JPS6155708A - Linear 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 Field of Industrial Application The present invention relates to a linear motor that can be applied to production equipment and robots and can position any point on a plane.

Structure of the conventional example and its problems A conventional linear motor capable of positioning any position on a plane has a second stator 3 fixed at 2 and extending in the direction of arrow Y, as shown in FIG. The second movable element 4 was provided so as to be movable on two stators 3 in the direction of arrow Y.

The operation of the conventional linear motor configured as above is as follows.
The first movable element 2 and the second stator 3 fixed thereto are driven and positioned in the direction of arrow X by a control circuit and a drive circuit (not shown). On the other hand, since the second movable element 4 can also be driven and positioned in the direction of the arrow Y by a control circuit and a drive circuit (not shown), it is possible to drive and position the first movable element 2 and the second movable element 4 sequentially or simultaneously. This allows the second mover 4 to position any point on the X-Y plane.

However, in the above configuration, the first mover 2 and the second
Since the load weights applied to the mover 4 and the mover 4 differ greatly as shown below, various drawbacks have arisen. Generally, the purpose of the above linear motor is to position an external load (not shown in the figure) (an object to be transferred in the case of transfer, a processing tool in the case of processing, etc.) from an arbitrary point on the x-Y plane to another arbitrary point. It's about letting people know.

Considering this point of view, the load weight of the second mover is the sum of the external load and the second mover 4, and the load weight of the first mover 2 is the sum of the external load and the second mover 4° and the second fixation. Child 3. and a total of 20 first movers.

On the other hand, if different load weights are applied to linear motors with the same thrust and speed characteristics, the acceleration time to reach the same speed is proportional to the ratio of the load weight, and the positioning time required to position the same distance is proportional to the load weight. It is widely known both experimentally and theoretically that it is proportional to the first power of the ratio.

To be more specific, the type of linear motor was
The brushless linear servo motor shown in 6670 is used, and the first mover 2 and the second mover 4 are the same motor with a maximum thrust of 16 mm.
Tanabata and the first stator 1. The length of the third stator is 50
As a result of trial production with 0 mrn (maximum stroke α-length of approximately 350 mm), the weight of the first mover 2 and second mover 4 was approximately 2
．． 54, the weight of W11 stator 1 and second stator 3 is approximately -5
I was left and right. Reverse electricity is a heavy external load.

If the amount is 5, the load weight of the second mover 4 is approximately 7.5 ~
, the load weight of the first mover 2 is approximately 15 KP, so calculated that the acceleration time of the first mover 2 is approximately twice that of the second mover 4, and the positioning time is approximately 1.4 times. was also confirmed experimentally. Therefore, in the configuration shown in the conventional example, the positioning time is often determined by the performance of the first mover 2, which has a long acceleration time and a long positioning time, and the productivity of robots and production equipment to which this is applied is not as high as expected. The problem was that it did not improve. On the other hand, in order to make the acceleration characteristics and positioning time of the first movable element 2 and the second movable element 4 the same, the ratio of the thrust force of the second movable element 4 and its load weight, and the
It is also conceivable to increase the thrust of the first movable element 2 so that the thrust of the movable element 2 and the ratio of its load weight become the same.

However, increasing the thrust generally leads to increasing the size of the first mover 2, so the first mover 2 and the second mover 4, and the first stator 1 and the second stator 3 are commonly used. In general, not only does this lead to a relatively large increase in cost, but it also has the drawback that it is technically difficult to obtain a large thrust linear motor while maintaining dimensional accuracy and rigidity. was.

Purpose of the Invention The present invention has been made in view of the above-mentioned drawbacks, and provides a linear motor capable of positioning any point on a plane, which is configured to fully utilize the high-speed and high-acceleration properties that linear motors potentially have. This is what we provide.

Structure of the Invention The linear motor of the present invention includes one stator, a first movable element and a second movable element that are provided so as to be able to run on the stator, and a first support shaft and a second movable element that are fixed to the first movable element. 2. A second support shaft fixed to the mover, a first joint rotatably provided on the first support shaft, a second joint rotatably provided on the second support shaft, and a second joint rotatably provided on the first support shaft; In contrast, it is composed of a rotatable working shaft, and the high speed and high acceleration that linear motors potentially have can be fully utilized, so it is said that it can improve the productivity of production equipment and robots that apply this motor. It has a unique effect.

