JP5508181B2 - Linear motor and linear motor device - Google Patents

Description

  The present invention relates to a linear motor and a linear motor device. The linear motor device includes a linear motor and a control device that controls the linear motor.

  A linear motor including a stator having a coil and a mover having a magnet, that is, a magnet moving type linear motor is known (for example, Patent Document 1). Patent Document 1 also discloses a technique for arranging a plurality of movers on the same path.

JP 2010-130740 A

  When a plurality of movers having magnets are arranged on the same path as described above, the position control of the mover such as a state where the power of the linear motor is turned off, a power failure occurs, or a servo-free state is performed. In a state where it is not made, adjacent movers may be joined by the attractive force of the magnet.

  Once adjacent magnets are attracted to or close to each other, a large force is required to separate these magnets. In order to prevent such magnets from adsorbing or approaching, if a stopper (spacer) is provided so that adjacent movers do not come within a predetermined distance, the weight of the mover increases and the length of the mover increases. This causes inconveniences such as an increase in the length and the number of members.

  The objective of this invention is providing the linear motor and linear motor apparatus which can suppress attraction | suction between the needle | movers which have a magnet.

  The linear motor of the present invention includes a stator having a plurality of coils arranged along a predetermined path and a plurality of magnets arranged in a direction along the predetermined path while alternately reversing the directions of the magnetic poles. A plurality of movers that can move independently of each other along the predetermined path and cannot pass each other, and the plurality of movers are located between adjacent movers. The plurality of magnets are provided so that the magnetic poles of adjacent magnets have the same direction.

  Preferably, in each of the adjacent movable elements, the number of the plurality of magnets is an even number, and in the adjacent movable elements, the arrangement order of the magnetic poles on one side of the predetermined path is reversed. Thus, the directions of the magnetic poles of the adjacent magnets between the adjacent movers are the same.

  Preferably, in the adjacent movers, the number of the plurality of magnets in at least one of the movers is an odd number so that the magnetic pole directions of the adjacent magnets between the adjacent movers are the same. Yes.

  Preferably, in the mover having the odd number of magnets, the magnet at one end is smaller than the other magnets.

  Preferably, the plurality of movers have the same configuration.

  The linear motor device of the present invention includes a linear motor and a control device that controls the linear motor, and the linear motor includes a stator having a plurality of coils arranged along a predetermined path; Each of the plurality of magnets arranged in a direction along the predetermined path while alternately reversing the direction of the magnetic poles is movable independently of the stator along the predetermined path and overtakes each other. A plurality of movable elements, and the plurality of movable elements have the plurality of magnets so that the directions of magnetic poles of adjacent magnets between adjacent movable elements are the same. The apparatus controls the current supplied to the coil opposed to one of the adjacent movers and the control of the current supplied to the coil opposed to the other of the adjacent movers to each other. Mover Driving towards the same direction of said predetermined path.

  Preferably, the plurality of coils constitute a plurality of coil assemblies to which a three-phase alternating current is applied, and in each of the adjacent movers, the number of the plurality of magnets is an even number, and the adjacent moveable The child is arranged such that the magnetic poles on the one side of the predetermined path are reversed in order so that the directions of the magnetic poles of adjacent magnets between the adjacent movers are the same. Shifts the phase of the three-phase alternating current supplied to the coil assembly having a fixed positional relationship with respect to the leading magnet between the adjacent movers by a half cycle, thereby Drive in the same direction of a given path.

  Preferably, the apparatus further includes a plurality of sensors that detect the directions of the magnetic poles of the movers facing the plurality of coils, and the control device is configured to detect the adjacent movers based on the detection results of the plurality of sensors. The control of the current supplied to the opposing coil is made different from each other.

  Preferably, each of the plurality of sensors is disposed in a direction along the predetermined path with a distance of 1/4 of a length along the predetermined path corresponding to two of the magnets. A pair of magnetically sensitive elements that respectively output signals in accordance with the strength and direction.

  According to the present invention, the attraction between the movers having magnets can be suppressed.

1 is a schematic plan view showing a schematic configuration of a linear motor device according to a first embodiment of the present invention. The side view of a part of linear motor of the linear motor device of FIG. The top view and side view which expand and show a part of linear motor of FIG. The conceptual side view which shows the relationship which concerns on the magnetic pole in the needle | mover which adjoins the linear motor of FIG. 2, and control. The side view which shows typically the structure of the sensor of the linear motor apparatus of FIG. The figure which shows the example of the time change of the detection signal of the sensor of FIG. The flowchart which shows notionally the procedure of the process of the electric power supply control which the control apparatus of the linear motor apparatus of FIG. 1 performs. The typical side view which shows the principal part of the linear motor of 2nd Embodiment. The side view which shows the modification of the stator of 1st and 2nd embodiment. The perspective view which shows a part of linear motor of 3rd Embodiment.

(First embodiment)
FIG. 1 is a schematic plan view showing a schematic configuration of a linear motor device 1 according to a first embodiment of the present invention.

  The linear motor device 1 includes a linear motor 3, a plurality of drivers 5 (only part of which are shown in FIG. 1) for supplying power to the linear motor 3, and a control device 7 that controls the plurality of drivers 5. . The entire linear motor device 1 may be regarded as a linear motor.

  The linear motor 3 includes a stator 9 having a plurality of coil assemblies 15 and a plurality of movers 11 movable with respect to the stator 9.

  The plurality of movers 11 can move independently of each other along the path 13. That is, the plurality of movers 11 are not connected to each other. Further, the plurality of movable elements 11 are provided so as to keep the state in which they are arranged in a line, that is, cannot be overtaken with each other. In other words, the plurality of movable elements 11 are provided so that adjacent movable elements 11 can come into contact with each other. The plurality of movers 11 are not particularly illustrated, for example, but are guided by guide means such as rails, and are restricted from moving in directions other than the direction along the path 13, so that they cannot be overtaken along the path 13. Moving.

