JPS59122354A - Movable magnet type dc linear motor with (2p+1) pole field magnet - Google Patents

Abstract

PURPOSE:To improve the starting torque and the efficiency of a DC linear motor and to produce smooth thrust by using a field magnet as a movable element and an armature formed of armature coil group as a stator. CONSTITUTION:A field magnet in which N- and S-poles are alternately provided is arranged in a movable magnetic yoke 7 to form a movable element, which is composed movably along a base 1 via drive rollers 8. An armature which has armature coil 3 group wound so that the opening angles of conductor units 3a, 3b which contribute to the thrust become integer times of the pole width of the field magnet is used as a stator. Further, a position detector is opposed to the field magnet at the armature side.

Description

[Detailed Description of the Invention] [Technical Field] The present invention provides a (2P+1) field magnet having (2P+1) poles.
P+1) 4i movable magnet type DC linear motor.

[Technical background]

Conventionally, the linear motors found in many products are linear motors. However, such a linear ξ-lux motor requires considerable machining precision, and performance on a certain level cannot be expected. Also expensive,
It is not possible to form it cheaply, it is heavy, and furthermore, it is not possible to move the running element at high speed, and when you try to move the running element at high speed, it causes a tax adjustment phenomenon, stops, or malfunctions. . In addition, linear/ξlux motors are
It has the disadvantages of low efficiency, being able to drive only at low speeds, poor vibration, and a narrow usable range of the gust frequency.

However, as the linear motor, a DC linear motor is more desirable.

However, as for conventional DC linear motors, the I coil type ones used in the linear tracking arms of record players and video discs are the most popular. Not only was it not possible to obtain strong thrust and move the runner at high speed, the stroke was short.

Further, as a DC linear motor, one having a core is known. This has the disadvantage that dusting occurs and the mover cannot be moved smoothly.

[Object of the present invention]

The present invention was made based on the above circumstances, and has a large starting torque, good efficiency, and unlike a linear motor, it can be driven from low to high speeds, and the vibration caused by driving the moving element is extremely small. It is possible to reduce the overlap,
In addition, it eliminates stiffening, has a smooth thrust (torque) ripple, allows the travel element to move over a long stroke, and eliminates the need for moving power cords, brushes, or slip ring rails on the travel element. This was done with the aim of obtaining a DC linear motor that can be expected to have a long life, is easy to assemble, and can be mass-produced at low cost.

[Means for achieving the object of the present invention]

The object of the present invention is to have magnetic poles of N and S alternately (
2P+1) (where P is a positive integer greater than or equal to 1) A pole field magnet is used as a mover, and the opening angle of the conductor portion contributing to the thrust is the magnetic pole width of the field magnet n (where n is a positive integer greater than or equal to 1). )
The present invention is characterized in that an armature consisting of a group of armature coils formed with double windings is disposed opposite to the field magnet as a stator, and a position detection element is provided on the armature side (2).
This is achieved by providing a moving magnet DC linear motor with a field magnet of P+1) poles.

An embodiment of the present invention will be described below with reference to □□□.

〔composition〕

Figure 1 shows the upper surface of a movable magnet type DC linear motor LM having a 7-pole field magnet, the 2nd south side is a side view of Figure 1, the 3rd part is a vertical cross-sectional view along the X-Y line of Figure 1, No. 41 is a perspective view showing the arrangement of position detection elements and the shape of the armature coil, No. 5 is a perspective view of the 7-pole field magnet, and Fig. 6 is the development of the armature coil group and field magnet. It is a diagram.

