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WO2007063729A1 - Moteur lineaire a cannelures - Google Patents

Moteur lineaire a cannelures Download PDF

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Publication number
WO2007063729A1
WO2007063729A1 PCT/JP2006/323072 JP2006323072W WO2007063729A1 WO 2007063729 A1 WO2007063729 A1 WO 2007063729A1 JP 2006323072 W JP2006323072 W JP 2006323072W WO 2007063729 A1 WO2007063729 A1 WO 2007063729A1
Authority
WO
WIPO (PCT)
Prior art keywords
spline
linear motor
rolling
integrated linear
spline shaft
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2006/323072
Other languages
English (en)
Japanese (ja)
Inventor
Toshiyuki Aso
Shuhei Yamanaka
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
THK Co Ltd
Original Assignee
THK Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by THK Co Ltd filed Critical THK Co Ltd
Priority to JP2007547900A priority Critical patent/JPWO2007063729A1/ja
Publication of WO2007063729A1 publication Critical patent/WO2007063729A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
    • H02K41/02—Linear motors; Sectional motors
    • H02K41/03—Synchronous motors; Motors moving step by step; Reluctance motors

Definitions

  • the present invention relates to a technique for realizing an unprecedented spline integrated linear motor by combining a linear motor and a spline mechanism.
  • a hydraulic cylinder is generally used as a drive device that realizes an expansion / contraction operation of a mechanical device such as an injection device of an injection molding machine or a link mechanism of a construction machine.
  • a hydraulic cylinder is a device that realizes a wide speed range and thrust range while maximizing output by changing the pressure and flow rate of the pressure oil by changing the capacity of the variable pump that is the pressure oil supply source.
  • the hydraulic cylinder driven in this way is composed of a hydraulic cylinder body that performs an expansion / contraction operation and a hydraulic pressure generator that supplies pressure oil to the hydraulic cylinder body.
  • the hydraulic cylinder body is configured to be able to perform expansion and contraction operations by receiving the supply of hydraulic oil from the hydraulic pressure generator, which is the force of a hydraulic pump or switching valve.
  • the hydraulic cylinder main body and the hydraulic pressure generator constituting the hydraulic cylinder are arranged such that the hydraulic cylinder main body and the hydraulic pressure generator are separated from each other, and supply and discharge of pressure oil between the two through the hydraulic piping, As shown in the following Patent Document 1, a hydraulic cylinder body and a hydraulic pressure generator are integrally configured.
  • the hydraulic cylinder requires a relatively large hydraulic pressure generating device separately from the hydraulic cylinder body, the manufacturing cost and the maintenance 'management cost at the time of introduction become high. Had.
  • the hydraulic cylinder has a high output and can achieve a wide speed range and thrust range, but is not good at fine stop position control within the stroke, so it is a mechanical device that requires high controllability. It was a force that could not be used. In addition, it had environmental problems such as the generation of waste oil. Therefore, it has been desired to realize an electric drive device that is easy to control and clean from a hydraulic cylinder having such problems.
  • the powerful drive device is a power transmission device with a structure that combines a linear motor and a spline mechanism, and has the advantage of a linear motor with high controllability, while being able to efficiently transmit drive force. It also has the advantages of.
  • Patent Document 1 Japanese Utility Model Publication No. 63-164603
  • the applicant manufactures and sells motion guide devices as various power transmission mechanisms, and uses a power transmission device having a structure combining the linear motor and the motion guide mechanism as described above.
  • a power transmission device having a structure combining the linear motor and the motion guide mechanism as described above.
  • the guidance device since spline devices originally have a spline mechanism, if a linear motor can be accommodated in a spline device in a compact manner, such a device has very high V and usability in the industry. It will be prepared.
  • the present invention has been made in view of the existence of a problem to be solved, and its object is to increase the transmission efficiency of driving force while having the advantage of a linear motor with high controllability. If you can
  • the spline integrated linear motor includes a spline shaft in which a plurality of rolling element rolling grooves extending in the axial direction are formed, and a load rolling groove corresponding to the rolling element rolling groove.
  • the spline outer cylinder includes a spline mechanism that guides a relative reciprocating motion of the spline outer cylinder with respect to an axial direction of the spline shaft, and the coil. It can be assumed that the coil part and the cover are configured.
  • each of the plurality of permanent magnets includes a plurality of notches, and is stacked in the axial direction of the plurality of permanent magnet forces S-spline shafts.
  • a plurality of recesses extending in the axial direction are formed by the plurality of notches, and the nonmagnetic member in which at least one rolling element rolling groove is formed in each of the plurality of recesses. It can be assumed that it is installed.
  • the spline integrated linear motor according to the present invention has a boundary shape between the plurality of recesses and the nonmagnetic member when viewed in a cross section perpendicular to the axial direction of the spline shaft. It can be made up of shapes that contain at least one corner R
  • the spline-integrated linear motor according to the present invention has a boundary shape between the plurality of concave portions and the nonmagnetic member when viewed in a cross section perpendicular to the axial direction of the spline shaft. It may be configured in an arc shape.
  • a portion appearing on the shaft surface of the plurality of permanent magnets constituting the spline shaft is covered with a plate member and is a TV. be able to.