  The plurality of drivers 5 are provided in the same number as the plurality of coil assemblies 15 so that the power supplied to the plurality of coil assemblies 15 can be controlled independently of each other. 1 is connected. Note that the entire plurality of coil assemblies 15 may be regarded as one driver, or conversely, a driver may be regarded as being provided for each of the plurality of coils 17 described later. Each driver 5 supplies power corresponding to a control signal input from the control device 7 to the coil assembly 15.

  For example, the control device 7 is configured by a computer including a CPU, a RAM, a ROM, and an external storage device, although not particularly illustrated. The control device 7 outputs a control signal to the plurality of drivers 5 according to a signal input from an input device (not shown) and a program stored in advance in the external storage device. The control device 7 can individually control the operations (position, speed, thrust, etc.) of the plurality of movers 11 by controlling the power supplied to the coil assembly 15 for each of the plurality of movers 11.

  FIG. 2 is a side view (partial side view of the linear motor 3) in the region II of FIG.

  The plurality of coil assemblies 15 are arranged in a line at equal intervals along the path 13. The plurality of movers 11 face the stator 9 including the plurality of coil assemblies 15 at a predetermined interval and are arranged along the plurality of coil assemblies 15.

  FIG. 3A is an enlarged plan view showing a part of the linear motor 3. FIG. 3B is an enlarged side view showing a part of the linear motor 3.

  The plurality of coil assemblies 15 have the same configuration. Each coil assembly 15 includes three coils 17 </ b> A to 17 </ b> C (hereinafter, A to C may be omitted) and a coil holding member 19 that holds these three coils 17.

  For example, the three coils 17 have the same configuration. Each coil 17 is configured by winding a wire (not shown) a plurality of times. The coil 17 is, for example, generally flat and has a planar shape that is generally rectangular. That is, as shown in FIG. 3A, the coil 17 has two parallel portions 17a parallel to each other and two connecting portions 17b that connect both ends of the two parallel portions 17a. In addition, the dimension of each part of the coil 17 may be set appropriately.

  The three coils 17 are arranged in a direction (radial direction) orthogonal to the axial direction of these coils and in a direction orthogonal to the parallel portion 17a. The three coils 17 are arranged adjacent to each other so as not to overlap each other. The distance between the three coils 17 may be set as appropriate.

  The coil holding member 19 is formed, for example, in a generally plate shape. The three coils 17 are arranged along one main surface of the coil holding member 19 and are fixed to the one main surface. The coil 17 is fixed to the coil holding member 19 with an appropriate fixing member such as an adhesive or a bolt. The dimension of the coil holding member 19 may be set as appropriate. For example, the size of the coil holding member 19 in the arrangement direction of the coils 17 is equal to the overall size of the three coils 17 (see the distance L1).

  The coil holding member 19 is made of, for example, a nonmagnetic material. Since the coil holding member 19 is formed of a non-magnetic material, the strength of the magnetic field between the position where the coil assembly 15 is disposed and the position where the coil assembly 15 is not disposed is compared with the case where the coil holding member 19 is formed of a magnetic material. Change is reduced and cogging is suppressed. Nonmagnetic materials are, for example, resin, wood, and aluminum. However, the coil holding member 19 may be formed of a magnetic material.

  The coil assembly 15 is fixed to the installation surface 25 by fixing the coil holding member 19 to the installation surface 25 with the three coils 17 facing away from the installation surface 25 (FIG. 3B). . The plurality of coil assemblies 15 are arranged so that the arrangement direction of the three coils 17 (the arrangement direction of the parallel portions 17a) matches the arrangement direction of the plurality of coil assemblies 15 (the direction along the path 13).

  The coil holding member 19 is fixed to the installation surface 25 by appropriate fixing means such as a bolt. The installation surface 25 is, for example, an appropriate part of a device in which the linear motor device 1 is provided, or a floor surface of a facility in which the linear motor device 1 is provided.

  As will be described later, the plurality of movers 11 have the same configuration except for the direction of the magnetic poles. Each mover 11 includes a plurality of magnets 21 and a magnet holding member 23 that holds the plurality of magnets 21.

  The plurality of magnets 21 have the same configuration. Each magnet 21 is formed in, for example, a generally thin rectangular parallelepiped shape, and is magnetized in the thickness direction (the Z-axis direction in FIGS. 3A and 3B). The dimension of the magnet 21 may be set appropriately. For example, the size of the magnet 21 in the longitudinal direction is equal to the length of the parallel portion 17 a of the coil 17. Further, for example, the size of the magnet 21 in the short direction is 1 of the size (refer to the distance L1) in the direction along the path 13 of the coil assembly 15 (the X direction in FIGS. 3A and 3B). / 4 (about 3/4 of the size of the coil 17 in the X direction).

  The plurality of magnets 21 are arranged in a direction orthogonal to the magnetization direction, more specifically in the short direction of the magnets 21. The plurality of magnets 21 are arranged so that the directions of the magnetic poles are alternately reversed. In FIG. 3B, of the two magnetic poles of each magnet 21, the magnetic pole on the installation surface 25 side is indicated by the symbol N or S.

  An even number (12 in this embodiment) of the plurality of magnets 21 is arranged. In other words, the mover 11 has a plurality of pairs (six pairs in the present embodiment) of two magnets 21 having opposite magnetic poles.

  In the mover 11, the size in the arrangement direction of the even number (four in this embodiment) of the magnets 21 is equal to the size in the arrangement direction of the three coils 17 (see the distance L1). The plurality of magnets 21 are arranged at equal intervals, and the intervals may be set as appropriate.

  The magnet holding member 23 is formed in a generally plate shape, for example. The plurality of magnets 21 are arranged along one main surface of the magnet holding member 23 and are fixed to the one main surface. The magnet 21 is fixed to the magnet holding member 23 by an appropriate fixing member such as an adhesive or a bolt. The dimension of the magnet holding member 23 may be set as appropriate. For example, the size of the magnet holding member 23 in the arrangement direction of the magnets 21 is equal to the overall size of a plurality (12 in this embodiment) of the magnets 21 (see the distance L2).

