and these flanges 16a, 16a engage with grooves 1b formed along the side of the scale 1, flame
20 is guided along the longitudinal direction of the scale 1. Further, the frame 20 is formed with an opening 20a into which two sets of primary sides 22, 22 arranged in parallel to the moving direction are inserted so as to face the tooth portion 1a with a predetermined gap therebetween. ing. Further, fitting portions 20b, 20b,... Respectively fitting with the convex portions 22a, 22b formed so as to sandwich the four magnetic poles of the primary sides 22, 22 and the coil are formed.

The configuration of the primary side 22 is the same as that of the primary side 22 shown in FIGS.
And four magnetic poles 4a, 4b, 5a, 5b and coils 6a, 6b, 7a, 7b having phases different from each other by 90 degrees are provided. In this case, the protrusions 22a and 22b are formed integrally with the iron cores 4 and 5, and the respective magnetic poles 4a, 4b, 5a and 5b of the iron cores 4 and 5 are formed.
(See FIG. 5), that is, so as to protrude toward the secondary scale 1.

According to such an embodiment, the projections 22a, 22b at both ends of the two primary sides 22, 22 are fitted to the fitting portions 20b, 20b, ‥ formed on the single frame 20, respectively. And the end portions of the iron cores 4 and 5 are placed on the frame portion of the frame 20. Therefore, if the two primary sides 22 and 22 have the same shape and size, the end portions of the iron cores 4 and 5 are formed. The gap between the two sets of primary sides 22 and 22 and the secondary scale 1 can be made coincident only by managing the flatness of the contact surface between the secondary scale 1 and the primary side. It is possible to realize uniformity of the generated thrust on each primary side 22, 22, which is a problem when increasing the thrust by providing the 22,22.

Next, FIG. 2 is a diagram showing a configuration of a second embodiment of the present invention. In this figure, 31 has five rails 32,3 on the upper surface.
Are arranged in parallel, and four rows of teeth 31a, 31a,... Are formed between the rails 32, 32,. Each of these five rails 32, 32,... Is provided with two guides 33, 33,. , A single frame 34 is attached. In this frame 34, four sets of primary sides 35, 35,... Arranged in parallel with the moving direction are inserted so as to face the four rows of teeth 31a, 31a,. Are formed, and four sets of inserted primary sides 35, 35,.
Convex part 35a formed so as to sandwich the three magnetic poles and coil
And fitting portions 34b, 34b,. The primary side 35 has a structure having three magnetic poles and coils 36a, 36b, and 36c having phases different from each other by 120 degrees.

Next, FIG. 3 is a diagram showing a configuration of a third embodiment of the present invention. In this figure, a row of teeth 41a, 41a,... Is formed on the upper surface of the secondary scale 41, and two rails 42, 42 are arranged in parallel along the side. Have been. Each of these rails 42, 42 is provided with three guides 43, 43,... Movable along the longitudinal direction thereof, and a single unit is mounted on these guides 43, 43,. flame
44 is installed. This frame 44 has three sets of primary sides 45, 45, 45 arranged in series in the movement direction.
Are formed so as to face the tooth portion 41a with a predetermined gap therebetween, and three magnetic poles of the inserted three sets of primary sides 45, 45, 45 are formed. Fitting portions 44b, 44b,... Respectively fitting with the convex portions 45a and 45b formed so as to sandwich the coil are formed. The primary side 45 is
Three magnetic poles and coils 46a, 4 whose phases differ from each other by 120 degrees
The structure has 6b and 46c.

