KR20120068356A - Linear motor - Google Patents

Abstract

The present invention relates to a linear electric motor. In a linear motor comprising a primary member and a secondary member, the primary member includes a plurality of armature modules, each armature module protruding point-symmetrically from the magnetic core in a circular ring or polygonal ring shaped magnetic core. A coil consisting of four salient poles and coils and having a current flowing in the same phase to the magnetic core between each salient pole or the salient pole is wound, and the secondary member includes two permanent magnet coupling modules, and the two permanent magnet coupling modules are fitted together. Each permanent magnet coupling module includes two permanent magnet rows arranged in the direction of travel of the linear motor, each permanent magnet row being arranged with a plurality of permanent magnets alternating poles, and four permanent magnets Each row is placed between different pairs of salient poles and is substantially at the same position in the direction of travel in the secondary member. When the former magnets are called permanent magnet sets, each armature module has a power source having a predetermined phase difference so that thrust due to the traveling magnetic field is generated by using S armature modules arranged in the direction of travel and P permanent magnet sets that are multiples of 2 as one unit. It is applied to the coil of, wherein either the primary member or the secondary member is a mover and the other is a stator can be moved relative to each other by the generated thrust.

Description

Linear motor {Linear motor}

The present invention relates to a linear motor that generates a linear motion.

In general, a linear motor, that is, a linear motor, has a structure in which thrust is generated between a mover and a stator facing in a straight line shape. Permanent magnet type linear motors have a fixed magnet on either the mover or the stator and send alternating polyphase power to the other side so that electromagnetic forces act between them to generate thrust in a certain direction.

Conventional linear motors have a structure in which a rotary motor is deployed and spread out on a straight line, so that a strong magnetic attraction force is generated between the salient pole of the armature core and the permanent magnet, which lowers the precision of the system and wears the guide mechanism that maintains a constant gap. The problem is inevitably severe.

Accordingly, the present invention was created to solve the above problems, and an object of the present invention is to solve the problem of magnetic attraction force of a flat plate linear motor, and between the pole of the armature core generating thrust and the permanent magnet opposed thereto. It is to provide a highly efficient linear electric motor by widening the effective area of the voids.

Another object of the present invention is to provide a linear electric motor capable of long-distance transfer by solving sagging due to the load of the permanent magnet itself, which is a secondary member.

Still another object of the present invention is to provide a linear electric motor capable of reducing the weight of a secondary member including a permanent magnet.

It is still another object of the present invention to provide a linear electric motor that can easily assemble a secondary member including a permanent magnet.

Still another object of the present invention is to provide a linear motor that can reduce ripple.

Linear motor according to an embodiment of the present invention for achieving the above object is configured to include a primary member and a secondary member, the primary member includes a plurality of armature module, each armature module is And a magnetic core having a circular ring or polygonal ring shape, four salient poles and coils protruding point-symmetrically from the magnetic core, and a coil in which current of the same phase flows is wound around the magnetic core between each salient pole or the salient pole, and the secondary The member includes two permanent magnet coupling modules, and the two permanent magnet coupling modules are formed to be fitted together, and each permanent magnet coupling module includes two rows of permanent magnets arranged in the direction of travel of the linear electric motor. Each permanent magnet row is arranged with a plurality of permanent magnets changing poles, each of the four permanent magnet rows being placed between different pairs of salient poles, When the permanent magnets located at substantially the same position in the advancing direction in the secondary member are called permanent magnet sets, S armature modules arranged in the advancing direction and P permanent magnet sets, which are multiples of 2, are included in the advancing magnetic field. Power having a predetermined phase difference is applied to the coil of each armature module so that thrust is generated, and either the primary member or the secondary member becomes a mover and the other is a stator to each other by the generated thrust. It is characterized by relatively moving.

According to another embodiment of the present invention, a linear motor includes a primary member and a secondary member, wherein the primary member includes a plurality of armature modules, and each armature module includes a magnetic core and a magnetic core. Composed of a plurality of protruding poles and coils, the coil in which the current of the same phase flows is wound around the magnetic core between each of the poles or the poles, the secondary member is formed by coupling the plurality of permanent magnet modules in the form of sandwiching each other, Each permanent magnet module projects between the two poles protruding toward the magnetic core and is arranged with a plurality of permanent magnets changing poles in the traveling direction of the linear motor, and substantially the same position in the traveling direction in the secondary member. When the permanent magnets in the series are referred to as permanent magnet sets, S armature modules arranged in the direction of travel and P permanent magnet sets that are multiples of 2 A power source having a predetermined phase difference is applied to the coil of each armature module so that thrust by the traveling magnetic field is generated as a unit, and either the primary member or the secondary member is a mover and the other is a stator. It is characterized by moving relative to each other by the generated thrust.

The linear motor according to another embodiment of the present invention is configured by combining a plurality of first linear motors including a primary member and a secondary member, the primary member includes a plurality of armature modules, Each armature module is composed of a linear magnetic core, three or more salient poles and coils projecting perpendicularly from the magnetic core, and coils in which currents of the same phase flow through each of the salient poles or magnetic cores are wound. The vehicle member includes a number of permanent magnet modules one less than the number of the salient poles, each permanent magnet module being disposed between the two salient poles and arranged with a plurality of permanent magnets changing poles in the direction of travel of the linear electric motor, When the permanent magnets located at substantially the same position in the advancing direction in the secondary member are referred to as permanent magnet sets, S front electrodes disposed in the advancing direction are arranged. A power source having a predetermined phase difference is applied to the coils of each armature module so that a press module and a set of P permanent magnets, which are a multiple of 2, are generated as a unit, so that thrust due to a traveling magnetic field is generated, and 1 of two or more primary linear motors is applied. Coupling the primary member and the secondary member to each other so that either the combined primary member or the combined secondary member becomes a mover and the other becomes a stator to move relative to each other by the generated thrust. It features.