  • the spline outer cylinder includes at least a portion that contacts the plurality of rolling elements including the vicinity of the load rolling groove by a nonmagnetic material. It is preferable that the plurality of rolling elements are not magnetized by the field magnetic flux generated from the plurality of permanent magnets.
  • the nonmagnetic member, the plate member, and the nonmagnetic material are at least stainless steel, ceramics, It can be made of high-hardness nonmagnetic free-cutting steel or a material containing a titanium alloy.
  • the force when having the advantage of a spline mechanism that can increase the transmission efficiency of the driving force while having the advantage of the linear motor of high controllability, the force is also provided with a compact shape. In this way, it is possible to provide a completely new spline-integrated linear motor that was not possible with the conventional technology.
  • FIG. 1 is a partially cutaway front view for explaining the overall configuration of a spline integrated linear motor according to the present embodiment.
  • FIG. 1A is a schematic diagram for explaining the operating principle of a spline integrated linear motor according to the present embodiment.
  • FIG. 2 is a longitudinal sectional side view showing the AA cross section in FIG. 1.
  • FIG. 3 is an external perspective view showing a state in which a plurality of permanent magnet force spline shafts according to the present embodiment are arranged in the axial direction.
  • FIG. 4 is a longitudinal sectional side view showing a BB cross section in FIG.
  • FIG. 5 is a vertical cross-sectional side view illustrating a form different from the spline shaft according to the present embodiment.
  • FIG. 6 is a longitudinal cross-sectional side view illustrating still another form of the spline shaft according to the present embodiment.
  • FIG. 7 is a vertical cross-sectional view illustrating various modifications that the spline shaft according to the present embodiment can take.
  • FIG. 8 is a longitudinal sectional view illustrating another form different from FIG. 7 among various modifications that can be adopted by the spline shaft according to the present embodiment.
  • FIG. 9 is a longitudinal sectional side view showing a CC cross section in FIG. 1.
  • FIG. 1 is a partially broken front view for explaining the overall configuration of the spline integrated linear motor according to the present embodiment
  • FIG. 1A shows the operation of the spline integrated linear motor according to the present embodiment.
  • FIG. 2 is a vertical cross-sectional side view showing a cross section AA in FIG. 1
  • FIG. 3 shows a state in which a plurality of permanent magnet capsule shafts according to the present embodiment are arranged in the axial direction. It is an external perspective view.
  • FIG. 4 is a longitudinal sectional side view showing a BB section in FIG.
  • the spline integrated linear motor 10 includes a spline shaft 11 and a spline outer cylinder 21, and the spline outer cylinder 21 reciprocates relative to the axial direction of the spline shaft 11. It is a device that can be freely used.
  • a plurality of rolling element rolling grooves 12 extending in the axial direction are formed on the surface of the spline shaft 11.
  • a plurality of permanent magnets 13 are installed on the spline shaft 11, and the plurality of permanent magnets 13 serve as a field magnetic flux generation source.
  • the plurality of permanent magnets 13 are stacked in the axial direction of the spline shaft 11 and fixed to each other, and the permanent magnets 13 adjacent to each other are installed so that the polarities of the mutually facing surfaces are the same.
  • the spline outer cylinder 21 includes a spline mechanism part 21a installed at both ends of the substantially cylindrical outer cylinder, and a coil part installed at a position sandwiched between the two spline mechanism parts 21a and 21a. 21b and force are composed.
  • the spline mechanism portion 21a has rolling element rolling grooves 1 formed on the spline shaft 11.
  • a load rolling groove 22 corresponding to 2 is formed, and a plurality of balls 23 are installed.
  • the plurality of balls 23 are members that are freely installed in a load rolling path formed by the rolling element rolling groove 12 on the spline shaft 11 side and the load rolling groove 22 on the spline mechanism 21 a side. is there. Therefore, the spline shaft 11 and the two spline mechanism portions 21a, 21a constitute a so-called ball spline device, and the smooth relative reciprocating linear motion of the spline outer cylinder 21 with respect to the spline shaft 11 is realized.
  • a coil 24 is installed at a position spaced apart from a plurality of permanent magnets 13 installed on the spline shaft 11.
  • the coil 24 is a member that can play a role as a magnetic field generation source by receiving power supply via a power cable (not shown) (not shown).
  • the operation principle of the spline integrated linear motor according to the present embodiment will be described with reference to FIG. 1A.
  • the plurality of permanent magnets 13 installed on the spline shaft 11 are as follows. They are stacked so that the same poles face each other, that is, the N poles, N poles, and the S poles and S poles face each other.
  • the coil 24 a set of three-phase coils that form a U'V'W phase by three is the smallest installation unit, and a coil unit is formed by combining a plurality of these three-phase coils.
  • a moving magnetic field that moves in the axial direction of the coil 24 can be generated by flowing a three-phase current having a phase difference of 120 ° by a plurality of coils 24 divided into three phases of U′V′W phase.
  • the spline shaft 11 can move linearly relative to the spline outer cylinder 21 in synchronization with the speed of the moving magnetic field.
  • the spline outer cylinder 21 and the spline shaft 11 are devices that can reciprocate relatively with respect to the axial direction, one of the displacement between the spline outer cylinder 21 and the spline shaft 11 is prevented.
