JP3214268B2 - Magnet movable linear motor - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a movable magnet type linear motor and, more particularly, to a movable magnet type linear motor used for conveying articles.

[0002]

2. Description of the Related Art Conventionally, movable magnet type linear motors have been used for conveying articles. The structure of the magnet movable linear motor will be described with reference to FIG. The stator side of the movable magnet type linear motor includes a guide rail 140 surrounding the outer periphery in a bag shape, and an inverted T-shaped coil assembly 120 fixed in the guide rail 140. The coil assembly 120 is manufactured by resin molding , and a stator coil 122 is resin-sealed in an upwardly directed coil portion 120a, and a circuit portion 120b horizontally disposed at a lower end includes the coil portion 120a. Stator coil 122
And an energization control circuit 124 for switching the energization direction of the power supply and generating a magnetic flux in a predetermined direction. The coil assembly 120 is configured to hold six stator coils 122, and a plurality of the coil assemblies 120 are connected in a direction perpendicular to the plane of the drawing (the longitudinal direction of the movable magnet linear motor). Similarly, the guide rail 140 is also configured to have a predetermined length, and by connecting the required number of guide rails 140, a linear motor having a desired length can be configured.

On the other hand, a movable element 1 of a magnet movable linear motor
10 is a coil part 120a of the coil assembly 120
, A mover frame 114 that holds the magnet row 112, and a traveling roller 116 that is rotatably supported by the mover frame 114.
It is composed of Incidentally, the magnet array 112 includes a paper
A plurality are arranged in the orthogonal direction . This magnet movable linear motor has a coil unit
Phase of each stator coil 122 of 120a and the magnet array 112
Each fixed so that thrust is generated in the same direction according to the position
It is configured such that the mover 110 can be moved in a desired direction by controlling the energization of the child coil .

[0004]

SUMMARY OF THE INVENTION Coil assembly 1
Since No. 20 is formed by resin molding , warping and bending occur in a certain range during manufacturing. For this reason, it is necessary to widen the interval between the magnet rows 122 so as to avoid contact with the coil portion 120a of the coil assembly 120 . However, if the distance between the magnet rows 122 is increased and the distance from the coil section 120a is increased, the efficiency of the movable magnet type linear motor cannot be reduced.

In this configuration, the coil assembly 120 is fixed to the guide rail 140 at both ends 120c of the circuit section 120b. That is, magnet row 1
Stator coil 1 to which repulsive force is applied by interaction with 12
In farthest position from the 22, because securing the coil assembly 120 to the guide rail 140 side, Koirua'
The variation in the position of the coil portion 20a of the assembly 120 is large.
When moving the mover 110, it may interfere with the magnet array 122. For this reason, with such a configuration, it was difficult to generate a large output, and heavy articles could not be conveyed.

Further, in this conventional configuration, the coil 12
0 when the stator coil 122 is turned on.
Heat is generated in the end portion 120, and the heat is transmitted through the resin having low thermal conductivity covering the stator coil 122, and the end portion 120 is heated.
Since heat is conducted from the first and second c and 120c to the guide rail 140 side, there is a problem that heat is easily stored. Only
In addition, in order to stop the mover 110 at a desired position in the magnet movable linear motor, it is necessary to generate a stop torque, so that it is necessary to keep energizing the stator coil 122 at the position where the mover 110 is stopped. There is. However, when the stator coil 122 was continuously energized, the temperature became high because the heat hardly escaped as described above, and the resistance value of the stator coil 22 increased, so that the current stopped flowing immediately. For this reason, in the conventional configuration, it is necessary to provide the movable element 110 with a stopper related to the mechanical configuration.

In this magnet movable linear motor,
A guide rail 140 is provided around the coil assembly 120.
Of the coil assembly 120 to the guide rail 140 is difficult. Further, when connecting the plurality of guide rails 140, it is necessary to connect the energization control circuits 124 arranged in the coil assembly 120 to each other, but the workability is low due to the difficulty in this connection. Further, in this configuration, when a failure occurs in the power supply control circuit 124 or the like, the connection of the guide rail 140 must be released, and the coil assembly 120 must be pulled out from the end to repair the failed portion. there were.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and an object of the present invention is to provide a movable magnet type linear motor which can generate high output with high efficiency. Another object of the present invention is to provide a movable magnet type linear motor that has good heat radiation of a stator coil and can continuously generate a high stopping torque. It is a further object of the present invention to provide a magnet movable linear motor that has high assemblability and is easy to repair.