A linear electric motor according to another embodiment of the present invention includes a primary member and a secondary member, the primary member includes a plurality of armature modules, each armature module is a linear magnetic core, Composed of three or more salient poles and coils projecting perpendicularly from the magnetic core, the coil in which the current of the same phase flows is wound around the magnetic core between each salient pole or the salient pole, the secondary member is one less than the number of salient poles A permanent magnet module, each permanent magnet module being disposed between two salient poles and arranged with a plurality of permanent magnets alternating poles in the travel direction of the linear electric motor, and substantially the same position in the travel direction in the secondary member. When the permanent magnets in the system are referred to as permanent magnet sets, S armature modules are placed in the direction of travel and P permanent magnet sets are multiples of 2. A power source having a predetermined phase difference is applied to the coil of each armature module so that thrust by the traveling magnetic field is generated upward, and either the primary member or the secondary member is a mover and the other is a stator. The cross-section through which magnetic flux passes in each permanent magnet of each permanent magnet module is moved in parallel with each other due to the thrust, and each permanent magnet module has a parallel quadrangle with the adjacent permanent magnet module and the parallelogram. It is characterized by another.

In one embodiment, the coils are wound so that the neighboring salient poles in each armature module are different from each other, and in each set of permanent magnets each permanent magnet is disposed at a different pole from the neighboring permanent magnets.

In one embodiment, the magnetization direction of the permanent magnet faces two corresponding salient poles.

In one embodiment, the cross section of the permanent magnet through which the magnetic flux passes may be rectangular, parallelogram, circular or elliptical.

In one embodiment, the position offset of the at least one permanent magnet module in the direction of travel of the permanent magnet is different from the position offset of the other permanent magnet module, but may be different in a predetermined range smaller than the width in the direction of travel of the permanent magnet. .

In one embodiment, the length of the primary member or the secondary member may be longer than the length of one unit consisting of the S armature module and the P permanent magnet set. Further, S may be determined as one of multiples of a constant for determining the predetermined phase difference, and the constant may be an odd number of three or more.

In one embodiment, at least one long through hole is formed in the travel direction between two rows of permanent magnets in the first permanent magnet coupling module, and the second permanent magnet coupling module includes at least one permanent magnet case separated, each permanent The magnet case may be fitted into the through hole.

In one embodiment, the permanent magnet case includes two rows of permanent magnets, and one row of permanent magnets does not fit in the through hole, and the width in the traveling direction of a portion not fitted in the through hole is It may be wider than the width of the fitting portion.

In one embodiment, the direction in which the permanent magnet case is inserted into the through hole may be opposite to the neighboring permanent magnet case.

In an embodiment, the width of the non-inserted portion, the width of the through hole, and the through hole may be such that a portion of the permanent magnet case, which is not fitted to the through hole, may come into contact with a portion of the permanent magnet case that is inserted into the neighboring permanent magnet case. The spacing between can be adjusted.

In one embodiment, two or more permanent magnet modules may form one coupling module, and each coupling module may be coupled to each other so that the secondary member may be formed.

In one embodiment, the cross section through which the magnetic flux passes in each permanent magnet of each permanent magnet module may be parallelograms inclined in the same direction, and each permanent magnet module may have a different direction of energy of the parallelogram with the neighboring permanent magnet module.

In one embodiment, a power source of a different phase than the primary linear motor may be applied to the primary member for each primary linear motor.

Linear motor according to an embodiment of the present invention can solve the problem of the wear of the guide by the magnetic attraction force commonly generated in the flat plate linear motor, it is possible to obtain a large capacity thrust or a high feed speed with a small size, Since each element is modular, there is an advantage that it is easy to assemble and can be modified in various forms.

In addition, the linear motor according to the embodiment of the present invention has the advantage of solving the problem of sagging due to the load of the secondary member, and can be used for long distance transport.

In addition, the linear motor according to the embodiment of the present invention has the advantage of reducing the weight of the secondary member and increasing the assembly efficiency.

In addition, the linear motor according to the embodiment of the present invention has the advantage of reducing the ripple of the driving force.

In addition, the linear motor according to the embodiment of the present invention has an advantage of increasing the manufacturing precision and reducing the mold cost.

1 shows a secondary member including a cross section of a sealed linear motor and a permanent magnet,
FIG. 2 illustrates a principle of generating linear thrust by a combination of an armature module and a permanent magnet module in the linear motor of FIG. 1,
FIG. 3 illustrates an example in which the cross section of the permanent magnet through which the magnetic flux passes in the linear motor of FIG. 1 is rectangular and parallelogram;
4 illustrates an example in which the positional offsets of the permanent magnets in each permanent magnet module in the linear motor of FIG. 1 are different from each other.
5 and 6 show an open linear motor,
7 is an embodiment in which the connection portion of the secondary member in the linear electric motor of FIG. 1 is modified.
8 is an example in which the secondary member of the linear electric motor of FIG. 1 is modified according to an embodiment of the present invention in order to reduce the weight of the secondary member and improve assemblability.
9 is an example of forming the secondary member by assembling the permanent magnet module of FIG.
FIG. 10 illustrates a modified embodiment of coupling a plurality of permanent magnet modules without connecting the secondary member in the linear motor of FIG. 1,
11 is an embodiment in which the secondary member of the open linear motor of FIG. 5 is modified.
12 is an embodiment of a linear motor combining a plurality of open linear motors of FIG.
13 shows a simplified configuration of a servo system for driving a linear motor according to the present invention.

Hereinafter, on the basis of the accompanying drawings an embodiment of a linear motor according to the present invention will be described in detail.

Since the driving principle of the linear motor according to the present invention is the same as the driving principle of the linear motor described in the application number 10-2010-0081522, the structure and the driving principle of the cylindrical linear motor described in 10-2010-0081522 will be described first. The linear motor described in Application No. 10-2010-0081522 utilizes the operating principle of the linear motors described in 10-2009-0090806 and 10-2009-0099828, while reducing the weight of the secondary member including the permanent magnet module and the assembly efficiency. It is a modification to increase the.

The linear electric motor according to the present invention may comprise a primary member comprising a coil for generating magnetic flux and a secondary member comprising a permanent magnet across the magnetic flux.

1 illustrates a secondary member including a cross section of a linear motor and a permanent magnet, which is a view of a sealed linear motor.

