JPH02307356A - Linear pulse motor - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to a linear pulse motor that is applied to a head feed of a printer, a head feed of a photoelectric reader, a positioning section of a machine tool, and the like.

``Prior Art'' As is well known, a linear pulse motor moves a mover or a stator on the secondary side in a step-like manner based on a pulse signal supplied to the mover on the primary side. can be,
It has advantages such as the mechanism is simplified, it is easy to make it thin, and there is no need to worry about reliability deterioration due to the conversion mechanism (for example, belt breakage, wear of part of the screw), and the motor positioning accuracy is good. It is used as an actuator for various devices.

A conventional linear pulse motor of this type is shown in FIG. In this figure, 1B is a rectangular back plate. Elongated permanent magnets 3.3 are adhered to both ends of the upper surface of the back plate 18 along its longitudinal direction, and yokes each having a coil wound thereon are attached to the upper surface of these permanent magnets 3.3. 6.6 is attached to constitute the stator 2 on the secondary side. Guides 8 and 9 are attached to both sides of the stator 2 along its longitudinal direction so that their opposing sides are parallel. Further, a rectangular plate-shaped primary side mover I is placed on the upper surface of the yoke 6.6 of the stator 2, and the mover l
are slidably sandwiched from both sides by the mutually parallel opposing side surfaces of the guide 8.9. Also, the end of the upper surface of the slider l on the guide 8 side? Here, rack 19 has screw 2
It is fixed at 0.20. This rack 19 is engaged with a rack 21 via a binion gear 22 rotatably attached to the upper surface of the guide 8.
．． A gear having the same pitch as the pinion gear 22 is formed on the side surface of the pinion gear 21 that engages with the pinion gear 22. Further, 8a and 8at are support plates extending outward from the guide 8 and provided parallel to each other, and these support plates 8a and 8at have two support rods 8b. , 8 b are fixed so as to be parallel to each other in the direction of movement of the mover 1 (six directions of arrows). These support rods 8b, 8b.

A counterweight 23 fixed with screws 24 and 24 is slidably passed through the lower surface of the rack 21, and is adapted to move in the opposite direction to the moving direction of the slider 1. There is.

In such a configuration, when a predetermined pulse signal is supplied to the coil, the mover l and the rack 19 move in the six directions shown by the arrows, and accordingly, the counterweight 23 is moved through the pinion gear 22 and the rack 21. Guide 8
It moves in parallel in the opposite direction to the mover l while being controlled by the side of the mover l.

"Problem to be Solved by the Invention" By the way, in the above-mentioned linear pulse smoke, the counterweight of the linear pulse motor itself becomes an inertial load. For example, if we ignore the friction coefficient of each contact part of the linear pulse smoke, let the mass of the mover l be MIll, the mass of the counterweight be Me, and the thrust of the mover l be F, then the acceleration α of the mover l is α = (F/(Mm+Mc
)) = P / 2 M (however, Mm = Mc = M), so the (thrust/mass) specific force of the linear pulse motor is
2, and as a result, a problem arises in which the responsiveness of the linear pulse motor decreases.

The present invention has been made in view of the above-mentioned circumstances, and an object of the present invention is to provide a linear pulse motor that can improve responsiveness without reducing the (thrust/mass) ratio.

Means for Solving the Problem J The first invention comprises a plurality of rows of teeth formed in parallel at equal intervals P along a specific direction, and a plurality of guide parts formed in parallel along the teeth. a stator, a plurality of movers each placed above a plurality of rows of teeth of the stator and supported movably along the guide section, and a plurality of movers each attached to the plurality of movers. a first engaging member, and a second engaging member that abuts the first engaging member and engages the plurality of movers with each other.
and an engaging member, and when one of the plurality of movers is moved in the specific direction with respect to the stator,
The other movable element is characterized in that it moves in the opposite direction via the engaging member.

A second invention is characterized in that the plurality of movers engaged by the engagement member are shifted by P/(2x each other) in the specific direction.

"Operation" According to the present invention, since the plurality of movers are engaged with each other by the engaging members, when a predetermined current is supplied to the coil of one of the movers, that mover moves into the guide portion of the stator. This causes the other slider engaged with the retaining member to move in the opposite direction. Therefore, the other movable element, which moves in the opposite direction to one movable element, plays the role of a counterweight.