A movable magnet type surface flow linear motor LM having a seven-pole field magnet according to an embodiment of the present invention has a long plate-like base 1 and a long plate-like magnetic plate 2 narrower than the width of the base 1. A coreless stator armature consisting of three groups of armature coils as shown in Fig. 1 is attached and fixed thereon. body yoke 7
A running roller 8 rotatably supported on the side surface of the running magnetic yoke 7 is guided by the side surface of the magnetic plate 2, and runs smoothly in the running direction. ing. The inner surface of the magnetic yoke 7 has N, S
A seven-pole field magnet 6 having alternately magnetic materials is fixedly installed. In this way, the odd number of poles can be selected.
There is a big difference from a rotary motor, and from various data, the field magnet 6 has 7 poles (in addition, when the N pole and S pole are close together as shown in Section 5 (9)) (2P).
+1) (n is a positive integer greater than or equal to 1) If you select a pole, you will get a smooth thrust (torque) ripple, a long stroke, and one that is suitable for various models as the size of the i''L mover. The armature coil 3 is wound in a frame shape as shown in No. 4 (2), and has a conductor portion 3a (or 3a') that contributes to the thrust force and a conductor portion 3a (or 3a') that contributes to the thrust force. A position sensing element 5 (e.g., a Hall element, a chamber conversion element such as a Hall IC) is disposed by soldering on a portion of the printed circuit board 4 facing the position where the conductor portion 3b crosses the conductor portion 3b. In the coil 3, the curved angle between the conductor parts 3a and 3a' that contributes to the thrust is the field magnet 6.
In this embodiment, the opening angle width is approximately equal to the magnetic pole width of the field magnet 6, which is an odd number multiple of the FiB pole width. A printed circuit board 4 is fixedly installed on the surface of the armature consisting of three groups of armature coils facing the external magnet 6. By arranging the position sensing element 5 at the above position, it is desirable to obtain a DC linear motor LM with a smooth thrust (torque) ripple 8, and the position sensing element 5 can be easily arranged at an appropriate position. It has the advantage of being convenient in mass production because it is easy to position.

In addition, a magnetoelectric transducer 5, which is a position detection element, is provided opposite to the side surface of the field magnet 6, and collects the leakage flux of the N or S pole, and sends an appropriate signal to the semiconductor rectifier #13 (drive circuit). Output. This is because although the magnetoelectric variable element 5 can be disposed at such a position, the width of the field magnet 6 can be narrowed by the coil width of the conductor portion 3b that does not contribute to the thrust of the armature coil 3. Therefore, a space is created in which the magnetoelectric conversion element 5 can be disposed on the side of the armature made up of the three groups of armature coils, facing the side surface of the field magnet 6. FIG. 6 is a developed view of the stator armature and field magnet 6.

Next, a method of calculating thrust (torque) and a thrust (torque) ripple state of the movable magnet type DC linear motor of the present invention will be explained.

Referring to FIG. 7, how to check the thrust (torque) will be explained. )T, where B: Magnetic flux intensity (w b/m2) 1: Effective length C of the conductor section that provides the generated thrust (torque) KW
m) i: Current flowing through the armature coil 3 t: Number of turns of the armature coil 3.

Therefore, the total thrust can be found by multiplying by the number of effective conductor portions 3a (also U3a') of the armature coil 3 that are in the M-effect magnetic flux and are energized.

Here, the maximum speed vi of the mover of the movable magnet type DC linear motor LM when no load is applied, where E is the voltage applied to both ends of one armature coil.

Next, changes in the thrust (torque) ripple of the movable magnet type DC linear motor LM will be explained with reference to FIGS. 8 to 14.

As shown in Fig. 8, the field magnet 6 and armature coil 3
are placed facing each other, and the magnet 6 is moved in the direction of arrow F.

In this FIG. 8, MW is the magnetic pole width of the field magnet 6, CW is the width of the conductor portion 3a (or 3a') that contributes to the thrust (torque) of the armature coil 3, and CP is the armature coil of -, for example. The width between the − conductor portion 3a that contributes to the thrust of the armature coil 3-1 and the − conductor portion 3a that contributes to the thrust of the other adjacent armature coil 3-2 is shown.

The tfC field magnet 6 shall be square-wave magnetized, and there shall be no break in the magnetic poles of the ON pole and S pole of the field magnet 6 (that is, the N poles and S poles are alternately and closely adjacent to each other). shall be.

The opening angle width of the armature coil 3 (due to the conductor portions 3a and 3a') is approximately equal to the magnetic pole width of the field magnet 3.

Now referring to FIG. 9, the conductor portions 3a at both ends of the magnet 3
Considering the thrust generated by the coil 3, the thrust is zero since the coil 3 is not under the magnet 6.

When the magnet 6 is shifted by the width CW of the coil 3 in the direction of the arrow F as shown in FIG. 10, the entire coil 3 is placed under the magnet 6, so that a thrust force iZoo% is generated.