The primary member is composed of a plurality of armature modules 10 arranged in a line in the travel direction, each armature module 10 is composed of a core 11, a plurality of salient poles 12 and coils 13, the armature The core 11 connects each of the salient poles 12 and the coil 13 through which current of the same phase flows is wound around the salient pole 12 or the magnetic core 11 between the salient poles 12.

The secondary member includes a plurality of permanent magnet modules 20 including permanent magnets 21 and a connecting portion 22 to which each permanent magnet module 20 is connected. Each permanent magnet module 20 includes Protruding from the connecting portion 22 toward the core 11 of the armature module 10, placed between the two poles 12, the plurality of permanent magnets 21 are arranged while changing the poles in the advancing direction of the motor Can be.

In the armature module 10, a current is supplied to the coil 13 to form a traveling magnetic field in each salient pole 12, and a suction force between the electromagnet formed at the end of the salient pole 12 and the corresponding permanent magnet 54. The coil 13 of the at least one armature module 10 may be supplied with a current having a phase difference from that of the coil 13 of the other armature module 10 so that the thrust may be generated by the repulsive force.

One of the primary member and the secondary member becomes a stator and is fixed to the support mechanism, and the other becomes a movable member, between the protrusion 12 of the armature module 10 and the permanent magnet 21 of the permanent magnet module 20. The mover moves relative to the stator while maintaining a constant void.

The two magnetic poles 12 of the armature module 10 are formed by forming a magnetic flux closed loop by two adjacent pairs of the poles 12 with different electromagnet polarities of the neighboring poles 12 in each armature module 10. ) And a magnetic flux of high density flows smoothly between the corresponding permanent magnet 21. In FIG. 1, four magnetic flux closing loops are formed by four salient poles 12 and four permanent magnets 21. To this end, a coil 13 through which current of the same phase flows in each armature module 10 is wound around each of the salient poles 12 or the core 11 between the salient poles 12 and adjacent in each armature module 10. It can be wound while changing the winding direction so that the electromagnet polarity of the protrusion 12 is different.

The present invention is a structure in which the magnetic flux from the salient pole enters the neighboring salient pole through only one permanent magnet. Since there is no yoke which is a ferromagnetic material, the secondary member does not need to be modularized based on the traveling direction. The magnetic flux flowing through the magnetic flux in a state perpendicular to the advancing direction can be formed.

To generate propulsion, permanent magnets at the same displacement in the advancing direction (on the same cross section when cut perpendicular to the advancing direction) in the secondary member must be arranged with the poles alternating with the neighboring permanent magnets, and at the same angle in the circumferential direction. Permanent magnets (permanent magnets listed in the direction of travel) should also be arranged with the pole alternating with the neighboring permanent magnets. In addition, since the magnetic flux from the salient pole passes directly through the permanent magnet without the yoke to the neighboring salient pole, the permanent magnet must protrude between the two neighboring salient poles through which the magnetic flux flows, and the magnetization direction of the permanent magnet should face the two salient poles.

In the diagram showing the cross-section of the left electric motor of FIG. 1, the permanent magnet 21 magnetized toward two neighboring salient poles 12 (in the circumferential direction) projects toward the core 11 between the salient poles 12 (4 Four permanent magnets 21 are radially spread), four permanent magnets having magnetization directions of S / N, N / S, S / N and N / S while proceeding counterclockwise from 45 degrees with respect to the circumferential direction 21 are arranged one by one. In addition, four permanent magnets 21 protruding radially toward the core 11 are connected to a connecting portion 22 having a circular cross section.

In addition, in the drawing showing the right secondary member of FIG. 1, the permanent magnets 21 at the same angle in the circumferential direction are alternately alternating with the north pole and the south pole along the traveling direction, and at the same angle in the circumferential direction. The permanent magnets 21 are connected to the connecting portion 22 having a circular cross section and a long rod shape in the advancing direction while being fixed to one permanent magnet module 20. The cross section of the connecting portion 22 is not limited to a circle.

The permanent magnets 21 at the same angle in the circumferential direction may be individually fixed to the connecting portion 22, but fixed to one permanent magnet module 20 as in the secondary member of FIG. 1, and the permanent magnet module 20 may be connected to the connecting portion 22.

The cross section of the motor of FIG. 1 has a structure in which armature module 10 having a circular ring-shaped core 11 has four protrusions 12 and four permanent magnets 21 protrude between each protrusion 12. Four permanent magnets 21 are each fixed to four corresponding permanent magnet modules 20. In the hermetic electric motor as shown in FIG. 1, the shape of the core 11 is not limited to a circular ring, but also a rectangular ring, an octagonal ring, an octagonal ring, etc., which form a closed loop, and a non-circular point symmetric or line symmetrical polygon. In addition, through holes may be formed at the corners of the core 11 or at the ends of the protrusion 12 to facilitate coupling with neighboring armature modules.

In addition, when a large amount of magnetic flux such as high capacity and high speed is required to increase the cross-sectional area of the motor, it is possible to transform the motor into a motor having a number of permanent magnet modules of the same number as the number of salient poles and a multiple of 6 or 8 salient poles.

When magnetic flux flows between the salient pole and the permanent magnet, the gap between the salient pole and the permanent magnet is narrow, the flux flows at right angles to the salient pole and the permanent magnet surface, and the spacing between the salient pole and the permanent magnet is constant throughout the surface where the salient pole and the permanent magnet contact. Magnetic flux leakage can be reduced. The distance between the salient pole and the permanent magnet may be determined in consideration of the precision, speed, load, etc. of the linear motor, and the magnetization direction of the permanent magnet may be determined so that the magnetic flux flows perpendicularly to the surface.

In addition, in the salient pole 12 protruding from the circular ring-shaped core 11 as shown in FIG. 1, the gap between the salient pole and the permanent magnet can be constant throughout the surface where the salient pole and the permanent magnet contact each other. The coil 13 is wound around the portion, and the end far from the core 11 has a fan shape, that is, the arc Arc of the portion close to the core 11 at the end of the protrusion 12 is the arc of the portion far from the core 11. It is advantageous to make the portion longer and in contact with the permanent magnet 21 in parallel with the permanent magnet 21 by connecting the ends of the two arcs in a straight line.