Embodiment J An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a plan view of a linear pulse smoke according to the first embodiment of the invention, and FIG. FIG. 3 is a front view of the motor.

In these figures, 30 is a stator on the secondary side. In this stator 30, 31 is a rectangular plate-shaped fixing member, and this fixing member 3! Guide grooves 32 and 32A are formed along the longitudinal direction at both ends of the upper surface, and a groove having a width slightly narrower than that of the fixing member 31 is formed with adhesive or the like between these guide grooves 32 and 32A. A rectangular slit plate 33 is attached. Further, on both ends of the upper surface of this slit plate 33, a pitch P is provided along the longitudinal direction.
The teeth 33a, 33a are punched out in parallel at intervals of 2
These tooth portions 33a and tooth portions 33 are formed in parallel rows.
A shaft 34 is embedded and fixed on the fixing member 31, passing through the slit plate 33, at an intermediate portion between the fixing member 31 and the fixing member 31. A rotatable pinion gear 3 is attached to the upper part of the shaft 34.
5 is attached via a bearing. Moreover, the tooth part 33a.

33a, respective primary side movers 36 and 37 are placed with a defined gap in between. For these movers 36 and 37, for example, a primary slider 51 (details will be described later) of a four-pole linear pulse motor shown in FIG. 3 is used. In addition, at the front and rear parts of the mover 36,
Axis 3 in the direction perpendicular to the direction of movement indicated by arrow Y
8.38 are passed through and fixed, and these shafts 38.38
The ends of the guide grooves (here, rollers 39, 39 with flanges that are rotatable via bearings are attached, and the flanges are fitted into the guide grooves 32 of the fixed member 31. Rotatable rollers 40, 40 are attached to the other end of .38 via bearings, and are in contact with the upper surface of the slit plate 33.Similarly, the slider 3
7 also has a shaft 38A.

38A is passed through, and flanged rollers 39A, 3.9A and roller 40A are attached to these shafts 38A, 38A.

40A is installed. Also, the mover is 36°37
On the upper surface of the back plates 36b, 37b, respective racks 41.42 are attached with screws 43, 43. ..., and these racks 41 and 42 are engaged via a pinion gear 35. Further, the mover 36 and the mover 37 that are engaged through the pinion gear 35 are mutually P/
The shifter 36 is set to be shifted by 8, and the mover 36 is set as a solid line arrow Y.
When moving in this direction, the mover 37 moves in a direction opposite to the moving direction of the mover 36 (solid arrow Yl).

Here, the configuration of the linear pulse motor shown in FIG. 3 mentioned above will be explained. In this figure, 50 is a scale made of a long plate-shaped magnetic material, and on its top surface,
An uneven tooth portion 50a corresponds to the tooth portion 33a formed on the slit plate 33 of the linear pulse motor according to the first embodiment of the present invention.

50a, . . . are formed at regular intervals along the longitudinal direction (horizontal direction in the drawing). On the upper surface of the scale 50, a slider 51 used for the linear pulse smoke movers 36 and 37 of the first embodiment of the present invention is moved in the longitudinal direction of the scale 50 by a support mechanism including rollers (not shown). It is placed in a freely directed manner. The slider 51 has a U-shaped A-phase core 54 and a B-phase core 5.
5, and coils 56a and 56b respectively wound around the A-phase magnetic pole 54a and the A1-phase magnetic pole 54b of the A-phase iron core 54,
B-phase magnetic pole 55a and B-phase magnetic pole 55b of B-phase iron core 55
Coils 57a and 57b each wound around the iron core 5.
The permanent magnets 58 and 59 are attached to the top surfaces of the permanent magnets 4 and 55 with the polarities shown in the figure, and the back plate 60 is made of a plate-shaped magnetic material and is attached to the top surfaces of the permanent magnets 58 and 59. Three pole teeth 64 ah' having the same pitch as the pitch P of the teeth 50a of the scale 50 are formed on the lower surface of the magnetic pole 54a, and the magnetic pole 54b.

Similarly, pole teeth 64b, 65a are provided on the lower surfaces of each of 55a, 55b.
.

