JP4912417B2 - Rotary / linear motor - Google Patents

Description

  The present invention relates to a rotation / linear motion motor capable of both rotation and linear motion.

  For example, in a field such as an electronic component mounting apparatus or a semiconductor manufacturing apparatus, there may be a need for a mechanism that performs rotational drive and straight drive at the tip of a robot arm that handles various components. For this reason, the prior art has proposed a configuration in which two motors, a rotary motor and a direct acting motor, are combined and slidably connected by spline processing (for example, see Patent Document 1 below).

  In another prior art, a rotation / linear motion motor in which a winding for forming a rotating magnetic flux for rotating the mover in the stator and a winding for linearly moving the mover in the axial direction are provided. Has been proposed (see, for example, Patent Document 2 below).

  In particular, in the rotary / linear motion motor described in Patent Document 2, N pole magnets are arranged on the surface of a cylindrical mover iron core constituting the mover, every other pole in the circumferential direction and the axial direction. With each N-pole magnet, S-pole magnets are arranged every other pole in the circumferential direction and the axial direction at positions shifted by one pole in the circumferential direction and the axial direction. That is, in Patent Document 2, every other N-pole and S-pole magnets are arranged in a grid pattern with a gap.

JP 2003-169456 A Japanese Patent Laid-Open No. 2005-020885

  However, since the prior art described in Patent Document 1 combines a rotary motor and a direct-acting motor, each motor requires a magnetic pole, which increases the number of magnetic poles as a whole and increases the overall length. There is a problem that it is difficult to reduce the size by increasing the length.

  Moreover, the thing of patent document 2 has the advantage that it can reduce in size since each magnet can use both the magnet for rotation and the magnet for linear motion compared with the thing of patent document 1, and can shorten full length. However, since every N-pole and S-pole magnets are arranged in a grid pattern with every other gap, only half of the magnets exist on the shaft surface of the mover. There is a problem that a sufficiently large torque and thrust cannot be obtained due to the decrease.

  The present invention has been made to solve the above problems, and an object of the present invention is to provide a rotary / linear motion motor that has a large amount of magnetic flux and can obtain a sufficiently large torque and thrust.

  In order to achieve the above object, the present invention provides a mover that is rotatable and movable in the axial direction, and a stator that is concentrically disposed on the outer periphery of the mover via a magnetic gap. And the stator iron core of the stator is provided with a rotation coil for rotating the mover and a linear motion coil for linearly moving the mover in the axial direction. Based on the above, the following configuration is adopted.

In the present invention, the mover is fitted with a plurality of ring-shaped magnets on the outer periphery of the shaft so that adjacent magnets have different polarities. The stator rotation coil is formed along the axial direction of the shaft, and the linear motion coil is formed in the circumferential direction of the shaft. It is characterized by being wound so as to be substantially parallel to each other.

  In the present invention, the mover includes a plurality of ring-shaped magnets fitted on the outer periphery of the shaft such that adjacent magnets have different polarities, and each ring-shaped magnet has a left and right axial end surface. Are parallel to each other and magnetized so as to have different polarities at the left and right axial end faces, while the rotating coil of the stator extends along the axial direction of the shaft. The linear motion coils are wound so as to be substantially parallel to each other along the circumferential direction of the shaft.

  According to the present invention, since the ratio of the magnet to the outer peripheral surface of the mover is increased, the amount of magnetic flux is remarkably increased as compared with the conventional one, and a rotary / linear motion motor that exhibits a large torque and thrust can be obtained.