DESCRIPTION OF EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. FIG. 2 shows a linear motor in a first embodiment of the present invention. In Fig. 3, 5 is a stator, 6
7 is a first movable element provided so as to be able to run on the stator 5 in the direction of the arrow X, 7 is a second movable element provided so as to be movable on the stator 5 in the direction of the arrow X, and 8 is the 1st movable element 6. a fixed first support shaft;
9 is the second support shaft fixed to the mover 7, 1Q is the first support shaft 8
11 is a second joint that is rotatably provided with respect to the second support shaft 9; 12 is an action that is rotatably provided with respect to the first joint 1° and the second joint 11; It is the axis.

The operation of the near motor configured as described above will be explained below. This IJ near motor is
It positions an arbitrary point on the Y plane, and can be easily understood by focusing specifically on the 0-σ axis shown in FIG. First, in the state shown in Fig. 3, in order to move the 5o-o' axis in the direction of the arrow The first movable element 6 and the second movable element 7 may be driven in the direction of the arrow X while being controlled. Also, to move 0-07 in the direction of arrow Y, the first
Move the mover 6 and the second mover 7 at the same speed and move the first mover 6
What is necessary is to make the second mover 7 move in the direction of arrow X and the second movable element 7 in the direction of arrow -X. From the above, it is clear that even when moving 0-σ in any direction on the XY plane, it is possible to move the first movable element 6 and the second movable element 7 while controlling them.

Here, the load weights of the first mover 6 and the second mover 7 in the first embodiment are the same as in the conventional example: the maximum thrust of the first mover 6 and the second mover 7 is 154, and the external load is 5K. Illustrated by case. First of all, if the first section 10 and the second section 11 are made of aluminum alloy, the weight of each will be about 1.3? , 1.74. On the other hand, the first movable element 6 and the second movable element 7 each had a force of about 3 KP when the first support shaft 8 and the second support shaft 9 were fixed. Therefore, the weight of the entire movable part was 14 Kp (external load 6FKp+first section 101.3Kp+second section 11 1.74+first mover 63-+second mover 736).

However, in the case of moving 6o-o' in the direction of the arrow X in the state shown in FIG. Performance equivalent to that in the arrow Y direction shown in the figure (see Figure 1) was achieved. Furthermore, even when moving o - o' in the direction of the arrow Y from the state shown in Fig. 3, the arrow shown in Fig. 1 is Almost the same performance as in the Y direction (see Figure 1) was achieved.

As described above, according to this embodiment, there is one stator 6, a first movable element 6 and a second movable element 7 which are provided so as to be able to run on the stator, and a first movable element 6 fixed to the first movable element 6. 1 support shaft 8 and 2nd
A second support shaft 9 fixed to the mover 7, a first joint 10 rotatably provided on the first support shaft 8, a second joint 11 rotatably provided on the second support shaft 9, and a second joint 11 rotatably provided on the second support shaft 9. By providing a rotatably working shaft 12 for the first node 1o and the second node 11, the high speed and high acceleration of the linear motor can be fully utilized when positioning any point on a plane. , positioning time can be shortened, and productivity of production equipment and robots using this can be improved.

A second embodiment of the present invention will be described below with reference to the drawings. 13 is the first stator, 14 is the first stator 1
A first movable element 15 provided so as to be able to run on 4 in the direction of arrow X;
is a second stator 16 provided parallel to the first stator 13;
17 is a second movable element that is provided so as to be able to run on the second stator 15 in the direction of the arrow X, and 17 is a first movable element that is fixed to the first movable element 14.
A support shaft 18 is a second support shaft 1 fixed to the second movable element 16.
9 is a first section rotatably provided on the first support shaft 17; 20;
is a second joint rotatably provided on the second support shaft 18, and 21 is an operating shaft rotatably provided with respect to the first joint 19 and the second joint 20. The difference between the first embodiment and the second embodiment is that in the first embodiment, as shown in FIG.
While the mover 6 and the second mover 7 are run, the second mover 6 and the second mover 7 are moved.
In the embodiment, as is clear from FIG. 3, the first stator 13 is provided with the first mover 14, and the second stator 1d is provided with the second mover 16, which are movable. This is because the second stator is provided in parallel.