Considering that the thrust increases to ij IJ in the meantime, it is thought that the thrust generated on the side of the conductor portion 3a changes as shown in FIG. FIG. 11 shows a thrust (torque) curve curve generated in the conductor portion 3a that contributes to the thrust of the armature coil 3 when the field magnet 6 moves in the direction of the arrow γ.

Referring to FIG. 12, if we consider the conductor gA3a side in the field magnet 6, in the case of FIG.
torque) is zero.

Referring to FIG. 13, since the magnet 6 enters in the direction of arrow F, 100% thrust (torque) is generated as shown in FIG.

Referring to FIG. 15, this is a curve of the thrust force (torque) generated at the conductor portions 3a and 3a' sides that contribute to the two thrust forces of the armature coil 3.

As described above, the thrust (torque) changes in a trapezoidal manner.

In this way, the conductor parts 3a, 3 under the magnet 6
The curve of the torsion IJ tuples can be known by calculating for all sides a' and showing on a graph whether or not the coil 3 is energized.

Examples obtained in this way will now be shown in FIGS. 1 to 1J.

Figure] Thrust (torque) ripple curve shown by ~i if
=7 Thrust (torque) due to the width of the ile 1ftfit
It was obtained by calculating.

Figure 1-, lbo, magnetic pole width (MW) of field magnet 6: 30 mm, daily modulus (MN) of field magnet 6: 3 to 8 poles, pitch (CP) of armature Koinobi 3: 33 mm force) Select the data up to 60 mm by increasing the power in 1 mm pitch from
Width (CW) of '>: 3mm to 1mm Increase the power in pitch increments and select the data until the armature coil 3 can be wound based on the design specifications, that is, 3mm-
CP-MW (maximum winding width) im, position of position detection element 5: In the case of in-phase arrangement (that is, close to the thrust of armature coil 3)
When the position sensing element 5 is placed in a position facing the conductor portion 3a or 3a' that conducts Ej-), the position sensing element 5 is placed in the hollow part within the frame of the other armature coil 3 with a phase shift of 180 degrees. All of the above approximately 4,500 fI were calculated, and data for thrust (torque) ripple of 20% or less was selected.

Note that the illustrations in FIGS. 1-4 will be explained in advance.

First, the (progressing) position of the field magnet 6 is taken in the vertical direction, and the thrust (torque) ripple generated by the movement of the mover (field magnet 6) in the horizontal direction is depicted.

The numbers on the left end of Figures 1 to 6 indicate the position of the field magnet 6. When the field magnet 6 is placed vertically, the distance from the conductor part contributing to the thrust of the armature coil 3-1 to the adjacent armature The distance CP (coil pitch) in the conductor m 3 a groove, which contributes to the thrust of the coil 3-2, is divided into 20 equal parts to represent it (see FIG. 15).

The value on the right side of the leftmost value above is the thrust (torque) value. This value is the conductor portion 3a (also U3a) that contributes to thrust.
') is expressed as how many times the maximum thrust (torque) is generated.

Figure 1 0.0 (mm) 1.0Torque @3.0
3,0 #6.0
3.0
・9.0 3.0
・12-. 0 3. Q
・Is, 0 3,0
.

18,'0 3,0
m21.03. O・ 24.0 3.0
・27.0 3.0
・30.0 1, O
n 33.0 3,0
・36.0 3.0
m39.0 3.0
・4JO3,0-45″:03.O・48.0 3,0・51.0 3,O・54.0 3,0
・57.0 3. Om 60.0 1,0 ・■ 2 3 However, the magnetic pole width MW of the field magnet 6; 30 rr
The pitch (arrangement) of the rm field magnet 6 is cP of the three-pole armature coil 3; 6θ-width CW of the conductor portion 3a (toward 3a') of the armature coil 3; 5 mm; the arrangement position of the position detection element 5; As is clear from this in-phase arrangement in FIG. 1, the maximum thrust is 3≠f, the minimum thrust is 1, and the thrust ripple is 60%. Furthermore, as is clear from Fig. 1, near motor LM
According to the above, the constant part of the thrust is very long, and the part 7j where the thrust is sharply depressed for a short period of time makes a sound.