It is a longitudinal cross-sectional view which shows the principal part of the rotary / linear motion motor in Embodiment 1 of this invention. It is a side view which shows the principal part of the motor. It is an expanded view which shows the state which expand | deployed the needle | mover surface of the motor to planar shape. It is a longitudinal cross-sectional view which shows the principal part of the rotary / linear motion motor in Embodiment 2 of this invention. It is a side view which shows the principal part of the motor. It is a longitudinal cross-sectional view which shows the principal part of the rotary / linear motion motor in Embodiment 3 of this invention. It is the side view which looked at the principal part of the motor shown in FIG. 6 from the right side. It is the side view which looked at the principal part of the motor shown in FIG. 6 from the left side. It is an expanded view which shows the state which expand | deployed the needle | mover surface in the rotary / linear motion motor of Embodiment 4 of this invention planarly. It is an expanded view which shows the other example of the needle | mover surface in the rotary / linear motion motor of Embodiment 4 of this invention. It is an expanded view which shows the state which expand | deployed the needle | mover surface in the rotary / linear motion motor of Embodiment 5 of this invention planarly. It is an expanded view which shows the state which took out the one ring-shaped magnet which comprises the needle | mover of the motor, and expand | deployed planarly. It is an expanded view which shows the state which expand | deployed the needle | mover surface in the rotary / linear motion motor of Embodiment 6 of this invention planarly.

  The best mode for carrying out the present invention will be described below with reference to the drawings.

Embodiment 1 FIG.
1 is a longitudinal sectional view showing a main part of a rotary / linear motion motor according to Embodiment 1 of the present invention, FIG. 2 is a side view of the motor, and FIG. 3 is a plan view of a surface of a mover constituting the motor. It is an expanded view which shows the expanded state.

  The rotary / linear motion motor according to the first embodiment includes a movable element 1 that is rotatable and movable in the axial direction, and a fixed arrangement that is concentrically disposed outside the movable element 1 via a magnetic gap 2. It has a child 3.

  The mover 1 is provided such that both ends of the shaft 6 are supported by bearings (not shown) so as to be rotatable and movable along the axial direction. The outer peripheral surface of the shaft 6 has N and S poles. A plurality of magnets 7 and 8 are fixed using, for example, an adhesive. In this case, each of the magnets 7 and 8 has a substantially quadrangular shape, and the magnets 7 and 8 adjacent to each other on each side are densely arranged in an oblique lattice shape so as to have different polarities. Therefore, as shown in FIG. 3, when viewed along the axial direction A and the circumferential direction R of the shaft 6, the magnets adjacent to each other have the same polarity.

  On the other hand, the stator 3 has a cylindrical stator core 9 arranged concentrically with the mover 1, and a rotating coil 10 that rotates the mover 1 on the inner peripheral side of the stator core 9, Two types of coils are provided: a linear motion coil 11 that linearly moves the mover 1 in the axial direction A.

  In other words, the stator 3 has a plurality of projecting winding frames 14 projecting radially inward from the inner peripheral surface of the stator core 9 in the circumferential direction R sequentially arranged at equal intervals. A large number are provided along the axial direction A. And the coil 10 for rotation is the diagonal line of each magnet 7 and 8 along the axial direction A of the shaft 6 between the winding frames 14 arranged along the circumferential direction R like the stator coil in a synchronous motor. It is wound so that it is almost parallel to the direction. Further, the linear motion coil 11 is positioned on the outer peripheral side of the rotation coil 10 and between the reels 14 extending along the axial direction A, and the magnets 7, 8 are aligned along the circumferential direction R of the shaft 6. It is wound so as to be substantially parallel to the diagonal direction.

  When the mover 1 is rotated, a current is passed through the rotating coil 10 to generate a rotating magnetic field, whereby the rotation-synchronized motor is obtained. Therefore, the mover 1 rotates. Further, when the mover 1 is linearly moved, a linear synchronous motor is formed by causing a current to flow through the linear motion coil 11 to generate a moving magnetic field, so that the mover 1 moves linearly.

  As described above, the rotary / linear motion motor according to the first embodiment has a plurality of magnets 7 and 8 arranged densely on the outer periphery of the shaft 6 of the mover 1 in a slanted lattice shape, thereby fixing the surface of the shaft 6. Can be covered with the magnets 7 and 8, the ratio of the magnets 7 and 8 occupying the outer peripheral surface of the mover 1 is greatly increased as compared with the prior art. For this reason, the amount of magnetic flux can be remarkably increased and a large torque and thrust can be exhibited, and the motor can be further miniaturized in the case of the same torque and thrust as conventional.