  The magnet holding member 23 is made of, for example, a magnetic material. However, the magnet holding member 23 may be formed of a nonmagnetic material. When the magnet holding member 23 is formed of a magnetic material, the magnetic flux can be increased. When the magnet holding member 23 is formed of a nonmagnetic material, the magnetic field can be spread around the mover 11. The magnet holding member 23 may be configured by combining a magnetic material and a non-magnetic material.

  The mover 11 is arranged at a predetermined distance from the stator 9 with a plurality of magnets 21 facing the stator 9. As described above, the movable element 11 is held movably by an appropriate guide means, etc., so that the movable element 11 is maintained in a direction along the path 13 (FIG. 3A and FIG. It moves in the X direction in FIG.

In the direction along the path 13, the size (L 2) of the mover 11 and the interval (L 3) between the coil assemblies 15 are set so that the mover 11 always faces at least a part of at least one coil assembly 15. .
That is, the distance L2> the distance L3.

More preferably, the size (L2) of the mover 11 and the distance (L3) between the coil assemblies 15 are such that the mover 11 always faces at least one coil assembly 15 at least as large as one coil assembly 15. Set to do.
That is, the distance L2 ≧ the distance L1 + the distance L3.

More preferably, the size (L2) of the mover 11 and the interval (L3) between the coil assemblies 15 are set so that the mover 11 always faces the entire at least one coil assembly 15.
That is, the distance L2 ≧ the distance L1 × 2 + the distance L3.
In this embodiment, distance L2 = distance L1 × 2 + distance L3.

  The distance L3 between the coil assemblies 15 may be an appropriate size. However, the distance L3 is preferably a multiple of the size of the magnet 21 or the pair of magnets 21 in the arrangement direction of the coil assembly 15 (X direction in FIGS. 3A and 3B). . This is because when one movable element 11 is driven by two or more coil assemblies 15, it is easy to synchronize the control of the power supplied to the coil assemblies 15.

  FIG. 4 is a conceptual side view showing the relationship between magnetic poles and control between adjacent movers. In FIG. 4, only the magnetic poles on the coil assembly 15 side among the magnetic poles of the magnet 21 are indicated by the symbol N or S, as in FIG. 3.

  For convenience of explanation, in FIG. 4, the mover 11 and the coil assembly 15 on the left side of the drawing are given an additional symbol A, and the mover 11 and the coil assembly 15 on the right side of the drawing are given an additional symbol B. Further, among the plurality of magnets 21 of the mover 11A, the magnet 21 at the end on the mover 11B side is given an additional symbol Ae, and among the plurality of magnets 21 of the mover 11B, the end on the mover 11A side The additional magnet 21 is given an additional symbol Be. In addition, an additional code may be abbreviate | omitted suitably in description.

  As described above, the plurality of movable elements 11 have the same configuration. However, the plurality of movers 11 are arranged in the path 13 so that the directions along the path 13 are alternately reversed. In other words, in the adjacent movers 11A and 11B, the arrangement order of the magnetic poles of the plurality of magnets 21 is reversed.

  Therefore, the magnets 21 (magnets 21Ae and 21Be) adjacent between the adjacent movers 11A and 11B have the same magnetic pole direction. Therefore, the adjacent movers 11A and 11B repel each other by magnetic force. The same applies to other movable elements 11 not shown in FIG.

  In the case where the path 13 is a closed loop, the number of the plurality of movable elements 11 is preferably an even number so that this relationship can be established without exception in all the movable elements 11.

  When the mover 11 is driven, a three-phase AC voltage is applied to the three coils 17 of the coil assembly 15 facing the mover 11. The magnetic flux of the magnet 21 passes through the parallel part 17a of the coil 17 in the Z direction, and current flows in the parallel part 17a in the Y direction. Therefore, according to Fleming's left-hand rule, between the magnet 21 and the coil 17 in the X direction. The power of is generated. The mover 11 moves in the X direction at a speed synchronized with the three-phase alternating current.

  For example, as illustrated in the mover 11A, U-phase, W-phase, and V-phase alternating currents are sequentially supplied to the three coils 17A, 17B, and 17C. The U-phase, V-phase, and W-phase alternating currents are alternating currents that are out of phase by 2π / 3. For example, if the alternating current is expressed by a sine function, the alternating currents of the U phase, V phase, and W phase are sin (ωt), sin (ωt−2π / 3), sin (ωt−4π / 3). ).

  The control device 7 controls the three-phase alternating current in the coil assembly 15A so that t = 0 + 2π / ω × m (m is an integer) when the positional relationship between the mover 11A and the coil assembly 15A is a predetermined reference relationship. (In the following, 2π / ω × m is omitted). For example, the reference relationship is appropriately determined from the positional relationship in which the coil 17 to which the U-phase alternating current (sin (ωt)) is applied is positioned at a position where the phase of the magnetic field of the mover 11A is 0 + 2πn (n is an integer). May be selected. Such a position exists for each length in the direction along the path 13 of the pair of magnets 21.

  Further, the control device 7 supplies power to the coil assembly 15A when the mover 11A is within a predetermined control range Rg with respect to the coil assembly 15A. In other words, the control device 7 starts supplying electric power to the coil assembly 15A on the condition that the mover 11A starts to enter the control range Rg set for the coil assembly 15A. The supply of power is stopped with the control end condition that 11A has exited the control range.

  The control range Rg may be set as appropriate. For example, the control range Rg may be larger or smaller than the length in the direction along the path 13 of the coil assembly 15A. Further, the control range Rg may be adjacent to each other between adjacent coil assemblies 15, may be separated from each other, or may partially overlap. The control range Rg may be set with the coil assembly 15A as the center, or may be set so as to be biased to one of the directions along the path 13 with respect to the coil assembly 15A. In addition, the boundary position of the control range Rg may be different when determining whether the mover 11A has entered and when determining whether the mover 11 has exited.

  FIG. 4 illustrates a case where the control range Rg is set in the region immediately above the coil assembly 15A. That is, the control device 7 supplies power to the coil assembly 15A while the mover 11A is opposed at least partially to the coil assembly 15A.