Figure 2 0.0 (mm) 9.0Torque2.1 9.1 4.2 9,1 ・6.3 9.1 ・8.4 9,3 e lo, 5 9,5 ・12.6 9.7 14.7 9.9 16.8 10.1 - 18.9 10.1 21.0 10.1 ・23.1 10
．． 1 25.2 10.1.

27.3 9.9 m 29.4 9,7.

31.5 9.5 m 33.6 9,3.

35.7 9,1.

37.8 9.0
.

39.9 8.8 m 42.0 9.0
.

123456.789 70 However, fiB of field m magnet 6 pole width MW: 30my
The pitch of the n-field magnet 6 is the pitch CP of the 8-pole armature coil 3; □I2mjn The width CW of the conductor portion 3a (or 3a') of the armature coil 3; l1m; the arrangement position of the position detection element 5; As is clear from No. 2, the maximum thrust is 10.18J.
#-fM, minimum thrust is 8.87 yen, thrust ripple is 1
2%, the thrust ripple changes smoothly according to the near motor LM according to the conditions shown in FIG.

Figure 3 0.0 (mm) 5,8 Torque
@2.9 5,8
・5.9 7.0
-8.8 7.0
・11.8
7.0 14.7 7.0
・17.7 7. Oe 20.6 7.0
・23.6 7.0
・26.5
7,0
・29.5 6.3
・32.4 6.2
・35.4 7.0
・38.3
7. Oe 41.3 7.0
@44.2 7. Oa 47.2 7.0
・50.1 7.0
・53゜■
7.0 ・
56.0 7. Oa 59.0 5,8
e12 5 6
7 However, the magnetic pole width MW of the field magnet 6: 30 mm
Pitch CP of 7-pole armature coil 3 to field magnet 6; 59mm armature coil 3
Width CW of conductor portion 3a (also H3a'): 3WIL Location of position detection element 5: In-phase arrangement As is clear from FIG. 3, the maximum thrust is 7 thrusts and the minimum thrust is 5.81 degrees , the thrust ripple is 16%, and the constant width portion of the linear motor LMi thrust under the conditions shown in FIG. 3 is very long, and there is a portion that slightly dips for a short period of time.

Figure 4 0.0 (mm) 5.3 Torque @
2.94,8°5.9 6,0 ・8.8 6. O・ 11.8 6, 0 ・ 14.7 6.0 ・ 17.7 6. Oah 20.6 6.0 23.6 6. Oe 26.5 6,0 ・29,. 5 5,9 ・32.4 6.2.

35.4 7. Oe 38.3 7.0 41.3 7.0.

44.2 7.0 .

47.2 7.0 50.1 7. Oa 53.1 7. Oe 56.0 7,0 59.0 5.3 Conflict 2567 The one in Figure 4 has the same conditions as the one in Figure 3, but when the position of the position sensing element 5 is shifted 180 degrees out of phase. It is data. As is clear from Section 1 and 4, the maximum thrust is 7≠〒, the minimum thrust is 4.8 〒, and the thrust ripple is 31%. The thrust (torque) ripple has increased significantly compared to the one in FIG.

As is clear from the above data (Figs. 1 to 4), a smoother thrust can be obtained by arranging the position sensing elements 5 in the same phase. Also, judging from the data comprehensively, the number of magnetic poles of the field magnet 6 is 2P'(P'tfs, a positive integer greater than or equal to 1) than that of (2P+1) (P is a positive integer greater than or equal to 1). By using a term (integer), the constant part of the thrust can be made very long.

〔motion〕

Therefore, the movable magnet type DC linear motor LM (7)
Assuming that the power is on, a current flows in the direction of the arrow as shown in Fig. 6 through the three groups of armature coils that make up the armature, a thrust in the direction of arrow F is obtained, and the 7-pole field magnet The traveling path-forming body yoke 7 having the number 6 travels in the direction of arrow F. Both terminals of each group of armature coils 3 are connected to a semiconductor rectifier (3), and both output terminals of a magnetoelectric conversion element 5 as a position detection element 5 are connected to a semiconductor rectifier 13. 14. -1 and 14-2 are the positive power terminal and negative power terminal of the semiconductor rectifier 13, respectively.