  Further, in the rotation / linear motion motor of the first embodiment, since the rotation coil 10 is arranged inside the linear motion coil 11, the distance between each magnet 7, 8 of the mover 1 and the rotation coil 10. Therefore, a large amount of the rotating magnetic field generated by the rotating coil 10 can be applied to the mover 1 and can be used effectively when the rotational force is more important than the direct power.

  In the first embodiment, the N-pole and S-pole magnets 7 and 8 are densely arranged in a slanted lattice pattern, so that the ratio of the area of both magnets 7 and 8 occupying the outer peripheral surface of the shaft 6 is as follows. Is approximately 100%, but a slight gap may be provided between the magnets 7 and 8 adjacent to each other. However, in this case, in order to obtain a larger magnetic flux than before and increase the torque and thrust, it is preferable that the area of both magnets 7 and 8 occupying the outer peripheral surface of the shaft 6 is 50% or more.

  In the first embodiment, if some or all of the shaft 6, the stator core 9, and the winding frame 14 are made of a magnetic material, the amount of magnetic flux linked to the coils 10 and 11 increases. Therefore, further torque and thrust can be improved. Note that the reel 14 can be omitted for the purpose of reducing the number of parts or improving the workability.

Embodiment 2. FIG.
FIG. 4 is a longitudinal sectional view showing a main part of the rotary / linear motion motor according to Embodiment 2 of the present invention, and FIG. 5 is a side view of the motor.

  The feature of the second embodiment is that the arrangement relationship between the rotating coil 10 and the direct acting coil 11 of the stator 3 is reversed inside and outside the configuration of the first embodiment. That is, the direct acting coil 11 is provided inside the rotating coil 10.

  Thus, in the rotation / linear motion motor according to the second embodiment, since the linear motion coil 11 is arranged inside the rotational coil 10, the magnets 7, 8 of the mover 1, the linear motion coil 11, and the like. For this reason, since the moving magnetic field by the linear motion coil 11 can be applied to the mover 1 more, it can be used effectively when the direct power is more important than the rotational force.

  Since other configurations and operational effects are the same as those of the first embodiment, the same reference numerals are given to the components corresponding to those of the first embodiment shown in FIG. 1 to FIG. Omitted.

Embodiment 3 FIG.
6 is a longitudinal sectional view showing a main part of a rotary / linear motion motor according to Embodiment 3 of the present invention, FIG. 7 is a side view of the motor viewed from the right side, and FIG. 8 is a side view of the motor viewed from the left side. It is.

  The feature of the third embodiment is that the rotation coils 10 and the linear motion coils 11 of the stator 3 are not overlapped with each other in the radial direction, and the coils 10 and 11 are shifted from each other along the axial direction A. It arrange | positions, and it is making it each coil 10 and 11 each oppose the needle | mover 1 by this.

  In the above-described first and second embodiments, the rotating coil 10 and the direct acting coil 11 are wound on each other in the radial direction, so that it is necessary to insulate the rotating coil 10 and the direct acting coil 11 from each other. The winding frame 14 for the wire is also complicated and the assemblability is deteriorated.

  On the other hand, in the third embodiment, since the rotating coil 10 and the direct acting coil 11 are arranged separately from each other along the axial direction A, the insulation between the rotating coil 10 and the direct acting coil 11 is provided. Since the winding arrangement is simple and the winding arrangement is simple, the assemblability is improved. Furthermore, since both the coils 10 and 11 are individually opposed to the mover 1, the magnetic fluxes of the magnets 7 and 8 can be used more effectively. In addition, the ratio between the rotational force and the direct power can be easily changed by changing the number of turns of the rotating coil 10 and the direct acting coil 11 and the ratio of the length in the axial direction A. High degree.

  Since other configurations and operational effects are the same as those of the first embodiment, the same reference numerals are given to the components corresponding to those of the first embodiment shown in FIG. 1 to FIG. Omitted.

Embodiment 4 FIG.
9 and 10 are development views showing a state in which the surface of the mover of the rotary / linear motion motor according to the fourth embodiment of the present invention is developed in a planar shape.