  As understood from the description of the control range Rg, t = 0 does not mean the power supply start time. At the start of power supply, the time t is set to a time point that is retroactive from t = 0 by the phase difference θ in the phase of the magnetic field between the positional relationship between the movable element 11A and the coil assembly 15A and the reference relationship described above. Is done. That is, the phase at the start of power supply is the phase-phase difference θ at t = 0. Of course, the boundary position of the control range Rg and the reference relationship may be appropriately set so that the phase difference θ = 0. The phase difference θ is calculated in advance by the control device 7, the manufacturer, or the user, and is held in the control device 7.

  Although the mover 11A and the coil assembly 15A have been described as examples, the mover 11B and the coil assembly 15B are similarly supplied with a three-phase alternating current. However, if power supply control exactly the same as the power supply control in the mover 11A and the coil assembly 15A is performed in the mover 11B and the coil assembly 15B, the mover 11B cannot move in the same direction as the mover 11A. This is because the arrangement of the magnetic poles is reversed, in other words, the phase of the magnetic field is shifted by a half cycle (π) between the mover 11A and the mover 11B.

  Therefore, the control device 7 conceptually supplies the coil assembly 15B with three-phase AC power shifted from the three-phase AC current supplied to the coil assembly 15A by a half cycle. That is, the three coils 17A, 17B, and 17C of the coil assembly 15B have an alternating current of sin (ωt−π), sin (ωt−2π / 3−π), and sin (ωt−4π / 3−π) in order. Supplied. This is equivalent to the fact that the -U-phase, -W-phase, and -V-phase alternating currents are sequentially supplied to the three coils 17 as is apparent from the nature of the trigonometric function. Thereby, as shown by arrows y1 and y2, the mover 11A and the mover 11B move in the same direction.

  More specifically, when the mover 11B enters the control range Rg of the coil assembly 15B, the control device 7 starts supplying power in the same manner as when the mover 11A enters the control range Rg of the coil assembly 15A. The phase at is calculated. However, at this time, the control device 7 sets a phase obtained by shifting the phase at the start of power supply to the coil assembly 15A by a half cycle as the phase at the start of power supply to the coil assembly 15B. And the control apparatus 7 supplies the alternating current of the U phase, W phase, and V phase to which the phase was given to the coil assembly 15B. This is equivalent to shifting the electric power supplied to the coil assembly 15 having a fixed positional relationship with respect to the leading magnet 21 between the adjacent movers 11A and 11B by a half cycle.

  As is clear from the above description, when attention is paid to one coil assembly 15, the control device 7 determines that the mover 11A is within the control range Rg and the mover 11B is within the control range Rg. At different times, different controls are performed to move the mover 11A and the mover 11B in the same direction.

  For example, when the mover 11A enters the control range Rg of the coil assembly 15B after the mover 11B leaves the control range Rg of the coil assembly 15B, the coil assembly 15B has the −U phase as in the mover 11B, Instead of the -W-phase and -V-phase alternating currents, U-phase, W-phase and V-phase alternating currents are supplied.

  When the mover 11 is driven in the reverse direction, the order of the three-phase alternating current is in the reverse direction. For example, when the mover 11A is driven in the direction opposite to the arrow y1, the three coils 17A, 17B, and 17C of the coil assembly 15A are sequentially supplied to the -V-phase, -W-phase, and -U-phase alternating currents (reference Depending on the relationship or the setting of the control range Rg, etc., alternating currents of V phase, W phase and U phase) are supplied.

  As shown in FIG. 3, the linear motor device 1 has a plurality of sensors 27 in order to individually specify the positions of the plurality of movers 11. The sensor 27 detects the position of the mover 11 located in the region directly above itself, the moving direction and the arrangement order of the magnetic poles, or information that can specify these, and outputs the detection result to the control device 7.

In the direction along the path 13, the size (L 2) of the mover 11 and the interval (L 4) between the sensors 27 are set so that the mover 11 always faces at least one sensor 27.
That is, the distance L2> the distance L4 (or L2 ≧ L4) is set.

  In the present embodiment, the plurality of sensors 27 are provided in the same number as the plurality of coil assemblies 15, and are arranged adjacent to one side in the direction along the path 13 with respect to the coil assemblies 15. In other words, the plurality of sensors 27 are arranged at an interval (L1 + L3) obtained by adding the interval (L3) between the coil assemblies 15 and the size (L1) of the coil assembly 15. As described above, in the present embodiment, since the distance L2 ≧ the distance L1 × 2 + the distance L3, the requirement of the distance L2> the distance L4 is satisfied.

  Based on the detection results of the plurality of sensors 27, the control device 7 can specify the position of the mover 11 near the coil assembly 15, the moving direction, and the arrangement order of the magnetic poles for each coil assembly 15. Thereby, in the control device 7, it is possible to determine whether or not the mover 11 is located within the control range Rg, and to supply a three-phase alternating current according to the arrangement order and position of the magnetic poles of the mover 11. It becomes.

  FIG. 5 is a side view schematically showing the configuration of the sensor 27.

  The sensor 27 includes a sensor substrate 29 and an A-phase Hall element 31A and a B-phase Hall element 31B provided on the sensor substrate 29 (hereinafter simply referred to as “Hall element 31”, which may not be distinguished from each other). Have.

  The sensor substrate 29 is constituted by a printed wiring board, for example, and is fixed to the installation surface 25 by an appropriate fixing member such as an adhesive or a bolt.

  The two Hall elements 31 are arranged apart from each other in the direction along the path 13 (X direction in FIG. 5). The interval Pb between the two Hall elements 31 is, for example, ¼ of the length Pa of the pair of magnets 21 in the direction along the path 13.

  FIGS. 6A and 6B show examples of temporal changes in the detection signal of the Hall element 31. More specifically, in each of FIGS. 6 (A) and 6 (B), the diagram labeled “A phase” indicates the time change of the detection signal (A phase signal) of the A phase Hall element 31A. The diagram labeled “B phase” shows the time change of the detection signal (B phase signal) of the B phase Hall element 31B. 6A and 6B, the horizontal axis indicates time (or the movement distance of the movable element 11 relative to the sensor 27), and the vertical axis indicates the signal level (for example, voltage) of the detection signal.