[0009]

According to a first aspect of the present invention, a guide rail 40 made of aluminum or an aluminum alloy, a circuit portion 20b, One side of the circuit section 20b
A plurality of stators provided at the center orthogonal to the circuit section 20b
A coil portion 20a including a coil 22;
A coil assembly having a substantially T-shaped cross section fixed to the drain 40
Assembly 20 and a coil portion of the coil assembly 20
20 a, having magnet rows 12 arranged to face each other so as to sandwich
Movable element 1 movable by being guided by the guide rail 40
0 and the circuit portion 20b of the coil assembly 40.
To the stator coil 22 of the coil section 20a.
In the same direction according to the relative position of the rotor 10 and the magnet row 12
Energization of each stator coil 22 is controlled so that thrust is generated.
Magnet movable linear motor having an energization control circuit 24
The outer surface of the guide rail 40 in the longitudinal direction.
A coil fixing portion 40a protrudes along the coil fixing portion.
40a, the coil portions 20 of the plurality of coil assemblies 20
a While directly fixing the base end,
The tip of the coil portion 20a of the assembly 20 is connected by a plate 52
It is characterized by having done. Further, in the aspect of claim 2,
Indicates that the plate member 52 is a metal plate having a high thermal conductivity.
Features.

According to a third aspect of the present invention, the guide rail
To the coil fixing portion 40a of the guide rail 40.
And a coil assembly fixed to the coil fixing portion 40a
The cover 50 that covers the rib 20 is detachably provided.
And

[0011]

With the movable magnet type linear motor configured as described above, the coil assembly manufactured by resin molding is used.
The assembly 20 is warped and bent to a certain extent during manufacture. In the configuration according to claim 1, a base end portion of the coil portion 20a of the plurality of coil assemblies 20.
Is fixed directly to the coil fixing portion 40a of the guide rail 40.
Further, the coil unit 2 of the plurality of coil assemblies 20
Since the leading end of the coil assembly 20a is connected by the plate 52, each coil assembly is formed by warping and bending of the coil assembly 20.
Deviation becomes smaller between the re 20, the coil assembly 20
Of the coil portion 20a with respect to the longitudinal direction of the guide rail 40 is increased. For this reason, the coil assembly 20
The distance between the coil section 20a and the magnet row 12 can be reduced, and the efficiency of the magnet movable linear motor can be increased. Further, the coil portion of the coil assembly 20
By being directly <br/> fixing the base of 20a in the fixed portion 40a of the guide rail 40, dissipating heat generated in the stator coil 22 to the guide rail 40 side consisting of a high aluminum or an aluminum alloy thermal conductivity be able to.

In the configuration of the second aspect, the tip portions of the coil portions 20a of the plurality of coil assemblies 20 are
Because they are connected by the plate 52 made of metal having high thermal conductivity,
The heat generated in the stator coil 22 can be released through the plate 52 .

Further, in the configuration of the third aspect, the coil fixing portion 4 of the guide rail 40 is attached to the guide rail 40.
0a and a coil assembly fixed to the coil fixing portion 40a.
A cover 50 that covers the assembly 20 is detachably provided , and the coil assembly 2 is removed by removing the cover 50.
0 can be easily repaired.

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments embodying the present invention will be described below with reference to the drawings. FIG. 1 is a cross-sectional view of a movable magnet linear motor for transporting articles according to a first embodiment of the present invention, and FIG. 2 is a perspective view of FIG. The stator side of the magnet movable linear motor has a guide rail 40 formed by extrusion molding of aluminum or an aluminum alloy, a coil assembly 20 attached to a fixed portion 40a formed at the upper end of the guide rail 40, and a coil assembly 20. And a detachable cover 50 for covering. At the lower end side of the guide rail 40, a rail portion 40b having a U-shaped cross section for guiding a traveling roller described later is formed.

On the other hand, the mover 10 has a magnet row 12 facing a stator coil 22 built in the coil assembly 20 and a mover frame 14 holding the magnet row 12.
A carriage 18 for fixing the mover frame 14, a transport hanger 19 formed integrally with the carriage 18,
Vertical running roller 16a supported in the vertical direction with respect to
And a horizontal traveling roller 16b supported horizontally. Note that a plurality of magnet rows 12 are arranged in a direction orthogonal to the paper surface .