  In the above first to third embodiments, the substantially square N-pole and S-pole magnets 7 and 8 are densely arranged in an oblique lattice pattern on the outer peripheral surface of the shaft 6 of the mover 1. The chamfers are adjacent apexes of the substantially square magnets 7 and 8. That is, in FIG. 9, the four corners of each of the magnets 7 and 8 are chamfered in a straight line, and in FIG. 10, the four corners of each of the magnets 7 and 8 are chamfered in a curved shape. For this reason, there is a slight gap 15 between the magnets 7 and 8 adjacent to each other.

Even in the configuration of the fourth embodiment, since the ratio of the surface area of the magnets 7 and 8 to the surface area of the outer periphery of the mover 1 is larger than the conventional one, the amount of magnetic flux is remarkably increased, and a large torque or thrust is generated. Obtainable. Moreover, if the corners of the magnets 7 and 8 are chamfered as in the fourth embodiment, the magnets 7 and 8 can be prevented from being lost during the operation of fixing the magnets 7 and 8 to the shaft 6. Therefore, the yield rate at the time of manufacturing the motor can be improved.
In addition, the structure of the needle | mover 1 in this Embodiment 4 is applicable also to any rotation and a linear motion motor of said Embodiment 1, 2 and 3. FIG.

Embodiment 5 FIG.
FIG. 11 is a development view showing a state in which the surface of the mover of the rotary / linear motion motor according to the fifth embodiment of the present invention is developed in a planar shape, and FIG. 12 shows a state in which one ring-shaped magnet is taken out and developed in a planar shape. FIG.

  In the rotary / linear motor of Embodiment 5, the mover 1 includes a plurality of N-pole and S-pole ring magnets 16 and 17, and these ring magnets 16 and 17 are the outer circumference of the shaft 6. In addition, the magnets adjacent to each other have different polarities, that is, the ring-shaped magnets 16 and 17 are arranged so as to alternately repeat N, S, N, S,... Along the axial direction A of the shaft 6. Are mated. Each of the ring-shaped magnets 16 and 17 is formed in a wave shape so that the end surfaces in the left and right axial directions A are line-symmetric with respect to the center line c along the circumferential direction R, and adjacent to each other. The ring-shaped magnets 16 and 17 are arranged in a state shifted by a half pitch in the circumferential direction R.

  On the other hand, the rotating coil 10 of the stator 3 is wound so as to be substantially parallel along the axial direction A of the shaft 6, and the linear motion coil 11 is substantially parallel along the circumferential direction R of the shaft 6. It is wound around. In addition, the mutual arrangement | positioning relationship of the coil 10 for a rotation in this case and the coil 11 for a linear motion may be a thing of any structure shown in said Embodiment 1-3.

Thus, by arranging the ring-shaped magnets 16 and 17 sequentially along the axial direction A of the shaft 6, the magnetic poles are alternately repeated in N, S, N, S,... In both the axial direction A and the circumferential direction R. Therefore, when currents are passed through the rotating coil 10 and the direct acting coil 11 of the stator 3, respectively, the operation is substantially the same as that of the mover 1 having the configuration of the first, second, and third embodiments in terms of magnetic circuit. As a result, the mover 1 can be rotated and linearly moved.
Since other configurations and operational effects are the same as those in the first to third embodiments, detailed description thereof is omitted here.

  As described above, in the fifth embodiment, since both end faces use the ring-shaped magnets 16 and 17, it takes some time to process it into a wavy shape, but it is a component compared to the first to fourth embodiments. The number of points can be reduced, and it is only necessary to fix both ends of the shaft 6 after fitting the magnets 16 and 17 to the shaft 6, so that the mounting of the magnets 16 and 17 to the shaft 6 becomes extremely easy. It is possible to reduce the labor and cost of work. In addition, centrifugal force is applied to the magnet when the motor is operated, but in Embodiments 1 to 4, the fixing strength of the magnet depends on the adhesive. On the other hand, since the ring-shaped magnets 16 and 17 are used in the fifth embodiment, the effect of preventing scattering of the magnets can be obtained, and the magnets can be fixed more firmly.