  The Hall element 31 outputs a detection signal having a signal level corresponding to the strength of the magnetic field and the direction of the magnetic field at its position. For example, as the magnetic field increases, the absolute value of the signal level increases, and the sign level of the signal level changes depending on the direction of the magnetic field.

  Further, at the position of the Hall element 31, the strength of the magnetic field is determined by the distance between the position and the magnet 21, and the direction of the magnetic field is determined by the direction of the magnetic pole of the magnet 21 adjacent to the position.

  Therefore, when the mover 11 moves along the path 13, the signal level of the detection signal of the Hall element 31 changes. For example, when the S pole approaches the Hall element 31, the signal level increases in the positive direction, when the S pole moves away from the Hall element 31, the signal level decreases, and when the N pole approaches the Hall element 31, the signal level increases. Increases in the negative direction. Note that the relationship between the S pole and the N pole and the positive / negative of the signal level may be reversed.

  As described above, when the mover 11 moves along the path 13, the Hall element 31 causes the pair of magnets 21 to have a length Pa in the direction along the path 13 as one cycle (2π) (cosine wave). Generate a signal.

  The two Hall elements are separated by a distance Pb that is ¼ of the length Pa in the direction along the path 13. Therefore, when the mover 11 moves to one of the directions along the path 13, one of the A-phase signal and the B-phase signal is delayed by ¼ period with respect to the other, and the mover 11 moves in the other direction along the path 13. When moving to, the other of the A-phase signal and the B-phase signal is delayed by ¼ period with respect to one.

  The control device 7 can specify that the movable element 11 has reached the position overlapping the sensor 27 based on the change in the signal level of the A-phase signal and / or the B-phase signal. Conversely, the control device 7 can specify that the mover 11 has passed the position overlapping the sensor 27 based on the disappearance of the change in the signal level of the A phase signal and / or the B phase signal.

  The control device 7 counts the wave number of the A-phase signal and / or the B-phase signal, thereby moving the mover 11 after the mover 11 reaches the sensor 27 in the unit of length of the pair of magnets 21. The distance (position) can be specified. Alternatively, the control device 7 counts the number of half wavelengths of the A-phase signal and / or the B-phase signal so that the unit 11 can reach the sensor 27 in units of length of the magnet 21. The moving distance (position) of the mover 11 can be specified.

  Based on the signal level of the A-phase signal and / or the B-phase signal, or the difference in signal level between the A-phase signal and the B-phase signal, the control device 7 performs the pair of magnets 21 or the one magnet 21. The moving distance (position) of the movable unit 11 can be specified by further decomposing the moving distance (position) of the length unit.

  The control device 7 can calculate the speed of the movable element 11 by differentiating the movement distance specified based on the wave number count and the signal level.

  The control device 7 can determine in which direction the mover 11 is moving by determining which phase of the A-phase signal and the B-phase signal is delayed.

  The control device 7 can specify the direction of the magnetic pole of the leading magnet 21 of the mover 11 based on the sign of the signal level of the A phase signal and / or the B phase signal when the mover 11 reaches the sensor 27.

  The control device 7 holds the positional relationship between the sensor 27 and the coil assembly 15 in advance, and based on the positional relationship and the position of the movable element 11 with respect to the sensor 27, the coil assembly 15 ( Alternatively, the position relative to the control range Rg) can be specified. Similarly, the control device 7 can specify the speed of the mover 11, the moving direction, and the direction of the leading magnetic pole with respect to each coil assembly 15 (or control range Rg).

  FIG. 7 is a flowchart conceptually showing a procedure of power supply control processing for one coil assembly 15 executed by the control device 7 when the plurality of movers 11 are driven in the same direction along the path 13. is there.

  In step S <b> 1, the control device 7 determines whether the mover 11 has entered the control range Rg set for the coil assembly 15 based on the detection result of the sensor 27, and until it determines that it has entered. stand by. And when it determines with the control apparatus 7 having penetrate | invaded, it progresses to step S2.

  In this embodiment, the sensor 27 to which the detection result is referred is connected to the sensor 27 adjacent to the coil assembly 15 on one side in the direction along the path 13 and the other coil assembly 15 on the opposite side. Two of the adjacent sensors 27. As can be understood from the relationship such as L2> L4 described with reference to FIG. 3, the movable element 11 located in the control range Rg faces at least one of these two sensors.

  In steps S2 and S3, the control device 7 specifies the direction of the magnetic pole of the leading magnet 21 of the mover 11 based on the detection result of the sensor 27, and starts supplying power according to the direction of the specified magnetic pole. (Phase of t = 0−phase difference θ) is set (selected from two types of phases). Thereby, as described with reference to FIG. 4, the phase at the start of power supply is shifted by a half cycle (π) between when the magnetic pole on the coil assembly 15 side of the leading magnet 21 is N and when it is S. Regardless of the order of arrangement of the magnetic poles of the mover 11, the mover 11 moves in the same direction.

  Specifically, for example, the phase at the start of power supply is selected as follows. The control device 7 holds the phase at the start of power supply corresponding to the default magnetic pole (for example, N). In step S2, the control device 7 determines whether or not the magnetic pole on the coil assembly 15 side of the leading magnet 21 is the default magnetic pole.

  If it is determined as the default magnetic pole, the control device 7 proceeds to step S4. If it is determined that the magnetic pole is not the default magnetic pole, the control device 7 proceeds to step S4 via step S3. In step S3, the control device 7 changes the phase by shifting the phase of the default power supply start time by a half cycle (π).

  In step S4, a three-phase alternating current is supplied to the coil assembly 15. The phase at the start of power at this time is the default phase when not passing through step S3, and is the phase changed in step S3 when passing through step S3.

  In step S5, the control device 7 determines whether or not the mover 11 has left the control range Rg based on the detection result of the sensor 27, and maintains power supply until it is determined that the mover 11 has left. And when it determines with the control apparatus 7 having left | exited, it returns to step S1.