65b are formed respectively. In addition, these pole teeth 64b
, 65a, 65b are arranged sequentially shifted by P/4 with respect to the pole tooth 64a, and the pole teeth 64a, 64b, 65a
, 65b and the upper surface of the tooth portion 50a, a predetermined gap G is formed.

By sequentially supplying predetermined pulse signals to the coils 56a, 56b, 57a, and 57b, the coil 56a
, 56b, 57a, 57b and the magnetic flux generated by the permanent magnets 58, 59 are connected to each magnetic pole 54a.

At 54b, 55a, and 55b, the magnetic stability and fixed position of the slider 51 with respect to the scale 50 are sequentially adjusted by sequentially moving the slider 51 along the longitudinal direction of the scale 50.

Next, the operation of the linear pulse motor according to the first embodiment described above will be explained with reference to FIG.

However, in FIG. 4, the circle mark indicates the tip 36 of the slider 36.
T and the X mark indicate the tips 37T of the movers 37, and the tips of these movers 36 and 37 are shifted by P/8 as described above. Also, the horizontal line drawn as a solid line is
The stable position of the mover 36 is shown, and the broken horizontal lines indicate the stable positions of the mover 37, and the interval between these horizontal lines is P/8. First, when a predetermined pulse signal is supplied to the coil of the moving element 36, the moving element 36 moves to the position shown by ■, and at the same time, the moving element 37 moves to the position shown by ■. That is, the movers 36 and 37 move in opposite directions to P.
This means that it has moved /8. Next, when the pulse signal being supplied to the coil of the mover 36 is turned off and a predetermined pulse signal is supplied to the coil of the mover 37, the mover 37 becomes
At the same time, the moving element 36 moves to the position indicated by ■. Next, when the pulse signal being supplied to the coil of the mover 37 is turned off and a predetermined pulse signal is supplied to the mover 36, the mover 36 moves to the position indicated by ■.
The mover 37 moves to the position indicated by ■. Thereafter, by similarly supplying pulse signals, the movers 36 and 37 move in opposite directions by P/8.

Next, referring to FIG. 5, a linear pulse motor according to a second embodiment of the present invention will be explained. In this diagram,
Components corresponding to those in FIG. 1 are given the same reference numerals.

The linear pulse motor according to the second embodiment differs from the linear pulse motor according to the first embodiment in that the primary side mover is fixed and the secondary side stator is configured to move. The structure is described below.

In FIG. 5, 70 is a fixing member having a concave cross section.

On the side surfaces of the fixed member 70 that face each other, the primary side movers 36 and 37 are provided with magnetic flux generating surfaces 36f and 37.
4" facing each other with screws 71, 71... In addition, a shaft 34 is provided at the center of the bottom surface of the fixing member 70.
is embedded, and a rotatable pinion gear 35 is attached to the upper part of this shaft 34 via a bearing.

In addition, shafts 38 and 38 are passed through and fixed to the front and rear portions of the slider 36 in the longitudinal direction, respectively, and rollers with flanges 39 and 39 are attached to one end of these shafts 38 and 38, respectively.
Rollers 40, 40 are each rotatably attached to the other end via a bearing. Similarly, shafts 38A, 38A are passed through the mover 37, and shafts 38A, 38A are passed through the slider 37.
Rollers 39A, 39A and roller 40 with flanges on 8A
A, 40A is installed.

Further, a rectangular plate-shaped secondary side stator 30 is attached to the magnetic flux generation surface 36f of the mover 36, and one end of the stator 30 surface facing the magnetic flux generation surface 36f is attached in the longitudinal direction. A guide groove portion 32 is formed along the guide.
The flange portion of the flange roller 39 of the mover 36 is fitted into this guide groove portion 32 . Further, a rectangular slit plate 33 is adhered to the surface of the stator 30 on which the guide groove part 32 is formed so that the guide groove part 32 is exposed. Teeth portions 33a are formed at intervals of pitch P. Similarly, a stator 30A is attached to the magnetic flux generating surface 37f of the mover 37, and the guide groove 30A is attached to the stator 30A.
2A is formed, and a slit plate 33Δ is also bonded.

Further, between the stators 30.30A facing each other, racks 71.71A having a convex cross-sectional shape are connected to screws 72.71A.
At 72, each of the racks 71.
The gear portion at the tip of 71A is the pinion gear 39, respectively.
is engaged in.