The arrangement of the vertical running roller 16a and the horizontal running roller 16b will be described with reference to FIG. 3, which is a sectional view taken along the line AA in FIG. The vertical running roller 16a is mounted in parallel with the side walls 18a, 18a of the cart 18, slides on the surface of the lower end 40d of the rail portion 40b of the guide rail 40, and plays a role of supporting the load of the mover 10. I have. On the other hand, the horizontal running roller 16b is vertically attached to the side walls 18a of the carriage 18, slides on the surface of the side wall 40c of the rail portion 40b of the guide rail 40, and controls the movement of the mover 10 in the lateral direction. It plays a regulatory role. In the first embodiment, the vertical running roller 16a and the horizontal running roller 16b are arranged so as to be orthogonal to the horizontal direction and the vertical direction.
The magnet movable type linear motor, not only the horizontal direction as shown in FIG. 1, it is possible to use also be arranged in the vertical direction is rotated by 90 degrees.

On the other hand, the coil assembly 20 is formed into a substantially T-shaped cross section by resin molding as shown in FIG. 1, and is disposed horizontally and vertically with a coil portion 20a which seals the stator coil 22 with a resin. And a circuit section 20b provided with an energization control circuit 24 for controlling the direction of energization to the stator coil 22. Here, the coil assembly 20 will be described in more detail with reference to FIGS. 4A is a view as viewed in the direction of the arrow B in FIG. 1, FIG. 4B is a view as viewed in the direction of the arrow C, and FIG. 5 is a perspective view. FIG.
The coil part 20a of the coil assembly 20 shown in FIG.
, Six stator coils 22 are built in by resin sealing. From each of the stator coil 22 terminal 22a is taken out, thrust is generated by the interaction of the flows current from terminal 22a to the stator coil 22, the magnetic flux of the magnet array 12 of the movable member 10 (left-hand rule of Fleming) I do. The coil assembly 20 includes a guide rail 40 described later.
A hole 20c for fixing to the side and a hole 20d for attaching the channel 52 (see FIG. 1) are formed, and the side end thereof has an adjacent coil assembly 2
There is formed a fitting portion 20e for connecting the 0s to each other.

Here, the assembly of the movable magnet type linear motor according to the first embodiment of the present invention will be described. First, the mounting of the coil assembly 20 to the guide rail 40 will be described with reference to FIGS. . FIG. 6 shows a state where the plurality of coil assemblies 20 are connected and attached to the guide rail 40. First, the coil assembly 20 is connected and placed on the fixed portion 40a of the guide rail 40, and a heat dissipation plate 54 made of an aluminum plate is placed thereon, and the coil described above with reference to FIG. It is fixed to the guide rail 40 side by screws 56 so as to pass through the through hole 20 c of the assembly 20. Further, a channel 52 made of aluminum having a U-shaped cross section is provided at the distal end of the coil portion 20a of the plurality of coil assemblies 20.
And fixed by screws 58 inserted through the through holes 20d of the coil assembly 20 described above with reference to FIG. Since the coil assembly 20 is arranged so as to be located at the fixing portion 40a of the guide rail 40, the coil assembly 20 can be easily assembled. Further, the base portions of the coil portions 20 a of the plurality of coil assemblies 20 are directly fixed to the guide rails 40, and the coil portions of the plurality of coil assemblies 20 are further fixed.
Since the leading end portion of the coil assembly 20a is connected by the channel 52, each coil due to warpage and bending of the coil assembly 20
The deviation between the assemblies 20 is reduced and the coil assembly
The degree of parallelism of the coil portion 20a of the assembly 20 with respect to the longitudinal direction of the guide rail 40 increases, so that even if the distance between the coil portion 20a and the magnet row 12 is reduced, interference hardly occurs. Therefore, in the first embodiment, the coil assembly 20
The distance between the coil section 20a and the magnet array 12 is narrowed to increase the efficiency of the magnet movable linear motor. Note that the channel 52 and the heat dissipation plate 54 as shown in FIG. 6, co
The end portions 22b and 22c that do not contribute to the generation of thrust of the stator coil 22 built in the coil portion 20a (in this embodiment,
The thrust is generated at the central portions 22d and 22e of the oblong stator coil 22 ), and at a position that does not interfere with the magnet row 12 as shown in FIG.