  • the other side can be set on the fixed side and the other side on the moving side. That is, the coil 24 according to the present embodiment can also exhibit a deviation in the function as the fixed side coil and the function as the movable side coil according to the installation conditions of the spline integrated linear motor. Talk to you.
  • the spline integrated linear motor 10 according to the present embodiment has further preferable characteristic points. Yes. This feature point will be described with reference to FIG. 2.
  • a plurality (four in FIG. 2) of the rolling element rolling grooves 12 formed on the spline shaft 11 constituting the spline integrated linear motor 10 are formed. It can be seen that the vicinity is composed of a member different from the permanent magnet 13.
  • the member having the rolling element rolling groove 12 is a non-magnetic member 14 made of a non-magnetic material, which can withstand a rolling load repeatedly received from a plurality of balls 23 and a permanent magnet 13 serving as a field magnetic flux generation source. It is possible to transmit the magnetic force from the coil 24 and apply it to the coil 24 side.
  • each of the plurality of permanent magnets 13 constituting the spline shaft 11 includes a plurality of notches 15, and as shown in FIG.
  • a plurality of (four in FIG. 3) notches 15 form a plurality of recesses 16 (four in FIG. 3) extending in the axial direction.
  • the spline shaft 11 according to this embodiment is completed by installing the nonmagnetic member 14 in which the rolling element rolling grooves 12 are formed in the recess 16.
  • the plurality of permanent magnets 13 are stacked as described above, and the recess 16 and the nonmagnetic member 14 are bonded and bonded using an adhesive.
  • the method can be adopted.
  • end plates 18 and 18 that are installed at both shaft ends of the spline shaft 11 are prepared, and a non-magnetic member 14 is first installed on the end plate 18 on one end side to form a vertical type
  • the spline-integrated linear motor 10 can exhibit various suitable effects.
  • the non-magnetic member 14 that can accept the rolling load from the ball 23, which was difficult with only the permanent magnet 13, and does not interfere with the field flux generated from the permanent magnet 13, is connected to the spline shaft 11.
  • the permanent magnet 13 and the nonmagnetic member 14 are arranged so as to overlap each other in the circumferential direction of the spline shaft 11, so that it has high controllability and has the advantages of a linear motor, while also having a driving force.
  • portions appearing on the shaft surfaces of the plurality of permanent magnets 13 constituting the spline shaft 11 are formed by a plate member 17 made of a nonmagnetic material. It is preferable to cover. Since the permanent magnet 13 can be protected by using the plate member 17, the life of the apparatus can be extended.
  • FIG. 5 is a vertical cross-sectional side view illustrating another form different from the spline shaft 11 according to the present embodiment described above, but the spline shaft 11 illustrated in FIG. At least one boundary shape force between the multiple recesses 16 and the non-magnetic member 14 when viewed in a cross section perpendicular to the axial direction (the same cross section as the A—A cross section in FIG. 1) Then, it can be configured by a shape including two corners R.
  • the corner R in the boundary shape between the concave portion 16 and the nonmagnetic member 14, the singular point with respect to the magnetic flux can be eliminated, and the field flux generated by the spline shaft 11 can be efficiently generated on the spline outer cylinder 21 side. It is possible to affect the coil 24.
  • FIG. 6 is a vertical cross-sectional side view illustrating still another form of the spline shaft 11 according to the present embodiment.
  • This circular arc shape is a device to prevent the rolling load repeatedly applied to the spline shaft 11 side by the ball 23 from being concentrated on a specific portion, and is exerted from the ball 23 to the permanent magnet 13 side by the effect of the circular arc shape. The load can be distributed and the life of the spline shaft 11 can be increased.
  • the spline shaft 11 according to the present embodiment is used in an environment where it is not necessary to protect the permanent magnet 13.
  • the plate member 17 is omitted, and the permanent magnet 13 and the nonmagnetic member 14 constitute the spline shaft 11. Can be achieved.
  • the non-magnetic member 14 may be disposed so as to surround the permanent magnet 13 having a circular cross section.
  • FIG. 9 is a vertical cross-sectional side view showing a CC cross section of a portion of the spline outer cylinder 21 in FIG.
  • a portion that contacts at least a plurality of balls 23 including the vicinity of the load rolling groove 22 is constituted by a nonmagnetic material 34.
  • a magnetic material 33 is disposed in a portion other than the non-magnetic material 34 installed so as to surround the plurality of balls 23. That is, the magnetic material 33 is disposed so as to cover the place where the non-magnetic material 34 is located, and therefore a magnetic shield is formed at the place where the ball 23 circulates. Therefore, the magnetic field lines indicated by the symbol ⁇ flow avoiding the plurality of balls 23 as shown in FIG. 9, so that the balls 23 are not magnetized by the field magnetic flux generated from the permanent magnet 13. Become.
  • the nonmagnetic material constituting the nonmagnetic member 14, the plate member 17, and the nonmagnetic body 34 includes at least stainless steel, ceramics, It is possible to adopt materials including high-hardness nonmagnetic free-cutting steel and titanium alloys.
  • the case where the single rolling element rolling groove 12 is provided has been described as an example, but the rolling element rolling formed in the nonmagnetic member 14 is described.
  • a plurality of grooves 12 may be provided.
  • the plate member 17 made of a nonmagnetic material is employed for the purpose of protecting the outer peripheral surface of the permanent magnet 13 has been described as an example, but the function as a linear motor can be ensured. In this case, it is also possible to employ a plate member 17 having a metal material force.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Electromagnetism (AREA)
  • Power Engineering (AREA)
  • Linear Motors (AREA)