Next, FIG. 4 is a diagram showing a configuration of a fourth embodiment of the present invention. In this figure, on the upper and lower surfaces of the secondary scale 51, teeth 51a and 51b are respectively formed along both sides thereof, and the phases of the teeth 51a and 51b are shifted by 90 degrees along the center thereof. The tooth portion 51c is formed. Secondary scale 51
Two rails 52, 52 are respectively attached to both side surfaces of the rail, and these rails 52, 52 are provided with two guides 53, 53,. A frame 54A is attached to these guides 53 from above, and a frame 54B is attached from below. Each of these single frames 54A and 54B
Are formed with openings 54a each of which is inserted so that two sets of primary sides 55, 55 arranged in series with respect to the movement direction are opposed to the teeth 51a, 51b, 51c with a predetermined gap therebetween. Are formed, and fitting portions 54b, 54b,... Are formed to fit the convex portions 55a and 55b formed so as to sandwich the magnetic poles of the two sets of inserted primary sides 55, 55 and the coil. I have. Primary side 55 above
Is a substantially E-shaped permanent magnet composed of substantially E-shaped split iron cores 56a and 56b.
The coil 58 is inserted into the center magnetic pole 55c, which faces
And the magnetic poles at both ends are convex portions 55a, 55
Also serves as b.

Note that the present invention is not limited to the various linear pulse motors described above. If the primary side provided with the coil moves linearly relative to the secondary side, a linear induction motor or the like may be used. It can be applied to various linear motors.

[Effects of the Invention] As described above, according to the present invention, a plurality of primary units are provided in an opening formed in a single frame supported linearly movable along the trajectory of the secondary scale. Are arranged in parallel, each magnetic pole of each primary unit is inserted, and the core end of each primary unit is placed on the frame, so that the core end of the primary unit and the frame are Just manage the flatness of the contacting surface,
The gaps between the magnetic poles of the plurality of primary units and the secondary scale can all be matched, thereby causing a problem when increasing the thrust by providing the plurality of primary units. The generated thrust for each primary unit can be made uniform. In addition, since the generated thrust for each primary side is equalized, smooth operation is possible even if a plurality of primary sides are provided, so when manufacturing a large thrust linear motor, the core size per motor must be increased. Not only is there no need to perform this operation, but also the weight of the primary side per vehicle is reduced, so that the load in the assembling operation is reduced and the dimensional adjustment of each part can be easily performed. Furthermore, since the support mechanism supports the frame and the frame supports the primary side, the frame has a serial structure in the direction of gravity, so that the motor rigidity can be improved, and as a result, the effect of reducing noise can be obtained.

[Brief description of the drawings]

FIG. 1 is an exploded perspective view showing a configuration of a first embodiment of the present invention with a part cut away, FIG. 2 is an exploded perspective view showing a configuration of a second embodiment of the present invention, and FIG. Fig. 4 is an exploded perspective view showing a configuration of a third embodiment of the present invention with a part cut away, Fig. 4 is an exploded perspective view showing a configuration of a fourth embodiment of the present invention, and Fig. 5 is a magnetic circuit of a conventional linear pulse motor. Diagram showing configuration, sixth
FIGS. 7 and 8 are views showing the configuration of a conventional linear pulse motor with an increased thrust. FIG. 6 is a front view and FIG. 7 is a side view. 1,31,41,51 …… Secondary scale, 1b …… Groove (track), 16
Roller (support mechanism), 20, 34, 44, 54A, 54B Frame, 20a, 34a, 44a, 54a Opening, 20b, 34b, 44b, 54b
Fitting part, 22, 35, 45, 55 …… Primary side, 22a, 22b, 35a, 35b, 45
a, 45b, 55a, 55b ... convex part, 32, 42, 52 ... rail (track), 33, 43, 53 ... guide (support mechanism).

Claims (1)

(57) [Claims] 1. A linear motor for linearly moving a primary unit consisting of a plurality of magnetic poles linearly relative to a secondary scale having teeth formed at regular intervals along a predetermined direction, At least one unit for mounting and fixing each core end of the primary unit is arranged so that a plurality of units are arranged in parallel and the gap between each magnetic pole and the secondary scale is made uniform.
A linear motor, comprising: a single frame having two openings; and a support mechanism that supports the frame so as to be linearly movable in the predetermined direction.