After the assembly of the coil assembly 20 is completed, the energization control circuit 24 provided in the circuit section 20b of the coil assembly 20 is connected to the adjacent coil assembly 2.
0 form each other. Then, as shown in FIG.
The recess 50a formed at the side end of the guide rail 40
The assembly on the stator side is completed by fitting into the convex portion 40e formed at the side end of the above, and the movable magnet 10 can be operated by introducing the mover 10 from the side.

Next, the operation of the magnet movable linear motor will be described with reference to FIG. The movable magnet type linear motor according to the first embodiment is disposed on a sub-line for sending assembled parts to a main transport line in a factory, a guide rail 40 is fixed along the sub-line, and a transport hanger 19 is provided. A hook (not shown) for hanging the assembly component is attached. The magnet movable linear motor is driven by a stator coil (not shown) using a magnetic detection sensor (not shown).
Detecting a relative position between the 22 and the magnet array 12 to generate a thrust by this <br/> and for controlling power supply to each stator coil 22 via a current supply control circuit 24. That is, the stator coil 2
2 and the magnetic flux of the magnet array 12
Thrust is generated in the mover 10 and is orthogonal to the paper in FIG.
The mover 10 is sent in the direction indicated by the arrow . At this time,
The stator coil 22, but repulsion Ru Kuwawa, the coil portion 20a proximal end guide rail 40 of the coil assembly 20
, The coil portion 20a is not greatly deformed and does not interfere with the magnet row 12. Further, in this embodiment, the coil portions 2 of the adjacent coil assemblies 20 are used.
Since the tips of the coil portions 20a are connected to each other via the channel 52, the deformation of the coil portion 20a is also prevented from this point. Therefore, the movable magnet linear motor of the first embodiment can generate a large output.

The movable magnet type linear motor is
In order to stop the armature at a desired position, it is necessary to generate a stalling torque. Therefore, it is necessary to keep energizing the stator coil 22 at the position where the mover 10 is stopped. At this time, the temperature of the stator coil 22 increases. As shown in FIG. 6, the heat radiation plate 5 is placed on the end 22b of the stator coil 22.
4 is attached, and on the other hand, since the channels 52 are fitted on both sides of the end portion 22c of the stator coil 22, the heat generated in the stator coil 22 is dissipated by the heat dissipation plate 54 made of aluminum having a high thermal conductivity. And transmitted to the channel 52, and can be released in the connecting direction of the coil assembly 20. At the same time, the heat generated in the stator coil 22 is transferred to the entire guide rail 40 made of aluminum through the fixing portion 40a of the guide rail 40 located below the end 22b of the stator coil 22 as shown in FIG. You can escape. For this reason, in the present embodiment, even in the stop state, the stator coil 22 is hardly heated to a high temperature, and a large current can be continuously supplied, so that a large stopping torque can be generated for a long time. Therefore, it is not necessary to provide a mechanical stopper conventionally required to maintain the conventional stopped state.

Further, in the first embodiment, even if any trouble occurs in the power supply control circuit 24 or the coil assembly 20, the inspection and repair can be easily performed only by removing the detachable cover 50.

Next, a second embodiment of the present invention will be described with reference to FIG.
This will be described with reference to FIG. FIG. 7 shows a cross section of the movable magnet type linear motor of the second embodiment, and FIG. 8 shows a connected state of the coil assembly 20 of the movable magnet linear motor. In the description of the second embodiment, the same reference numerals are used for the same members as those described in the first embodiment, and the description is omitted. In the above-described first embodiment, the coil assembly 20 is attached to the guide rail 40 via the heat dissipation plate 54. In the second embodiment, the screw is inserted through the heat dissipation washer 154 made of aluminum or an aluminum alloy. 56 attached. Further, in the first embodiment, the channel 52 is attached to the tip of the coil portion 20a of the coil assembly 20, but in the second embodiment, a pair of heat radiating plates 152 made of aluminum or an aluminum alloy is provided with a screw 58. Attached through.

In order to stop the mover 10 at a desired position during operation of the movable magnet type linear motor of the second embodiment, the stator coil 22 at the position where the mover 10 is stopped is required.
It is necessary to keep energizing to. At this time, the stator coil 2
2, the heat generated in the stator coil 22 can be released to a heat radiating washer 154 made of aluminum (aluminum alloy) having a high thermal conductivity, and the coil assembly can be radiated through a heat radiating plate 152. Can escape in the connecting direction. At the same time, heat generated in the stator coil 22 can be released to the entire guide rail 40 made of aluminum (aluminum alloy) via the fixing portion 40a of the guide rail 40. Therefore, also in the second embodiment,
During stopping, the stator coil 22 is unlikely to be heated to a high temperature, and a large stopping torque can be generated for a long time, so that there is no need to provide a mechanical stopper conventionally required to maintain the stopped state.