Abstract

La présente invention concerne un moteur linéaire (10) qui intègre des cannelures qui comprend un arbre cannelé (11) qui possède une pluralité de rainures de roulement d’élément roulant (12) qui s’étendent dans la direction axiale, un tube extérieur cannelé (21) formé avec des rainures de roulement de charge (22) qui correspondent aux rainures de roulement d’élément roulant (12), et une pluralité de billes (23) agencées pour rouler librement dans un passage de roulement de charge formé par la rainure de roulement d’élément roulant (12) et la rainure de roulement de charge (22). Le tube extérieur cannelé (21) devient une source de génération de champ magnétique lorsqu’il est pourvu d’une bobine (24), et l’arbre cannelé (11) devient une source de génération de flux de champ lorsqu’il est pourvu d’une pluralité d’aimants permanents (13). L’arbre cannelé (11) se compose d’un élément non magnétique (14) au niveau de parties dans le voisinage de la pluralité de rainures de roulement d’élément roulant (12), de l’acier inoxydable, de la céramique, de l’acier de décolletage non magnétique à haute dureté, ou un alliage de titane peuvent être utilisés en tant que matériau non magnétique. Un moteur linéaire qui intègre une cannelure qui possède un profil compact et présente une haute contrôlabilité et efficacité de transmission de force d’entraînement peut être obtenu en utilisant un tel agencement.
PCT/JP2006/323072 2005-11-30 2006-11-20 Moteur lineaire a cannelures Ceased WO2007063729A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2007547900A JPWO2007063729A1 (ja) 2005-11-30 2006-11-20 スプライン一体型リニアモータ

Applications Claiming Priority (2)

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JP2005347081 2005-11-30
JP2005-347081 2005-11-30

Publications (1)

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WO2007063729A1 true WO2007063729A1 (fr) 2007-06-07

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PCT/JP2006/323072 Ceased WO2007063729A1 (fr) 2005-11-30 2006-11-20 Moteur lineaire a cannelures