The permanent magnet module 20 for fixing the permanent magnets 21 at the same angle in the circumferential direction is made of a nonmagnetic material, and a plurality of openings capable of fixing the permanent magnet 21 in the traveling direction are formed. Any conventional method may be used to fix the permanent magnet 21 to the opening of the permanent magnet module 20.

A plurality of grooves for connecting and fixing the permanent magnet module 20 are formed long in the advancing direction in the connecting portion 22 of the secondary member, and the protrusion for fitting the grooves of the connecting portion 22 to the permanent magnet module 20 is also formed. It is formed long in the advancing direction, it can be coupled in a sliding manner by fitting the protrusion of the permanent magnet module 20 to the groove of the connecting portion 22.

When the linear motor is applied in a place where the moving speed of the mover is not fast, since the frequency of the power applied to the coil is not high, the core can be manufactured in a non-laminated form, thereby reducing the production cost and making the construction more durable. Mass production is possible. On the other hand, when a high feed speed is required for the linear motor, since the frequency of the applied power source is high, a core manufactured in a laminated form may be used to reduce eddy current loss and hysteresis loss occurring in the core.

The principle in which thrust is generated in the travel direction by the combination of two or more armature modules and two or more permanent magnet modules is shown in FIG. 2. For example, three armature modules 10U, 10V, 10W correspond to two sets of permanent magnets 21, where the set points to the entire permanent magnet 21 at the same position in the direction of travel in the secondary member. In this case, a combination of the armature module three-phase and the permanent magnet two poles as shown in the upper figure of FIG.

In FIG. 2, U, V, and W represent the salient poles located at the same position with respect to the circumferential direction in the three armature modules 10U, 10V, and 10W of FIG. 1, and S / N is the salient pole U. It lists the permanent magnets at positions opposite to, V, and W.

A single phase current may be supplied to the coils of each armature module, but in the case of three phases, a current having a phase difference of 120 degrees with a neighboring module may be applied to a coil of each armature module with a three phase current having a predetermined phase difference. .

In addition, as shown in FIG. 2, when the pole spacing of the permanent magnets S or N alternately arranged in the advancing direction is set to (1/2 cycle 180 degrees), three armature modules are divided into 2/3 (120 degrees). It is arranged at corresponding intervals.

When an alternating current of peak value P flows in the positive direction to the coil wound with the pole V located between the permanent magnet S pole and the N pole, and the pole V becomes the N pole, the coil wound with the pole U and W is ( As the poles U and W become S poles by flowing an alternating current of the peak value (P) / square root (-) in the-) direction, the pole poles V, which are the N poles, attract the permanent magnet S pole and the repulsive force on the permanent magnet N pole. To move the permanent magnet to the right. The dolpoles U and W, which have become S poles with smaller magnetic force than the N pole of the dolpole V, exert repulsive and suction forces on the permanent magnet S pole and the permanent magnet N pole, respectively, but cancel each other and do not affect the traveling direction.

The permanent magnet moves by 2/3 pole intervals, and this time, the pole pole W is positioned between the poles S and N of the permanent magnets. At this moment, a current of 120 degrees in phase is applied to the coil of each pole pole, The alternating current of the peak value (P) flows to the wound coil in the (+) direction so that the protrusion W becomes the N pole, and the coil wound around the protrusions U and V has a peak value (P) / square root (2) in the negative direction. The alternating current flows through and U and V become S poles. The N pole pole W moves the permanent magnet to the right by applying suction to the permanent magnet S pole and a repulsive force to the permanent magnet N pole. Similarly, the pole pole U, which is smaller than the N pole of the pole pole W, becomes a S pole with a magnetic force smaller than the N pole. V applies suction and repulsive force to the permanent magnet N pole and the permanent magnet S pole, respectively, but cancel each other out.

By repeating this process, the permanent magnet moves to the right. That is, the three-phase current applied to each armature module generates a moving magnetic field in the salient poles U, V, and W, thereby generating a thrust moving to the right in the moving magnet.

It is assumed that the coils U, V and W of FIG. 2 are wound in the same shape, so that the coils may be wound in the same direction to the salient poles positioned at corresponding positions of the neighboring armature module. However, the coil may be wound in the opposite direction to the salient pole placed at the corresponding position of the neighboring armature module. That is, U and W may be wound in the same direction, and V may be wound in a direction opposite to U and W. In this case, power having a phase difference may be supplied to generate a thrust for moving the permanent magnet in the same direction. .

In the ideal model, the thrust for moving the permanent magnets is increased in proportion to the sum of the surface areas of the protrusions and the permanent magnets, and also in proportion to the number of armature modules arranged in the traveling direction, and the magnitude of the current applied to the coil. , The number of windings of the coil winding the pole, the magnetic force of the permanent magnet, etc. have a proportional relationship.

The first example of FIG. 2 is an example of a basic combination of armature module three-phase and a permanent magnet two pole, and the second example of FIG. 2 is an example of an armature module three-phase and permanent magnet four-pole combination that is an extension of the first combination. The principle of generating thrust is the same, and a combination of three-phase and eight-poles is also possible.

In general, thrust occurs based on a combination of the number S of armature modules that are multiples of the motor constant and the number P of permanent magnet modules that are multiples of 2 (N pole and S pole), where the motor constant is a three-phase power source. In the case of driving an armature, in case of driving with a three-phase, five-phase power supply, it is common to set it to an odd number of three or more, and the phase difference of the current applied to the coil of each armature module is determined by the motor constant.

At this time, as the minimum common multiple of S and P increases, the ripple of thrust decreases. In addition, the ratio between S and P is called a winding coefficient, and the closer to 1, the higher the symmetry efficiency of the magnetic circuit is. Table 1 lists the combination of armature modules and permanent magnet modules for three-phase motors, where nine armature modules and eight or ten permanent magnet modules are advantageous in terms of efficiency or ripple.

Number of armature modules Permanent Magnet Module Count 3 2 4 6 4 8 9 6 8 10 12 12 8 10 14 16

Of course, when the length (the length in the direction of movement) of the portions in which the S armature modules and the P permanent magnet modules oppose through the air gap is the unit length of the motor, the primary member or the plurality of armature modules composed of a plurality of armature modules One of the secondary members of the permanent magnet module must be configured to be longer than the unit length to secure an effective distance capable of generating a thrust for moving the mover. In other words, the length of the overlap between the primary member and the secondary member is longer than the unit length (the number of armature modules or the number of permanent magnet modules is P or more) to ensure the effective distance for generating thrust. The thrust may increase in proportion to the overlap length.