As is clear from No. 614, the width of the magnetic poles of the armature coil 3 is approximately equal to that of the field magnet 6, and the width of the magnetic poles of the armature coil 3 is approximately equal to that of the field magnet 6, and the armature coils 3 are arranged in two groups in each group of armature coils 3 so as not to overlap with each other. Incidentally, it is only necessary to change the running direction of the running element.

It goes without saying that the present invention is also applicable to a structure in which three groups of armature coils are superimposed. Furthermore, the spirit of the present invention is reflected in the magnetic poles of the field magnet 6 that are skewed, or in some cases the conductor portion 3a that contributes to the thrust of the armature coil 3 is skewed, and the spirit of the present invention is naturally applied. It is.

Also, in the armature coil 3, there are conductor parts 3a and 3 that contribute to thrust.
The opening angle with a may be determined by reading the magnetic field magnet 6 wound in a loytal shape.

〔effect〕

Since the present invention has the above-mentioned configuration, etc., it has the effect of achieving the purpose stated in the above (objective of the present invention) (2P
The result is that a movable magnet type DC linear motor having a field magnet with +z) poles can be provided to the world.

[Brief explanation of drawings]

1U\J is a top view of a movable magnet type blood flow linear motor having a 7-pole field magnet as an embodiment of the present invention, Figure 2 is a (ti11 side view) of Figure 1, and Figure 3 is a 1
4 shows the arrangement of the position detection element and the shape of the armature coil. No. 51A is a perspective view of a 7-pole field magnet, and FIG. Figure 7 is a developed view of the field magnet and armature coil group; Figure 7 is an explanatory diagram for calculating the thrust (torque) of the movable magnet type DC linear motor of the present invention; Figures 8 to 15 are diagrams showing the torque ripple. It is an explanatory diagram. T... Thrust (torque) generated from the conductor part on one side that contributes to the thrust (torque) of the armature coil, 1... Conductor part 3a (also U3) that contributes to the thrust (torque) of the armature coil
a') effective length, MW... magnetic pole width of field magnet,
CW...width of the conductor part that contributes to the thrust of the armature coil,
CP... Width between the conductor parts of - that contribute to the thrust of the armature coil of - and the conductor parts of - that contribute to the thrust of other adjacent armature coils, LM... 7-pole field magnet A movable magnet type surface flow linear motor having a l... base;
2... Field body 3... Armature coil, 4... Printed circuit board, 5... Position detection element, 6... Field magnet, 7... Traveling magnetic material yoke, 8 ... Traveling roller, 13... Semiconductor rectifier, 14-1... Plus power terminal, 14-2... Minus power terminal. Patent Applicant Yoshi Takahashi Edict ■Chrysanthemum 1 Figure u 8 1 2 Figure 3 / 8 3 1 'Pj 7 Figure 11

Claims (1)

[Claims] (2P+1) (Pba1) having magnetic poles of 1, N, and S alternately.
(a positive integer greater than or equal to 1) is used as a moving element, and a conductor portion that contributes to thrust is formed by winding n times the magnetic pole width of the field magnet (n is a positive integer greater than or equal to 1). A (2P+1) pole field magnet, characterized in that a stator armature consisting of a group of armature coils is disposed as a stator and opposite to the field magnet, and a position detection element is provided on the armature side. A movable magnet type surface flow linear motor. 2 The chamber armature coil is wound so that the opening angle width of the conductor portion contributing to the thrust is approximately 2n-1 (where n is 9 times a positive integer greater than or equal to 1) the magnetic pole width of the field magnet. A movable magnet type direct current linear motor having a field magnet with (2P+1) poles according to claim 1, characterized in that: 3. The armature coil is wound into a frame shape. According to claim 2, which is
A moving magnet type DC linear motor with a field magnet of 2P+1) poles. 4. (2p+) according to any one of claims 1 to 3, wherein the armature is lowerless.
A movable magnet type positional current linear motor with a field magnet. 5. The position detection element has a (2P11) pole field magnet as set forth in claim 1, wherein the position detection element is provided at a position facing a conductor portion that contributes to the thrust of the armature coil. Movable magnet type DC linear motor. 6. The above-mentioned position detection element is provided at a position where a conductor portion that contributes to the thrust of the armature coil and a conductor portion that does not contribute to the thrust force intersect (2)
A moving magnet type DC linear motor having a field magnet with P+1) poles.