  In FIG. 7, details of control such as movement direction control, speed control, or position control are omitted. The control device 7 can supply currents having different angular velocities for each coil assembly 15 or each movable element 11, and can drive the plurality of movable elements 11 independently (at different speeds). The control device 7 can identify the plurality of movable elements 11 by, for example, reading an ID assigned to the movable elements 11 by a sensor.

  According to the above embodiment, the linear motor 3 can move independently of each other with respect to the stator 9 having the coils 17 arranged along the path 13 and the stator 9 along the path 13. A plurality of movers 11 that cannot be overtaken. The plurality of movers 11 respectively have a plurality of magnets 21 arranged in a direction along the path 13 while reversing the direction of the magnetic poles alternately. Further, the plurality of movers 11 have a plurality of magnets 21 so that the directions of the magnetic poles of the adjacent magnets 21 between the adjacent movers 11 are the same.

  Therefore, as described with reference to FIG. 4, the adjacent magnets 11 </ b> A and 11 </ b> B are repelled by the end magnet 21 </ b> Ae and the magnet 21 </ b> Be. Therefore, the adsorption | suction or proximity | contact between the needle | mover 11 is suppressed. As a result, it is not necessary to provide a stopper so that the adjacent movers 11 are not close to each other within a predetermined distance, and the weight of the mover 11, the mover 11 can be shortened, the number of members can be reduced, and the like. . However, a member similar to a stopper such as a buffer member may be attached to the mover 11 for the purpose of relaxing the impact when the movers 11 collide with each other or protecting the magnet 21 from the collision. .

  In each of the adjacent movers 11, the number of the plurality of magnets 21 is an even number, and the adjacent movers 11 are arranged so that the arrangement order of the magnetic poles on one side of the path 13 is reversed with respect to each other. The directions of the magnetic poles of the adjacent magnets 21 between the children 11 are the same.

  That is, the mover 11 has one or a plurality of pairs of magnets 21 whose magnetic poles are opposite to each other. Accordingly, it is possible to suppress the magnetic field from being disturbed at the end of the mover 11 and the generation of an unnecessary magnetic field that does not contribute much to the driving force.

  The plurality of movers 11 have the same configuration. Therefore, cost reduction is achieved. Moreover, since the length and number of the magnets 21 are also equal, many parts of the power supply control with respect to the coil 17 can be made common among the plurality of movers 11, and the design of the power supply control is facilitated. . For example, in the embodiment, as described with reference to FIG. 4, it is only necessary to shift the phase at the start of power supply by a half cycle.

  The linear motor device 1 of the present embodiment includes a linear motor 3 and a control device 7 that controls the linear motor 3. The linear motor 3 includes a stator 9 having a plurality of coils 17 arranged along a path 13, and a mover 11 that can move independently of the stator 9 along the path 13 and cannot pass over each other. Have The plurality of movers 11 respectively have a plurality of magnets 21 arranged in a direction along the path 13 while reversing the direction of the magnetic poles alternately. In addition, the plurality of movers 11 have a plurality of magnets 21 so that the directions of the magnetic poles of the adjacent magnets 21 between the adjacent movers 11 are the same. The control device 7 makes the control of the current supplied to the coil 17 facing one of the adjacent movers 11 different from the control of the current supplied to the coil 17 facing the other of the adjacent movers 11. Both of the adjacent movers 11 are driven in the same direction of the path 13.

  By performing different control between the adjacent movers 11 as described above, the adjacent movers 11 can have different arrangement configurations (number, arrangement order of magnetic poles, etc.) of the plurality of magnets 21. As a result, it is easy to make the direction of the magnetic poles of the adjacent magnets 21 between the adjacent movers 11 the same.

  The plurality of coils 17 constitutes a plurality of coil assemblies 15 to which a three-phase alternating current is applied. In each of the adjacent movers 11, the number of the plurality of magnets 21 is an even number. Adjacent movers 11 are arranged in the same order of the magnetic poles of adjacent magnets 21 between adjacent movers 11 by reversing the arrangement order of the magnetic poles on one side of path 13. The control device 7 shifts the phase of the three-phase alternating current supplied to the coil assembly 15 that is in a fixed positional relationship with respect to the leading magnet 21 between the adjacent movers 11 by a half cycle. 11 are driven in the same direction of the path 13.

  Therefore, as described above, the magnetic poles of the adjacent magnets 21Ae and 21Be of the adjacent movable elements 11A and 11B are made the same by using the movable element 11 in which a pair of magnets 21 are arranged to form a suitable magnetic field. The linear motor 3 can be operated.

  The linear motor device 1 further includes a plurality of sensors 27 that detect the orientation of the magnetic poles of the mover 11 that faces the plurality of coils 17. Based on the detection results of the plurality of sensors 27, the control device 7 varies the control of the current supplied to the coils 17 facing the adjacent movable elements 11.

  Therefore, the control device 7 can control the linear motor 3 flexibly in response to a change in the number or orientation of the plurality of movable elements 11. For example, the number of the movers 11 and the arrangement of the magnetic poles of each of the movers 11 are grasped in advance, and the number of the movers 11 is increased as compared with the case where the control is performed based on the grasped number and the arrangement order. It is possible to easily reduce the number.

  The plurality of sensors 27 are respectively arranged in the direction along the path 13 and separated by a distance Pb that is ¼ of the length Pa in the direction along the path 13 corresponding to the two magnets 21. It has a pair of Hall elements 31 for outputting corresponding signals.

  Therefore, the position of the mover 11, the speed, the moving direction, the arrangement order of the magnets 21, etc. can be detected with high accuracy and contribute to the control of the linear motor 3.

(Second Embodiment)
FIG. 8 is a schematic side view showing the main part of the linear motor 103 of the second embodiment, and corresponds to FIG. 4 of the first embodiment.