In addition, the motor can be driven by a two-phase power source. In this case, two-phase currents having a 90-degree phase difference are passed to the two armature modules with each armature module separated by half (/ 2) of the pole spacing of the permanent magnets. Even in this case, it is possible to generate a thrust for moving the permanent magnet to one side.

Since the elements of the linear electric motor shown in FIG. 1 are arranged symmetrically, the magnetic attraction force generated by each armature and the permanent magnet is canceled, and the external force is not generated in the guide for guiding the linear movement of the mover. It can extend the life.

Three-phase current may be applied to each armature module of the primary member in the order of UVW, UVW, and UVW, and instead, three-phase current may be applied in the order of UuU, VvV, and WwW, where lowercase letters are opposite to uppercase letters. It means that the current of the phase is supplied.

Since the primary member is composed of independent armature modules (not ferromagnetic material, which is the same material as the core of the primary member), they are independent of each armature module if the same size of power is provided to each armature module. This flow causes less variation in thrust generated through each armature module, resulting in less ripple in thrust. Since the magnetic flux is distributed evenly through each salient pole without being biased to a specific salient pole, even though the cross-sectional area of the core of the armature module is small, many fluxes can flow. In addition, since the magnetic flux flows between the armature modules by independent magnetic circuits, there is no magnetic flux flowing in the same direction as the moving direction of the mover, so that the magnetic flux flows only in the direction perpendicular to the traveling direction, so that leakage is independent of thrust. The magnetic flux is small and the motor efficiency can be improved.

3 shows a permanent magnet module 20 in which a plurality of permanent magnets 21 are mounted while changing poles in a traveling direction, with magnetic flux or protrusion 12 coming out of the protrusion 12 of the armature module 10. The example where the cross section of the permanent magnet 21 through which an incoming magnetic flux passes is rectangular and parallelogram is shown.

The amount of magnetic flux passing through the salient pole 12 and the permanent magnet 21 is determined by the constant distribution of flux coming out of the salient pole 12 or entering the salient pole 12, and thus the surface of the salient pole 12 and the permanent magnet 21. ) Surface is proportional to the area of the overlapping part. The propulsion force is caused by the change of the magnetic flux. For example, when the secondary member moves in the traveling direction to the mover, the magnetic flux passing through the protrusion 12 and the permanent magnet 21 while the permanent magnet 21 moves is The amount results from the convolution of the surfaces of the salient pole 12 and the permanent magnet 21, and is shown on the right side of FIG.

When the surface of the protrusion 12 facing the permanent magnet 63 is assumed to be a rectangle (horizontal direction of travel and vertical length in the inner and outer circumferential direction in the left cross section of FIG. 1), the permanent magnet 21 of the rectangular surface is moved in the direction of travel. The area of the portion overlapping the rectangular surface of the salient pole 12 while moving is trapezoidal as shown in the upper right of FIG. 3, when the two surfaces start to overlap, when the two surfaces completely overlap, the two overlapping surfaces do not overlap. When it starts to occur, a point where the two overlapping surfaces do not overlap at all is a smoothly connected point (the point where two straight lines meet).

That is, the propulsion force is proportional to the change in the magnetic flux, that is, the change in the area where the surface of the protrusion 12 and the permanent magnet 21 overlap each other, and the value that differentiates the area where the surface of the protrusion 12 and the permanent magnet 21 overlap with each other is the driving force. Since there is a relationship, if there is a point that is not smoothly connected as shown in the upper right of FIG. 3, a sudden change in propulsion may occur at that point and may cause ripple.

However, as the permanent magnet 21 of the parallelogram surface moves in the advancing direction, the area of the portion overlapping the rectangular surface of the protrusion 12 is trapezoidal in shape as shown in the lower right of FIG. 3, but the lines are connected smoothly. The occurrence of ripple can be reduced.

The cross section of the permanent magnet 21 through which the magnetic flux from the salient pole 12 of the armature module 10 or the magnetic flux entering the salient pole 12 passes is not limited to a rectangle or a parallelogram, and may also be a rhombus, a circle, or an ellipse. An octagonal shape with four corners of parallelogram is also available.

In the secondary member, the permanent magnet 21 fixed to each permanent magnet module 20 must be different from the corresponding permanent magnet 21 in the neighboring permanent magnet module 20, so that other permanent magnet modules must be different from their poles. It is assumed that it is in the same position in the travel direction as the corresponding permanent magnet 21 in 20. That is, in FIG. 4, the position offsets (OFF_B, OFF_C, OFF__) of the permanent magnet modules B, C, and D (20B, 20C, and 20D) that are different from those of the permanent magnets in the permanent magnet module A (20A). ) Is the same value.

In this case, when the secondary member moves in the advancing direction, when the surfaces of the salient pole 12 and the permanent magnet 21 overlap each other, a point that is not smoothly connected (points as shown in the upper right corner of FIG. 3) occurs at the same time, causing ripple. Can be increased.

To alleviate this problem, the positional offset of the permanent magnets can be adjusted differently for each permanent magnet module 20 or differently for at least one permanent magnet module 20, even in this case the neighboring permanent magnet module 20 Since the poles of the corresponding permanent magnets 21 in ()) must be different from each other, the position offset of the permanent magnets should be smaller than the width (length in the advancing direction) of one permanent magnet 21. When the width of one permanent magnet 21, that is, the permanent magnet 21 of one pole that is the S pole or the N pole, is L, OFF_A, OFF_B, OFF_C, OFF_D, for example, the absolute value is At least one or two or more may have different values within a range of less than 0.1L, so that ripples may be prevented from occurring at the same time so that points that are not smoothly connected as shown in the upper right of FIG. 3 do not overlap.

In order to maintain a certain distance between each armature module in the primary member, a groove of a predetermined shape is dug at the end of one or more salient poles (possibly symmetrical positions) in each armature module, and a protrusion of a shape corresponding to the groove is formed. Each armature module using spacers spaced apart from the protrusions by a distance between the armature modules.