In such a configuration, when a predetermined pulse signal is supplied to the coils of the movers 36 and 37 as in the first embodiment, the mover 3 of the linear pulse motor in the first embodiment
Similarly to the movement of stator 6.37, stator 30.30A moves in opposite directions by P/8.

Next, referring to FIG. 6, a linear pulse motor according to a third embodiment of the present invention will be described. In this figure, parts corresponding to those in FIG. 1 are given the same reference numerals.

In this figure, 30 is a stator on the secondary side.

In this stator 30, reference numeral 31 denotes a rectangular plate-shaped fixing member, and guide grooves 32 and 32A are formed along the longitudinal direction at both ends of the upper surface of the fixing member 31. A rectangular slit plate 33 is bonded between the plate 32A and the plate 32A. Also, this slit plate 33
Teeth portions 33a, 33a and tooth portions 33b are formed in three rows at intervals of pitch P along the longitudinal direction at both ends and the center portion of the upper surface. In addition, those tooth portions 33a, 33a and tooth portion 33b, as shown in the figure,
The tooth portions 33a, 33a are formed with a width Ha, whereas the tooth portion 33bh is formed with a width Hb that is twice as large.

Further, a shaft 34 is inserted between the teeth 33a and 33b on one side, and a shaft 34A is inserted between the teeth 33a and 33b on the other side through the slit plate 33. Pinion gears 35 and 35A of the same pitch are rotatably attached to the upper part of these shafts 34 and 34A via bearings.

Further, on the tooth portions 33a, 33a, a primary side mover 36 is provided.
．． 37, and a mover 80 is placed on the tooth portion 33b. These movers 36 and 37 include, for example, the primary slider 5 of the linear pulse motor used in the first embodiment.
1 is applied, and a slider having twice the width of the slider 51 is used as the mover 80.

Next, shafts 38 and 38 are passed through and fixed to the front and rear of the mover 36 in a direction perpendicular to the direction of movement shown by the arrow Y. Rotatable rollers 39 with flanges are attached, and the flanged portions of the rollers 39 are attached to the guide groove portion 3 of the fixing member 31.
2, and rotatable rollers 40, 40 are attached to the other end of the shaft 38, 38 via bearings. In addition, the mover 37 and the mover 80
The slider 80 is also configured in the same manner as the mover 36, but the mover 80 has rollers 40 attached to both ends of the shafts 38, 38, respectively. Next, at one end of the upper surface of the back plate 36b of the mover 36 and at one end of the upper surface of the back plate 80b of the mover 80,
1 is the screw 41.41. ..., and these racks 41.81 are engaged via pinion gears 3.5. Furthermore, a gear portion having the same pitch as the pinion gear 35 is formed on the side surface of the rack 41.81 that is in contact with the pinion gear 35A. Similarly, pinion gears 35
Through A, rack 42.82 screws 41, 41°...
・It is fixed at .

Further, the movers 36 and 37 engaged through the pinion gears 35 and 35A are set at the same position on the respective tooth portions 33a and 33a, and the mover 80 is - mover 36.3.
It is set to be shifted by P/8 with respect to 7. Then, when the mover 80 moves in the direction of the solid arrow Y1, the mover 3
6 and 37 are configured to move in a direction opposite to the moving direction of the mover 80 (solid arrow Y).

In such a configuration, when a predetermined pulse signal is supplied to the coils of the movers 36 and 37, the movers 36 and 37 move P in the direction of the solid arrow Y (or the broken arrow Y).
/8 movement, and at the same time the mover 80 moves in the direction of the solid line arrow Yl.
(or the direction of the broken line arrow Yl) by P/8. Next, when the pulse signals supplied to the coils of the movers 36 and 37 are turned off and a predetermined pulse signal is supplied to the coil of the mover 80, the mover 80 moves in the direction of the solid arrow Y (or the broken arrow Y). At the same time, the movers 36 and 37 move by P/8 in the direction of the solid line arrow YI (or the broken line arrow Yl). Thereafter, by similarly supplying pulse signals, the movers 36 and 37 are
and the mover 80 move in mutually opposite directions by P/B.