  The mover 111 of the linear motor 103 has a configuration in which an auxiliary magnet 221 is added to the mover 11 of the first embodiment. The auxiliary magnet 221 is provided in one end of the path 13 (see FIG. 1) (on the right side in the drawing in FIG. 8) in the mover 11 so that the direction of the magnetic pole is opposite to that of the adjacent magnet 21. It has been. In other words, the mover 11 has an odd number of magnets (21 and 221) arranged in the direction along the path 13 (X direction in FIG. 8) while alternately reversing the direction of the magnetic poles.

  The plurality of movers 111 have the same configuration. Further, in the first embodiment, the adjacent movers 11A and 11B are arranged in opposite directions in the direction along the path 13, but in the present embodiment, the plurality of movers 111 are along the path 13. They are arranged in the same direction in each direction.

  Therefore, between the adjacent movers 111, the auxiliary magnet 221 and the magnet 21 having the same magnetic pole direction as the auxiliary magnet 221 are adjacent to each other.

  The size Pd of the auxiliary magnet 221 in the direction along the path 13 is set smaller than the size Pc of the magnet 21 in the direction along the path 13. Preferably, Pd is 1/4 to 3/4 of Pc, more preferably Pd is 1/2 of Pc. The auxiliary magnet 221 is the same as the magnet 21 with respect to other dimensions and materials.

  As described above, since the plurality of movers 111 have the same configuration and the same orientation, the control device 7 (see FIG. 1) controls which of the movers 11 with respect to each coil assembly 15. The same control (excluding speed control and the like) is performed regardless of whether they are facing each other. That is, the control device 7 performs control in which steps S2 and S3 described with reference to FIG. 7 are omitted from the control in the first embodiment, and does not change the phase at the start of power supply.

  The control device 7 may perform the same control as the control for one of the adjacent movable elements 11 (for example, the movable element 11A) in the first embodiment without considering the presence of the auxiliary magnet 221. Control that takes into account that the period of the magnetic field in the mover 111 extends by 2π × Pd / Pa due to the presence of the auxiliary magnet 221 may be performed.

  According to the second embodiment described above, the plurality of movers 111 includes a plurality of magnets (21, 21) such that the magnetic poles of the adjacent magnets (21, 221) between the adjacent movers 111 are the same. 221), the same effects as those of the first embodiment can be obtained. That is, the adsorption | suction or proximity | contact of adjacent needle | mover 111 is suppressed.

  The adjacent movers 111 have an odd number of magnets (21, 221), so that the magnetic poles of the adjacent magnets (21, 221) between the adjacent movers 111 are the same. Yes. Therefore, for example, unlike the first embodiment, it is not necessary to make the directions of the adjacent movable elements 11 opposite to each other and perform different power supply control depending on the directions.

  In the mover 111, the magnet (221) at one end is smaller than the other magnet (21). Therefore, as described above, when the number of magnets is an odd number, there is an inconvenience such as disturbance of the magnetic field, but the occurrence of such inconvenience is suppressed.

  The plurality of movers have the same configuration. Therefore, the cost can be reduced as in the first embodiment. In addition, power supply control for the coil 17 can be made common among the plurality of movers 111.

(Modification of stator)
FIG. 9 is a side view showing a modification of the stator according to the first and second embodiments.

  In the stator 209 of the modified example, the coil holding member 219 has a size extending over the plurality of coil assemblies 215 in the direction along the path 13, and holds the coils 17 of the plurality of coil assemblies 215. That is, the coil holding member 219 is provided in common for the plurality of coil assemblies 215.

  Such a coil holding member 219 is preferably made of a magnetic material, contrary to the coil holding member 19. Since the coil holding member 219 exists also between the coil assemblies 215, the coil holding member 219 is made of a magnetic material, so that cogging due to a decrease in the magnetic field between the coil assemblies 215 hardly occurs. On the other hand, it is expected that the magnetic flux is efficiently guided and the driving force is increased.

  The coil holding member 219 is formed in a plate shape from a metal such as iron, for example. The coil holding member 219 may also serve as the installation surface 25 in the embodiment. That is, it may be a part of a device or facility where a linear motor is provided.

(Third embodiment)
FIG. 10 is a perspective view showing a part of the linear motor 303 according to the third embodiment.

  Similar to the linear motor 3 of the first embodiment, the linear motor 303 can move in a direction along the path (X direction in FIG. 10) with respect to the stator 309 having a plurality of coil assemblies 315 and the stator 309. A plurality of movable elements 311. In FIG. 10, only a part is shown.

  Similarly to the first embodiment, the coil assembly 315 is arranged in a direction along the path, and the three coils 317A, 317B, and 317C (hereinafter, A to C may be omitted) to which a three-phase alternating current is supplied. .)have. However, the three coils 317 are arranged such that the axial direction (opening direction) coincides with the direction along the path.

  Similar to the first embodiment, the mover 311 has a plurality of magnets 321 arranged in a direction along the path while alternately reversing the direction of the magnetic poles. However, the plurality of magnets 321 are opposed to the outer peripheral surface of the coil 317. In addition, two sets of magnet arrays composed of a plurality of magnets 321 are provided so as to face each other with the coil assembly 15 interposed therebetween. These two sets of magnet arrays have the same magnetic poles facing each other.

  Also in such a linear motor 303, the same effect as 1st and 2nd embodiment is show | played by making the direction of the magnetic pole of the adjacent magnet 321 between the adjacent needle | movers 111 into the same. That is, adsorption or proximity of the movers 111 is suppressed.

  The present invention is not limited to the above embodiment, and may be implemented in various aspects.

  The form of the linear motor is not limited to that exemplified in the embodiment. For example, the linear motor may not use a force that follows Fleming's left-hand rule, but may use a magnet's attractive force, or may use both. The direction of magnetization of the magnet is not limited to the direction orthogonal to the path, and may be an appropriate direction according to the type of the linear motor. For example, the direction of magnetization may be a direction along the path.

  Moreover, even when the Fleming's left-hand rule is used as in the embodiment, the linear motor may have various types. For example, in a linear motor, a plurality of coils of a stator are arranged along a path with an axial direction in a direction orthogonal to the path and partially overlapping each other. And may be opposed in the axial direction. Further, for example, in the linear motor, the plurality of coils of the stator are arranged with the axial direction aligned with the direction along the path, the plurality of magnets of the mover are opposed to the inner peripheral surface of the coil, and the mover is It may pass through the openings of a plurality of coils.