Or between each armature module by drilling holes in the ends of the core and / or one or more salient poles (possibly symmetrical positions) in each armature module and joining the armature modules using the perforated spacers and through bolts You can maintain a certain interval.

In addition, the grooved end stator or bracket may be disposed at both ends of the secondary member so as to correspond to the cross section of the secondary member cut perpendicular to the traveling direction, so that the permanent magnet module 20 may be stably fixed.

5 is a variant of an open linear motor. In FIG. 5, the core 11 of the armature module 10 is straight, so that the salient poles 12 also protrude at right angles from the core 11 and are arranged side by side with the neighboring salient poles 12. In addition, the permanent magnet 21 of the secondary member also projects toward the straight core 11 between the two poles 12 arranged side by side. A plurality of permanent magnets 21 listed in the advancing direction may be fixed to the permanent magnet module 20. Since the permanent magnet modules 20 between the salient poles 12 are arranged side by side with each other, a base which is a kind of support mechanism is By acting as a connection part 22 for connecting the plurality of permanent magnet modules 20, that is, the base and the connection part 22 are integrated, the plurality of permanent magnet modules 20 may be directly fixed to the base.

The coil 13 is wound at a position close to the core 11 (a position not reached by the permanent magnet 21 protruding toward the core 11) in each protrusion 12 as shown in FIG. 5, or as shown in FIG. 6. It may be wound around the core 11 between two salient poles 12.

5 and 6 in the armature module 10, the core 11 and the salient pole 12 is at a right angle, and the base and the permanent magnet module 20 are also at right angles, thereby increasing the manufacturing precision Mold costs can also be reduced.

7 is an embodiment in which the connecting portion of the secondary member is modified in the linear motor of FIG. 1, and the connecting portion 22 ′ of FIG. 7 is formed with a hole penetrating in the advancing direction, even though the secondary member is deformed to an external impact. It can be easily returned to its original position and the weight of the secondary member can be reduced.

FIG. 8 is a variation of the secondary member of the linear electric motor of FIG. 1 according to an embodiment of the present invention in order to reduce the weight of the secondary member and improve the assemblability, and includes a secondary member including four permanent magnet modules. Is an example.

In Fig. 1, each permanent magnet module of the secondary member is fixed to the connecting portion located in the center of the linear motor on one side in the radial direction, and the other side is projected toward the core of the armature module and lies between the two poles. A plurality of permanent magnets are arranged in which the poles change in the direction. However, in the secondary member of FIG. 8, there is no connection part for connecting each permanent magnet module, and the permanent magnet modules may be directly coupled to each other.

One permanent magnet module (or two permanent magnetic modules sharing a straight line (diameter) passing through the center in the cross section of the linear motor) whose angle of circumferential direction is 180 degrees in the cross section cut perpendicular to the traveling direction. In the secondary member using four permanent magnet modules, there are two coupling modules 30A and 30B, and the second member can be assembled by fitting the two coupling modules 30A and 30B.

That is, when each permanent magnet module is the first to fourth permanent magnet modules 20A, 20B, 20C, and 20D while traveling in the circumferential direction in the secondary member, the first permanent magnet module 20A and the third permanent magnet are used. The module 20C becomes one first coupling module 30A, the second permanent magnet module 20B and the fourth permanent magnet module 20D become the second coupling module 30B, and the two coupling modules are fitted. Can be assembled in a manner.

A method of assembling two coupling modules is shown in FIG. 9. In the first coupling module 30A, two permanent magnets of different poles are disposed above and below substantially the same position in the traveling direction, and a plurality of the permanent magnets are arranged at predetermined intervals in the traveling direction, that is, a plurality of arrangements, that is, the traveling direction. Two permanent magnet rows are arranged above and below the first coupling module. In addition, one or more through-holes 33 for fitting the second coupling module are formed at predetermined intervals between the upper and lower rows of permanent magnets, that is, in the center of the first coupling module.

The second coupling module 30B is composed of one or more plurality of permanent magnet cases 34 separated in the advancing direction, and each permanent magnet case 34 has a predetermined number of two columns arranged in the advancing direction like the first coupling module. Permanent magnets are arranged, and each permanent magnet case 34 is fitted into the through hole 33 of the first coupling module 30A. When the first coupling module 30A is viewed in the advancing direction, the permanent magnet case 34a is first inserted from the left side (or right side) and then the permanent magnet case 34b is inserted into the right side (or left side) in the advancing direction. Can be staggered.

When the permanent magnet case 34 is fitted into the through hole 33 of the first coupling module 30A, the intermediate position of the permanent magnet positioned above and below the permanent magnet case 34 (dashed line position in the permanent magnet case) Steps are formed to have different widths (lengths in the advancing direction) of portions fitted into the through-holes 33 of the first coupling module 30A and non-fitting portions so that the first coupling module 30A can be positioned at the same position. It is advantageous to. That is, the step of the portion which is not fitted in the permanent magnet case 34 is caught between the through holes 33 of the first coupling module 30A so that the permanent magnet case 34 is no longer fitted. Further, the portion passing through the through hole 33 in any permanent magnet case 34a can be fitted in the opposite direction and then abut the portion not passing through the through hole 33 in the permanent magnet case 34b. Steps can be adjusted in the permanent magnet case 34, the width (size or width of the through-hole) of the portion to be fitted, the width of the non-insertion portion, the distance between the through hole and the like can be adjusted.

After the first coupling module 30A and the plurality of permanent magnet cases 34 are coupled, the bonding strength may be increased by applying an adhesive to the coupling portion. Alternatively, a device for fixing a plurality of permanent magnet cases 34 may be further provided.

8 and 9 illustrate an example of a linear motor using four permanent magnet modules, but the present invention is not limited thereto and may be applied to a linear motor using six or eight permanent magnet modules. The cross-sectional shape in the depth direction in which the permanent magnet case is fitted in the through hole may vary, and a through hole may also be formed in the permanent magnet case so that another permanent magnet case may be inserted therein.

8 and 9 may also be applied to the embodiments of FIGS. 3 and 4 in which the cross-sectional shape of the permanent magnet is parallelogram or the positional offset of the permanent magnet is different.