Embodiment 6 FIG.
FIG. 13 is a development view showing a state in which the surface of the movable element 1 of the rotary / linear motion motor according to the sixth embodiment of the present invention is developed in a planar shape.

  In the fifth embodiment, the N-pole and S-pole ring-shaped magnets 16 and 17 are provided, whereas in the rotary / linear motion motor of the sixth embodiment, the S-pole and N-pole are single. A ring-shaped magnet 18 formed in one magnet is provided.

  That is, in the sixth embodiment, the mover 1 includes a plurality of ring-shaped magnets 18 in which the S pole and the N pole are formed in a single magnet. The magnets adjacent to each other are arranged on the outer periphery so as to have different polarities, that is, arranged so as to alternately repeat N, S, N, S,... Along the axial direction A of the shaft 6. . Each of the ring-shaped magnets 18 is formed in a wave shape so that the end surfaces in the left and right axial directions A are parallel to the circumferential direction R, and are attached so that the end surfaces in the left and right axial directions A have different polarities. It is magnetized.

  On the other hand, the rotating coil 10 of the stator 3 is wound so as to be substantially parallel along the axial direction A of the shaft 6, and the linear motion coil 11 is substantially parallel along the circumferential direction R of the shaft 6. It is wound around. In addition, the mutual arrangement | positioning relationship of the coil 10 for a rotation in this case and the coil 11 for a linear motion may be a thing of any structure shown in said Embodiment 1-3.

  Thus, by sequentially arranging the ring-shaped magnets 18 along the axial direction A of the shaft 6, the magnetic poles are alternately repeated N, S, N, S,... In both the axial direction A and the circumferential direction R. When currents are passed through the rotating coil 10 and the direct acting coil 11 of the stator 3, respectively, substantially the same operation as in the case of the movable element 1 having the configuration of the first, second, and third embodiments is obtained in terms of magnetic circuit. The mover 1 can be rotated and linearly moved.

  Further, in the sixth embodiment, since the ring-shaped magnet 18 in which both end surfaces are wavy and the S pole and the N pole are formed in a single magnet is used, the number of parts is further increased as compared with the fifth embodiment. Can be reduced. Furthermore, although the ring-shaped magnets 16 and 17 in the fifth embodiment have locations where the strength decreases because the width of the magnet varies along the circumferential direction R, the shape of the ring-shaped magnet 18 in the sixth embodiment. However, since the magnet width is always constant along the circumferential direction R, the strength of the magnet is improved and the effect of preventing scattering is enhanced.

  The present invention can be applied to a rotation / linear motion motor capable of both rotation and linear motion.

Claims (2)

A mover provided to be rotatable and movable in the axial direction, and a stator disposed concentrically on the outer periphery of the mover via a magnetic gap. Is a rotary / linear motion motor provided with a rotation coil for rotating the mover and a linear motion coil for linearly moving the mover in the axial direction. Ring-shaped magnets are fitted so that adjacent magnets have different polarities, and each ring-shaped magnet is line-symmetric with respect to the center line along the circumferential direction. On the other hand, the stator rotation coil is wound along the axial direction of the shaft, and the linear motion coil is wound substantially parallel along the circumferential direction of the shaft. Rotation / linear motion motor characterized by this. A mover provided to be rotatable and movable in the axial direction, and a stator disposed concentrically on the outer periphery of the mover via a magnetic gap. Is a rotary / linear motion motor provided with a rotation coil for rotating the mover and a linear motion coil for linearly moving the mover in the axial direction. Ring-shaped magnets are fitted so that adjacent magnets have different polarities, and each ring-shaped magnet is formed in a wave shape so that both axial end faces are parallel, and left and right axial end faces The stator rotating coils are substantially parallel to each other along the axial direction of the shaft, and the linear motion coils are approximately parallel to each other along the circumferential direction of the shaft. It is characterized by being wound like Rotation and linear motors.

Images