  In the embodiment, a plurality of coil assemblies having three coils are arranged at a predetermined interval. However, the coil assembly may be composed of four or more coils. A plurality of coils may be arranged at the same interval over the entire path, and a stator that does not hold the concept of a coil assembly may be configured.

  The ratio of the number of magnets and the number of coils in a predetermined length in the direction along the path is not limited to 4 to 3. For example, it may be 2 to 3. The plurality of magnets may not have the same length in the direction along the path.

  Of course, the configuration of the driver and the control of the control device may be appropriately set according to the type of the linear motor.

  In the linear motor, in all the movers, the directions of the magnetic poles of the adjacent magnets between the adjacent movers may not be the same. In other words, the linear motor is different from the “plurality of movers” specified in the claims (movers having different magnetic pole directions of adjacent magnets between adjacent movers). May be included.

  The plurality of movers may not have the same number of magnets. Moreover, the thing which has an even number of magnets, and the thing which has an odd number of magnets may be mixed in the some needle | mover. In the second embodiment, the magnet (221) at one end of the odd number of magnets is made smaller than the other magnets (21), but the odd number of magnets may be the same size.

  When the control of the current supplied to the coil assembly is different between the adjacent movers, the difference is not limited to the one that is shifted by a half cycle. For example, when the auxiliary magnet 221 of the second embodiment is arranged only in one of the adjacent movers, the current is phased with a phase difference corresponding to the length of the auxiliary magnet between the adjacent movers. May be shifted. Further, for example, the control is different when the number of magnets or the ratio between the number of magnets and the number of coils is different between adjacent movers.

  The controller may not be able to individually control the power supplied to the coil assemblies for all coil assemblies. For example, the same control may be performed on the coil assembly at one position of the path and the coil assembly at another position of the path.

  The sensor is not limited to those exemplified in the embodiment. For example, the sensor may be an optical type or may have only one magnetic sensitive element. Further, the magnetic sensitive element is not limited to the Hall element, and may be a magnetoresistive element, for example. When the sensor has two magnetic sensitive elements, the distance between the magnetic sensitive elements is not limited to ¼ of the length in the path direction of the pair of magnets. For example, the same detection can be performed even when the distance between the magnetic sensitive elements is 1/8 of the length of the pair of magnets in the path direction. However, if the length is 1/4, the position of the mover can be specified with high accuracy.

  The path of the linear motor may be a closed loop or may have both ends. Further, the shape of the path of the linear motor is not limited to the simple one illustrated in FIG. 1, and may be a complicated one combining various curves and straight lines. The path of the linear motor is not limited to a planar one, and may be a three-dimensional one. For example, a part of the route illustrated in FIG. 1 may have a gradient. Further, the route is not limited to the one installed on the placement surface, and may be appropriately set according to the device or facility where the linear motor is provided. For example, the route may be installed on a ceiling or a wall surface.

DESCRIPTION OF SYMBOLS 1 ... Linear motor, 9 ... Stator, 11 ... Movable element, 13 ... Path | route, 17 ... Coil, 21 ... Magnet.

Claims (9)

A stator having a plurality of coils arranged along a predetermined path;
Each of the plurality of magnets arranged in a direction along the predetermined path while alternately reversing the direction of the magnetic poles is movable independently of the stator along the predetermined path and overtakes each other. Impossible movers,
Have
The plurality of movers have the plurality of magnets such that the directions of magnetic poles of adjacent magnets between adjacent movers are the same. In each of the adjacent movers, the number of the plurality of magnets is an even number,
The adjacent movers have the same direction of the magnetic poles of the adjacent magnets between the adjacent movers by reversing the order of the magnetic poles on one side of the predetermined path. The linear motor according to claim 1. 2. The adjacent movers have an odd number of the plurality of magnets in at least one of the movers so that the directions of the magnetic poles of adjacent magnets between the adjacent movers are the same. The linear motor described in 1. The linear motor according to claim 3, wherein in the mover having the odd number of magnets, a magnet at one end is smaller than another magnet. The linear motor according to claim 1, wherein the plurality of movers have the same configuration. A linear motor;
A control device for controlling the linear motor;
Have
The linear motor is
A stator having a plurality of coils arranged along a predetermined path;
Each of the plurality of magnets arranged in a direction along the predetermined path while alternately reversing the direction of the magnetic poles is movable independently of the stator along the predetermined path and overtakes each other. Impossible movers,
Have
The plurality of movers have the plurality of magnets such that the directions of the magnetic poles of adjacent magnets between adjacent movers are the same,
The control device makes the control of the current supplied to the coil facing one of the adjacent movers different from the control of the current supplied to the coil facing the other of the adjacent movers, A linear motor device that drives both adjacent movers in the same direction of the predetermined path. The plurality of coils constitutes a plurality of coil assemblies to which a three-phase alternating current is applied,
In each of the adjacent movers, the number of the plurality of magnets is an even number,
In the adjacent movers, the magnetic poles arranged on one side of the predetermined path are reversed in order so that the magnetic poles of the adjacent magnets between the adjacent movers are the same. ,
The control device shifts the phase of the three-phase alternating current supplied to the coil assembly having a fixed positional relationship with respect to the leading magnet between the adjacent movers by a half cycle. The linear motor device according to claim 6, wherein both are driven in the same direction of the predetermined path. A plurality of sensors for detecting the orientation of the magnetic poles of the mover facing the plurality of coils;
The linear motor device according to claim 6, wherein the control device varies the control of currents supplied to coils facing the adjacent movers based on detection results of the plurality of sensors. Each of the plurality of sensors is disposed in a direction along the predetermined path and spaced apart by a distance of ¼ of the length in the direction along the predetermined path for two of the magnets. The linear motor device according to claim 8, further comprising a pair of magnetically sensitive elements that output signals corresponding to directions.

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