FIG. 10 illustrates a modified embodiment in which a plurality of permanent magnet modules are coupled without a connection of a secondary member in the linear electric motor of FIG. 1, and a cross section of a permanent magnet module or a coupling module to which a permanent magnet module is coupled in a traveling direction. It is shown.

Protrusions and / or grooves may be formed in each permanent magnet module so that the permanent magnet modules may be coupled to each other, for example, in a sliding manner, to form a secondary member without a separate connection portion. Alternatively, two or more neighboring permanent magnet modules may be joined to form a joining module, and the other joining module may be joined through a protrusion and / or a groove to form a secondary member.

In order to couple the permanent magnet modules or the coupling modules to each other in a sliding manner, the protrusions and / or the grooves in each permanent magnet module or the coupling module may be formed to be long in the traveling direction or may be formed only in some sections at regular intervals in the traveling direction.

Alternatively, the secondary member may be formed into a casting or processed into a cylinder in a state in which a plurality of openings capable of fixing the permanent magnet are formed without assembling the secondary member in a module form.

FIG. 11 is an embodiment in which the secondary member of the open linear motor shown in FIG. 5 in which the permanent magnet module of the secondary member protrudes toward the core is formed between the protrusions perpendicularly protruding from the straight armature module core.

In FIG. 11, the embodiment of FIG. 3 is applied to the permanent magnet module so that the cross-sectional shape of the permanent magnet through which the magnetic flux exiting or entering the protrusion passes through the parallelogram is not rectangular.

However, there is a difference in that the parallelogram of the same direction is not applied to the permanent magnet of each permanent magnet module, but the parallelogram of a different direction is applied to the neighboring permanent magnet module. That is, the cross-sections of the permanent magnets in the first permanent magnet module 20A and the third permanent magnet module 20C are parallelograms of the shape tilted to the right, and the second permanent magnet module 20B and the fourth permanent magnet module 20D. The cross section of the permanent magnet in the square becomes a parallelogram of the shape tilted to the left.

In the permanent magnet of one side of the protrusion (for example, the first permanent magnet module 20A) as the primary member moves through the sharp portion that forms the acute angle of the parallelogram, the sharp portion of the parallelogram is near the core. The permanent magnets in contact with the salient poles and on the other side of the salient poles (for example, the second permanent magnet module 20B) come into contact with the salient poles at the sharp edges of the parallelogram. Therefore, some of the magnetic flux generated by the coil and traveling toward the end of the salient pole proceeds toward the permanent magnet of the first permanent magnet module 20A from the side close to the core, and the other part of the magnetic flux from the side far from the core to the second permanent magnet module. Progress toward the permanent magnet of 20B.

That is, the magnetic flux generated by the coil flows evenly distributed above and below the salient pole instead of being concentrated in one place of the salient pole protruding from the core. Therefore, a large amount of magnetic flux can be sent without increasing the thickness of the core or the salient pole, and since the magnetic flux is dispersed, the ripple is reduced in the driving force.

The permanent magnet module of FIG. 11 also provides a secondary member by forming protrusions and / or grooves in a part far from the core of the primary member and joining with a neighboring permanent magnet module without providing a connection portion for connecting to each other. It may be.

12 is an embodiment of a linear motor in which a plurality of the open linear motors of FIG. 5 are combined. The four open linear motors as shown in FIG. Thus, one linear motor is implemented. For example, by combining three, five, six or eight open linear motors of FIG. 5, the three-, four-, five-, six-, and eight-angle linear motors can be implemented in various shapes. It can improve efficiency and increase driving force. In addition, by adjusting the power applied to each linear motor, even if the same three-phase power is applied, for example, it is possible to reduce the ripple by different phases.

13 shows a simplified configuration of a servo system for driving a linear motor according to the present invention. Except for the linear motor in Figure 13 other elements can be used as is applied to the conventional linear motor.

The servo system includes a drive amplifier for generating a current to be applied to the motor, a current sensor for detecting a current applied to the motor from the drive amplifier, a linear sensor for detecting a position or moving speed of the linear motor mover, a current sensor and / or a linear sensor. It may be configured to include a controller for controlling the driving amplifier according to the control command based on the signal detected by the. The driving amplifier may include a converter for converting an AC power into a direct current and an inverter for generating a current required to drive a motor.

The inverter generates a power source suitable for the driving method of the linear motor according to the present invention, for example, two-phase alternating current, three-phase alternating current, two-phase rectified current, three-phase rectified current, and the like to be applied to the armature module of the linear motor. According to the command of the controller, the amplitude of the current, frequency, etc. can be changed to adjust the position of the mover, the speed, the magnitude of the thrust for moving the mover, and the like.

The above-described preferred embodiments of the present invention are disclosed for purposes of illustration, and those skilled in the art can improve, change, and substitute various other embodiments within the technical spirit and scope of the present invention disclosed in the appended claims below. Or addition may be possible.

10: armature module 11: core
12: salient pole 13: coil
20, 20A, 20B, 20C, 20D: Permanent Magnet Module
21: permanent magnet 22, 22 ': connection
30, 30A, 30B: Coupling Module 33: Through Hole
34, 34a, 34b: permanent magnet case

Claims (18)