The structure described above and the operation of the near motor are the same as those in the first embodiment, so a description thereof will be omitted. Note that the first example and the second example
The functional differences in this embodiment are as follows. That is, in the first embodiment, o −o from the state shown in FIG.
When moving ' in the direction of arrow Y, the first movable element 6 and the second movable element 7 have the mobility of colliding and breaking, so the first movable element 6 and the second movable element 7 are arranged so that the dimension 2 is always larger than 0. and position must be controlled, which substantially reduces the effective stroke. On the other hand, the second embodiment shown in FIG. 3 does not have the above-mentioned restrictions, so the control becomes simple and the effective stroke does not decrease.

As described above, the first movable element 14, which is provided so as to be able to run on the first stator 13 in the direction of the arrow X, and the second stator 15, which is disposed parallel to the first stator 13, move in the direction of the arrow X. A second movable element 16 provided so as to be movable, a first support shaft 17 fixed to the first movable element 14, a second support shaft 18 fixed to the second movable element 16, and a first support shaft 18 fixed to the second mover 16. The first section 19 is rotatably provided on the second shaft 18, and the second section 2 is rotatably provided on the second support shaft 18.
By providing the working shaft 21 that is rotatably provided to the first section 19 and the second section 20, the same effect as that of the first embodiment can be achieved, and with respect to the first embodiment, It is also possible to simplify the control unit and expand the effective stroke.

Note that the first thing. In the second embodiment, a brushless linear servo motor was used as the motor type, but a linear pulse motor or other linear motor having a movable element and a stator may also be used.

Furthermore, the first embodiment shown in FIG. 2 can be modified as shown in FIGS. 4 and 5, and the second embodiment shown in FIG. 3 can also be modified as shown in FIG. 6. In FIGS. 4 and 5, the same functional parts as in FIG. 2 are given the same numbers, and in FIG. 6, the same functional parts as in FIG. 3 are given the same numbers.

Effects of the Invention As described above, in the present invention, the first and second movers are provided so as to be able to run on one stator, the first support shaft is fixed to the first mover, and the second mover is fixed to the second mover. The second support shaft and the first
By providing a first joint rotatably provided on the support shaft, a second joint rotatably provided on the second support shaft, and an operating shaft rotatably provided relative to the first and second joints, linear Positioning time can be shortened because the motor's latent high-speed and high-acceleration capabilities can be brought out. Therefore, the productivity of production equipment and robots that apply this can be improved, and its practical effects are significant.

Further, by providing the first movable element and the second movable element so as to be movable on the first stator and the second stator, respectively, the first movable element
In addition to the effects of the embodiment, the control of the first movable element and the second movable element can be simplified and the effective stroke can be increased, which has great practical effects.

[Brief explanation of the drawing]

FIG. 1 is a three-dimensional diagram of a conventional I7 near motor, FIG. 2 is a three-dimensional diagram of a linear Tanabata in a first embodiment of the present invention, and FIG.
4 and 5 are three-dimensional views showing a modification of the first embodiment of the present invention, and FIG. 6 is a three-dimensional view showing a modification of the second embodiment of the invention. 5... Stator, 6.14... First mover, 7°16... Second mover, 8, 17...
...First support shaft, 9°18 ...Second support shaft, 10
．． 19... 1st section, 11゜2Q... 2nd section, 12, 21... Axis of action. Name of agent: Patent attorney Toshio Nakao and 1 other person No. 1
Figure 3 IA Figure 4 Figure 5 Figure 6 Figure 1

Claims (2)

[Claims] (1) One stator, a first movable element and a second movable element provided so as to be able to run on the stator, a first support shaft fixed to the first movable element, and the second movable element. second fixed to child
a support shaft, a first joint rotatably provided on the first support shaft, a second joint rotatably provided on the second support shaft, each rotating with respect to the first joint and the second joint. A linear motor with a freely adjustable working axis. (2) a first stator, a first movable element provided so as to be able to run on the first stator, a second stator provided in parallel with the first stator, and a first movable element provided on the second stator; a second movable element configured to be movable; a first support shaft fixed to the first movable element;
a second support shaft fixed to the second movable element; a first joint rotatably provided on the first support shaft; a second joint rotatably provided on the second support shaft; A linear motor having operating shafts rotatably provided for each of the first and second sections.