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Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9375848B2 (en) 2012-06-25 2016-06-28 Systems Machine Automation Components Corporation Robotic finger
JP2016140191A (ja) * 2015-01-28 2016-08-04 日本トムソン株式会社 可動コイル型リニアモータを内蔵した立軸用スライド装置
US9731418B2 (en) 2008-01-25 2017-08-15 Systems Machine Automation Components Corporation Methods and apparatus for closed loop force control in a linear actuator
US9748823B2 (en) 2012-06-25 2017-08-29 Systems Machine Automation Components Corporation Linear actuator with moving central coil and permanent side magnets
US9780634B2 (en) 2010-09-23 2017-10-03 Systems Machine Automation Components Corporation Low cost multi-coil linear actuator configured to accommodate a variable number of coils
US9871435B2 (en) 2014-01-31 2018-01-16 Systems, Machines, Automation Components Corporation Direct drive motor for robotic finger
US10215802B2 (en) 2015-09-24 2019-02-26 Systems, Machines, Automation Components Corporation Magnetically-latched actuator
US10429211B2 (en) 2015-07-10 2019-10-01 Systems, Machines, Automation Components Corporation Apparatus and methods for linear actuator with piston assembly having an integrated controller and encoder
US10675723B1 (en) 2016-04-08 2020-06-09 Systems, Machines, Automation Components Corporation Methods and apparatus for inserting a threaded fastener using a linear rotary actuator
US10807248B2 (en) 2014-01-31 2020-10-20 Systems, Machines, Automation Components Corporation Direct drive brushless motor for robotic finger
US10865085B1 (en) 2016-04-08 2020-12-15 Systems, Machines, Automation Components Corporation Methods and apparatus for applying a threaded cap using a linear rotary actuator

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH03285554A (ja) * 1990-03-30 1991-12-16 Amada Co Ltd リニアモータ
JPH08275497A (ja) * 1995-03-31 1996-10-18 Minolta Co Ltd リニアモータ
JPH08322236A (ja) * 1995-05-23 1996-12-03 Oriental Motor Co Ltd 円筒形リニアパルスモータ
JP2003120780A (ja) * 2001-10-11 2003-04-23 Hitachi Metals Ltd 磁気ねじ搬送機構

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH03285554A (ja) * 1990-03-30 1991-12-16 Amada Co Ltd リニアモータ
JPH08275497A (ja) * 1995-03-31 1996-10-18 Minolta Co Ltd リニアモータ
JPH08322236A (ja) * 1995-05-23 1996-12-03 Oriental Motor Co Ltd 円筒形リニアパルスモータ
JP2003120780A (ja) * 2001-10-11 2003-04-23 Hitachi Metals Ltd 磁気ねじ搬送機構

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9731418B2 (en) 2008-01-25 2017-08-15 Systems Machine Automation Components Corporation Methods and apparatus for closed loop force control in a linear actuator
US9780634B2 (en) 2010-09-23 2017-10-03 Systems Machine Automation Components Corporation Low cost multi-coil linear actuator configured to accommodate a variable number of coils
US9381649B2 (en) 2012-06-25 2016-07-05 Systems Machine Automation Components Corporation Robotic finger
US9748823B2 (en) 2012-06-25 2017-08-29 Systems Machine Automation Components Corporation Linear actuator with moving central coil and permanent side magnets
US9748824B2 (en) 2012-06-25 2017-08-29 Systems Machine Automation Components Corporation Linear actuator with moving central coil and permanent side magnets
US9375848B2 (en) 2012-06-25 2016-06-28 Systems Machine Automation Components Corporation Robotic finger
US10005187B2 (en) 2012-06-25 2018-06-26 Systems, Machines, Automation Components Corporation Robotic finger
US9871435B2 (en) 2014-01-31 2018-01-16 Systems, Machines, Automation Components Corporation Direct drive motor for robotic finger
US10807248B2 (en) 2014-01-31 2020-10-20 Systems, Machines, Automation Components Corporation Direct drive brushless motor for robotic finger
JP2016140191A (ja) * 2015-01-28 2016-08-04 日本トムソン株式会社 可動コイル型リニアモータを内蔵した立軸用スライド装置
US10429211B2 (en) 2015-07-10 2019-10-01 Systems, Machines, Automation Components Corporation Apparatus and methods for linear actuator with piston assembly having an integrated controller and encoder
US10215802B2 (en) 2015-09-24 2019-02-26 Systems, Machines, Automation Components Corporation Magnetically-latched actuator
US10675723B1 (en) 2016-04-08 2020-06-09 Systems, Machines, Automation Components Corporation Methods and apparatus for inserting a threaded fastener using a linear rotary actuator
US10865085B1 (en) 2016-04-08 2020-12-15 Systems, Machines, Automation Components Corporation Methods and apparatus for applying a threaded cap using a linear rotary actuator

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