In a linear electric motor comprising a primary member and a secondary member,
The primary member includes a plurality of armature modules,
Each armature module is composed of a magnetic ring core in the shape of a circular ring or polygonal ring, four salient poles and coils protruding point-symmetrically from the magnetic core, and coils in which currents of the same phase flow through the magnetic core between the salient poles or the salient poles are wound. ,
The secondary member may include two permanent magnet coupling modules, and the two permanent magnet coupling modules may be coupled to each other to be fitted together.
Each permanent magnet coupling module includes two permanent magnet rows arranged in the direction of travel of the linear motor, each permanent magnet row being arranged with a plurality of permanent magnets alternating poles, and each of the four permanent magnet rows having different poles Placed between the pairs,
When the permanent magnets located at substantially the same position in the advancing direction in the secondary member are called permanent magnet sets, S armature modules arranged in the advancing direction and P permanent magnet sets, which are multiples of 2, are included in the advancing magnetic field. Power having a predetermined phase difference is applied to the coil of each armature module so that thrust is generated,
Wherein either the primary member or the secondary member becomes a mover and the other becomes a stator to move relative to each other by the generated thrust. In a linear electric motor comprising a primary member and a secondary member,
The primary member includes a plurality of armature modules,
Each armature module is composed of a magnetic core, a plurality of salient poles and coils protruding from the magnetic core, and a coil in which current of the same phase flows is wound around the magnetic core between each salient pole or the salient poles,
The secondary member is formed by combining a plurality of permanent magnet modules are fitted to each other,
Each permanent magnet module protrudes toward the magnetic core, is placed between two salient poles, and a plurality of permanent magnets are arranged while changing poles in the traveling direction of the linear electric motor,
When the permanent magnets located at substantially the same position in the advancing direction in the secondary member are called permanent magnet sets, S armature modules arranged in the advancing direction and P permanent magnet sets, which are multiples of 2, are included in the advancing magnetic field. Power having a predetermined phase difference is applied to the coil of each armature module so that thrust is generated,
Wherein either the primary member or the secondary member becomes a mover and the other becomes a stator to move relative to each other by the generated thrust. In the linear motor configured by combining a plurality of first linear motor comprising a primary member and a secondary member,
The primary member includes a plurality of armature modules,
Each armature module is composed of a linear magnetic core, three or more salient poles and coils projecting perpendicularly from the magnetic core, and coils in which currents of the same phase flow through the magnetic core between each salient pole or the salient poles are wound.
The secondary member includes a number of permanent magnet modules one less than the number of the salient poles,
Each permanent magnet module is placed between the two salient poles and arranged with a plurality of permanent magnets changing poles in the direction of travel of the linear motor,
When the permanent magnets located at substantially the same position in the advancing direction in the secondary member are called permanent magnet sets, S armature modules arranged in the advancing direction and P permanent magnet sets, which are multiples of 2, are included in the advancing magnetic field. Power having a predetermined phase difference is applied to the coil of each armature module so that thrust is generated,
The primary member and the secondary member of two or more primary linear motors are respectively coupled to each other, so that either the combined primary member or the combined secondary member is a mover and the other is a stator to generate the A linear electric motor, characterized by moving relative to each other by thrust. In a linear electric motor comprising a primary member and a secondary member,
The primary member includes a plurality of armature modules,
Each armature module is composed of a linear magnetic core, three or more salient poles and coils projecting perpendicularly from the magnetic core, and coils in which currents of the same phase flow through the magnetic core between each salient pole or the salient poles are wound.
The secondary member includes a number of permanent magnet modules one less than the number of the salient poles,
Each permanent magnet module is placed between two poles and arranged with a plurality of permanent magnets changing poles in the direction of travel of the linear motor,
When the permanent magnets located at substantially the same position in the advancing direction in the secondary member are called permanent magnet sets, S armature modules arranged in the advancing direction and P permanent magnet sets, which are multiples of 2, are included in the advancing magnetic field. Power having a predetermined phase difference is applied to the coil of each armature module so that thrust is generated,
Either the primary member or the secondary member becomes a mover and the other becomes a stator to move relative to each other by the generated thrust,
The cross section through which magnetic flux passes in each permanent magnet of each permanent magnet module is a parallelogram inclined in the same direction, and each permanent magnet module has a different direction of energy of the parallelogram in a neighboring permanent magnet module. The method according to any one of claims 1 to 4,
The coil is wound so that the polarity of neighboring salient poles in each armature module is different, and in each set of permanent magnets, each permanent magnet is disposed at a different pole from the neighboring permanent magnets. The method according to any one of claims 1 to 4,
The magnetization direction of the permanent magnet is directed to the two corresponding poles. 4. The method according to any one of claims 1 to 3,
Linear motor, characterized in that the cross section of the permanent magnet passing magnetic flux is rectangular, parallelogram, circular or elliptical. The method according to any one of claims 2 to 4,
Wherein the position offset of the at least one permanent magnet module in the direction of travel of the permanent magnet is different from the position offset of the other permanent magnet module, but in a predetermined range that is smaller than a width in the direction of travel of the permanent magnet. The method of claim 1,
And the position offset of the at least one permanent magnet row in the direction of travel of the permanent magnets is different from the position offset of the other permanent magnet rows, but in a predetermined range that is smaller than the width in the direction of travel of the permanent magnets. The method according to any one of claims 1 to 4,
And the length of the primary member or the secondary member is longer than the length of one unit consisting of the S armature module and the P permanent magnet set. The method of claim 10,
S is determined as one of multiples of a constant for determining the predetermined phase difference, and the constant is an odd number of three or more. The method of claim 1,
In the first permanent magnet coupling module one or more long through holes are formed between the two rows of permanent magnets in a traveling direction, and the second permanent magnet coupling module includes one or more permanent magnet cases that are separated, and each permanent magnet case includes the through holes. Linear motor, characterized in that fitted in the hole. 13. The method of claim 12,
The permanent magnet case includes two permanent magnet rows, and one permanent magnet row is not inserted into the through hole, and the width of the portion into which the width in the traveling direction of the portion not fitted into the through hole is fitted. Linear motor, characterized in that wider. The method according to claim 12 or 13,
And the direction in which the permanent magnet case is inserted into the through hole is opposite to a neighboring permanent magnet case. The method of claim 14,
The width of the non-inserted portion, the width of the through hole, and the gap between the through holes are adjusted so that a portion of the permanent magnet case not fitted to the through hole and a portion inserted from the neighboring permanent magnet case come into contact with each other. Linear motor, characterized in that the. The method of claim 2,
And at least two permanent magnet modules form one coupling module and are coupled in a form in which each coupling module is fitted to form the secondary member. The method of claim 3, wherein
The cross section through which magnetic flux passes in each permanent magnet of each permanent magnet module is a parallelogram inclined in the same direction, and each permanent magnet module has a different direction of energy of the parallelogram in a neighboring permanent magnet module. The method of claim 3, wherein
A linear motor, characterized in that, for each primary linear motor, a power source of a different phase from the primary linear motor is applied to the primary member.

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