Furthermore, when a pulse signal is supplied to either the coil of the mover 36 or the coil of the mover 37, each mover 36, 37.80 supplies a pulse signal to both coils of the mover 36.37. Performs the same operation as when supplied.

In addition, in each of the above-mentioned embodiments, a pinion gear of the same shape is used to engage the slider in all linear pulse smokes, but backlash and other rattling at this engagement part can be reduced. In order to do this, it may be configured using scissor gears.

In addition to a gear, a method of using a link in which elongated holes of the same length are formed at both ends of a long plate may be considered as a member for engaging the mover. In this case, for example, in the linear pulse motor shown in FIG. 1, the shaft 34, pinion gear 35, and rack 41.42 are removed, and a pin is placed in the center of the upper surface of the back plate 36b, 37b of the slider 36.37. , These pins are slidably fitted into the two elongated holes of the link described above. With this configuration, the movable elements move in opposite directions via the links, allowing almost the same operation as the linear pulse motor shown in FIG. 1.

"Effects of the Invention" As explained above, according to the present invention, a plurality of rows of teeth are formed in parallel at regular intervals P along a specific direction, and a plurality of guide parts are formed in parallel along the teeth. a stator formed with a stator, and each placed above the plurality of rows of teeth of the stator,
a plurality of movers supported movably along the guide portion; a first engaging member attached to each of the plurality of movers; and a first engaging member that abuts the first engaging member; a second engaging member that engages the movers of the movable elements with each other;
The respective movers engaged by the engagement member are set to be shifted by P/(2x phase number) from each other, and when one mover is moved in the specific direction with respect to the stator, the other mover Since the movement is made in the opposite direction via the engaging member, the following effects can be obtained.

■Since the slider also serves as a counterweight, vibration resistance and impact resistance can be improved without installing a counterweight.
Since the movers move in opposite directions via the engagement members, if the friction coefficient of each contact part is ignored,
The acceleration α of the mover is α, 2F/2M (F is the thrust of the mover, M is the quality m of the mover), and the (thrust/mass) ratio hardly decreases. Therefore, the responsiveness of the mover is improved compared to the conventional linear pulse smoke.

Furthermore, since a counterweight is not required, the linear pulse motor can be made smaller as a whole.

(2) Since the movable elements are engaged with each other with a relative shift of P/(2x phase number), by driving the movable elements alternately, the movable elements can be moved with twice the resolution.

[Brief explanation of the drawing]

1 is a plan view of a linear pulse motor according to a first embodiment of the present invention, FIG. 2 is a front view of the same linear pulse motor, and FIG. 3 is a diagram of a linear pulse motor according to a first embodiment of the present invention.
A side view showing the configuration of the primary side slider applied to the next side mover, FIG. 4 is a diagram for explaining the operation of the same linear pulse motor, and FIG. 5 is according to the second embodiment of the present invention. FIG. 6 is a front view of a linear pulse motor, FIG. 6 is a plan view of a linear pulse motor according to a third embodiment of the present invention, and FIG. 7 is a perspective view of a conventional linear pulse motor. 30... Secondary side stator, 31... Fixed member, 32... Guide groove part (guide part), 33...
・Slit plate, 33a...Tooth section, 34...
The pinion gear is attached to the shaft, 35...Pinion gear (second engagement member), 36.37...Primary side mover, 36b, 37b...Back plate,
38...Shaft, 39...Roller with collar, 40...Roller, 41.42...Rack (first engagement member).

Claims (2)

[Claims] (1) A stator in which a plurality of rows of tooth portions are formed parallel to each other at regular intervals P along a specific direction, and a plurality of guide portions are formed in parallel along the tooth portions, and a plurality of rows of the stator. a plurality of movers each placed above the teeth of and supported movably along the guide section; a first engaging member attached to each of the plurality of movers; a second engaging member that abuts the engaging member and engages the plurality of movers with each other, and moves one of the plurality of movers in the specific direction with respect to the stator. A linear pulse motor characterized in that when the movable element is moved in the opposite direction, the other movable element moves in the opposite direction via the engaging member. (2) A linear pulse motor characterized in that a plurality of movers engaged by the engaging member are shifted from each other by P/(2×number of phases) in the specific direction.