In the above-described embodiment, the movable magnet type linear motor for transporting articles has been described as an example. However, it is needless to say that the movable magnet linear motor of the present invention can be used for other purposes. In the first embodiment, the channel 52 and the heat radiating plate 54 are made of aluminum. However, it is also preferable to use an aluminum alloy or other metal having high thermal conductivity for these members. Further, in the above-described second embodiment, the heat radiating plate 152 is formed in a flat plate shape, but may be formed in an L shape.

[0026]

As described above, according to the movable magnet type linear motor of the present invention, the coil portions of a plurality of coil assemblies are provided.
The base end of the is directly fixed to the coil fixing part of the guide rail
In addition, the tip of the coil portion of a plurality of coil assemblies
Since the portions are connected by the plate material, the deflection between the coil assemblies due to the warpage and bending of the coil assemblies is reduced, and the parallelism to the longitudinal direction of the guide rail is increased. Therefore, the distance between the coil portion of the coil assembly and the magnet row can be reduced, and the efficiency of the magnet movable linear motor can be increased. In addition, coil up
By being directly <br/> fixing the coil portion proximal end of the assembly to the stationary portion of the guide rail, to release heat generated in the stator coil to the guide rail side consisting of high thermal conductivity aluminum or aluminum alloy Can be.

Further, according to the movable magnet type linear motor of the present invention, the outer surface of the guide rail is coaxially extended along the longitudinal direction.
The coil fixing part is projected, and a plurality of coil
Fix the assembly so that the mover cantilevered
Accordingly, the assemblability of the coil assembly to the guide rail is improved, and the repair of the coil assembly and the like is facilitated.

[Brief description of the drawings]

FIG. 1 is a cross-sectional view of a movable magnet type linear motor according to a first embodiment of the present invention.

FIG. 2 is a perspective view of the guide rail of FIG. 1;

FIG. 3 is a sectional view taken along line AA of FIG. 1;

FIGS. 4A and 4B are views of the coil assembly of FIG.

FIG. 5 is a perspective view of a coil assembly.

FIG. 6 is a plan view showing a connected state of the coil assemblies.

FIG. 7 is a cross-sectional view of a movable magnet linear motor according to a second embodiment.

FIG. 8 is a plan view showing a connected state of a coil assembly of the movable magnet linear motor of FIG. 7;

FIG. 9 is a cross-sectional view of a conventional magnet movable linear motor.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Mover 12 Magnet row 16a Vertical running roller 20 Coil assembly 22 Stator coil 24 Current control circuit 40 Guide rail 40a Fixed part 40b Rail part 50 Cover 52 Channel 54 Heat dissipation plate

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-62-217852 (JP, A) JP-A-6-44390 (JP, U) JP-A-57-21284 (JP, U) (58) Investigation Field (Int.Cl. ⁷ , DB name) H02K 41/00-41/035 H02K 9/00-9/28

Claims (3)

(57) [Claims] 1. A guide rail made of aluminum or an aluminum alloy, a circuit part, and a central part of one side of the circuit part provided orthogonally to the circuit part.
And a coil portion including a plurality of stator coils,
A coil holder having a substantially T-shaped cross section fixed to the guide rail.
And the coil assembly is opposed to the coil assembly.
Having a row of magnets placed, guided by the guide rails
A movable armature, and a coil attached to a circuit section of the coil assembly;
The relative position between each stator coil in the
Each stator coil so that thrust is generated in the same direction
Magnet movable type equipped with an energization control circuit for controlling energization of
In a linear motor, the coil is fixed to the outer surface of the guide rail along the longitudinal direction.
Part, and a plurality of coil assemblies are
Directly fix the base end of the coil
The tip of the coil part of the coil assembly was connected with a plate
A movable magnet type linear motor, characterized in that: 2. The plate material is a metal plate having high thermal conductivity.
2. The magnet movable linear motor according to claim 1, wherein
Ta. 3. The guide rail has a guide rail joint.
Coil fixing portion and a coil assembly fixed to the coil fixing portion.
The cover that covers the assembly is provided detachably.
2. The magnet movable linear motor according to claim 1, wherein: