JPS5845517Y2 - polarized motor - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a polarized motor, and more specifically, to a polarized motor that has a characteristic that allows the direction of generated torque to be reversed depending on the polarity of current.

Pulse motors are widely used as actuators and motors that are ideal for digital control.

However, the biggest drawback of this type of conventional motor is that it may come to a stop with vibration when it comes to a stop at the target position. Although this is a drawback when using a high-speed positioning device, and has many advantages, DeO and servo motors are currently used in such cases.

SUMMARY OF THE INVENTION In view of the problems of the prior art, an object of the present invention is to provide a polarized motor with improved torque generation efficiency and improved rotational rise and fall characteristics.

In order to achieve the above object, the present invention provides opposing portions of a first tooth profile and a second tooth profile that are respectively disposed coaxially with the motor rotation shaft through opposing gaps and formed along the axial direction. is wound coaxially with the motor rotating shaft between a unit stator and a unit rotor having a unit stator and a unit rotor, and the first and second tooth profiles, and a loop magnetic path thereof is formed by the first and second tooth profiles. a permanent magnet magnetized in the radial direction and formed in a coaxial cylindrical shape on the stator side of the unit to form a constant bias magnetic field in the opposing air gap between the drive coil and the first and second tooth profiles; , are arranged coaxially in series, with the permanent magnets of one set being magnetized radially outward and the permanent magnets of the other set being magnetized radially inward. A stator-side yoke member that is provided with at least one set of magnetic assemblies and that is provided outside of the permanent magnets formed on the stator side and forms a common magnetic path for each permanent magnet, and that is common to the rotor of the unit. A loop magnetic path of the drive assembly is formed by the rotor-side yoke member that forms the rotation axis, and from the axis rotation direction of the first and second tooth-shaped opposing portions that form the loop magnetic path of the excitation coil. The opposing phase angles of the respective first and second tooth profile opposing portions between the pair of drive assemblies forming the magnetic assembly are offset from each other by a predetermined angle. Further, when there are a plurality of magnetic assemblies, the opposing phase angles between the magnetic assemblies are shifted from each other, and the sum of these shifted opposing phase angles becomes a phase angle of 360. A polarized motor is provided.

The present invention will be explained in detail below with reference to the illustrated embodiments.

FIG. 1 shows the internal structure of an embodiment of a polarized motor according to the present invention. The motor 1 includes a housing 2 in which a stator is attached, and a rotor in which a rotor is attached coaxially within the housing 2. It has a shaft 3.

In the motor 1 according to the present invention, a magnetic assembly 4 assembled in a housing 2 consists of drive assembly 5 and 6 having the same structure.

The drive unit assembly 5 applies rotational torque to the rotary shaft 3 in any direction using a current supplied from the outside.

In FIG. 1, 7 is a cylindrical permanent magnet fixed to the inner peripheral surface of the housing 2 and magnetized in the radial direction (arrow A direction);
8 is a first tooth profile configured as a stator, 9 is a second tooth profile provided on the rotating shaft 3 opposite to the first tooth profile 8 and constitutes a rotor, and 10 and 11 are the second tooth profiles, respectively. 12 is a dividing groove formed by the first and second tooth shapes 8 and 9, and 13 is a drive wound around the dividing groove and attached to the stator side. It is a coil.

The second tooth profile 9 is composed of a left tooth profile disc 10 and a right tooth profile disc 11 which are fixed to the rotation shaft at intervals in the direction of the rotation axis.

Each of the tooth-shaped discs 10, 11 has a protrusion 10' and a protrusion 11' on its periphery, and the protrusions 10' and 11' are arranged so that the discs 10 and 11 are out of phase by 5 in the direction of rotation of the motor.
, 10' are constructed (see FIG. 2).

On the other hand, the first tooth profile 8 is provided on the stator side opposite to the second tooth profile 9, and is divided in the rotation axis direction.

The protrusions s' and ff constituting the first tooth profile 8 face the protrusion 10' of the left tooth profile disc 10 and the protrusion 11' of the right tooth profile disc 11, respectively, and cause a phase shift in the motor rotation direction. (See Figure 2).

The other drive unit assembly 6 also has a similar configuration, and corresponding parts are given the same reference numerals and explanations will be omitted.

The two drive unit assemblies 5 and 6 are arranged coaxially in series on the axis of the rotating shaft 3, and are arranged out of phase in the motor rotation direction.

FIG. 2 is a diagram for explaining the positional relationship of the protrusions in each assembly 5, 6 and the relative positional relationship in the rotational direction between each assembly 5, 6.

As can be seen from Figure 2, each protrusion s', g, 1o' and 1
Each tooth profile is formed so that the tooth width in the circumferential direction of 1' is equal and the interval between each protrusion is equal to the tooth width.

The protrusion 8' faces the protrusion 10', and the protrusion 10' faces the protrusion 11'.
The area facing 1 is minimized.

Therefore, even if the second tooth profile rotates, the first
The magnetic resistance with the tooth profile will always remain constant.

The phase shift between each assembly 5 and 6 is 1/2 of the circumferential width of the protrusion.

In the drive unit assembly 5, when the drive current is not supplied to the drive coil 13, from the N pole of the permanent magnet 7 to the first tooth profile 8, the protrusions H, A, and the gap 20°21, the protrusions opposing these protrusions are formed. 10', 11', and the second tooth profile 9 to cause the magnetic flux to flow into the drive assembly 6.

This magnetic flux is transferred to the second tooth profile 10 in the drive assembly 6.
, 11. It flows to the protrusions 10', 11', the gaps 20 and 21, the protrusion C2g opposing these protrusions, the S pole of the permanent magnet 7, and its N pole.

This magnetic flux then flows further into the permanent magnet 7 of the drive assembly 5 using the casing 2 as a return yoke.

As already mentioned, by pressing the button on each drive assembly 5, 6,
Since the magnetic resistance of the air gaps 20 and 21 is the same regardless of the position of the rotating shaft 3, no torque is generated in the rotor unless current flows through the first drive coil 13.

The direction of magnetic flux in each gap at this time is indicated by arrow A,
B.

Shown in C and D.

As can be easily seen from the positional relationship of the protrusions in Figure 2, each magnetic flux A
, B, C, and D pass through each gap.

b, c, d are the rotation angle θ of the rotor, as shown in Fig. 3.
will change along with it.

In this state, when a pulse current is supplied to one or two of the drive coils 13, a magnetic field is generated surrounding the drive coil 13, and rotational torque is generated in the rotor.

That is, for example, when a current is passed through the drive coil 13 of the assembly 5 in a direction such that the generated magnetic flux direction is B1 in FIG. Since magnetic flux is applied in opposite directions, rotational torque is generated in the direction in which the magnetic resistance a decreases.

Therefore, by selecting the drive coil and the direction of the current, the rotational torque can be applied to reduce the magnetic resistance of any one of a, b, c, and d in the illustrated case, or , each magnetic resistance ab, c, d)a)...
If the drive coil and current direction are selected to decrease in the order of , it will work as a 4N-phase pulse motor (here, N is an integer determined by the number of protrusions of each tooth profile).

In the magnetic circuit of this motor 1, if each magnetomotive force is regarded as a battery,
It can be expressed by any number of circuits such as the one shown in FIG.

In the figure, α represents a battery representing the permanent magnet 7 of the assembly 6, β represents a battery representing the permanent magnet 7 of the assembly 5, and r and δ represent the assembly 6, respectively.
and 5 are batteries representing the magnetomotive force generated by the drive coil 13, a to d are resistors representing the magnetic resistance of each air gap, and switches 51pS2 with symbols r and δ turn on and off the current flowing through each drive coil. and a switch for indicating switching of the direction.

For example, energizing the coil 7 of the assembly 5 so that a magnetic flux B1 is generated is equivalent to peeling the switch B2 upward, and the current 11 from the battery δ flows in the direction of the arrow in the figure, so it is applied to the resistor a. A large current will flow, and the motor 1 will rotate so that the magnetic resistance a becomes small.

As can be easily understood from the above description, this motor 1 is capable of decelerating the motor by reversing the direction of the current flowing through the drive coil to apply torque in the opposite direction to the rotational direction. Therefore, the motor 1 can be stopped. When driving, it is possible to control the driven body to reach the target position at zero speed by applying this brake torque.

Referring again to FIG. 3, the slope of the magnetic resistance of each air gap with respect to the rotation angle indicates the direction of torque, but at any rotation angle, the two drive coils 13.
13, the direction of the rotational torque acting on one of the gaps is the same.

Therefore, by controlling the currents I□ and ■3 flowing through the drive coils 13 and 13 as shown in FIG. can be doubled.

In the above embodiment, only two drive unit assemblies are provided in series, but any number of drive unit assemblies may be provided.

Further, in the above, the tooth width of the protrusion of each tooth profile is set to 1/2, but as can be easily understood from the above explanation, this is not limited to 1/2, and can be determined as appropriate, and is preferably It is determined to be 1/2 to 2/3.

According to the present invention, as described above, by controlling the polarity of the current flowing through the drive coil, the direction of the rotational torque can be easily changed, and therefore, a braking force can be applied, so that the vibration is moved to the target position. It can be stopped without any

Furthermore, the torques generated in each drive assembly can be very easily combined by controlling the current flowing through each drive coil, and the torque generation efficiency can be significantly improved.

Also, in this motor, the coil is fixed to the stator and no power supply brush is used.

Therefore, if a mechanism for detecting the rotational angle position of this motor is provided, and an electronic circuit for selecting the coil according to this signal and selecting and specifying the polarity is added, the motor can operate as a brushless DC motor.

Normal brushless DC motors have permanent magnets built into the rotor itself, so inertia is inevitable, and if you don't like this, you can't use things like ferrite magnets, but with this structure, the permanent magnets are also on the stator side. Ferrite type motors can also be used, and since the tooth tip magnetic flux density is high, it can be used as a motor with a large torque/inertia ratio.

[Brief explanation of the drawing]

FIG. 1 is a cross-sectional perspective view of an embodiment of the present invention, FIG. 2 is an explanatory diagram showing the positional relationship between the first tooth profile and the second tooth profile, and FIG.
The figure is a graph showing changes in the magnetic resistance of each air gap with respect to the rotor's rotation angle of 0, Figure 4 is an equivalent circuit diagram of the magnetic circuit of the motor shown in Figure 1, and Figure 5 is an equivalent circuit diagram of the magnetic circuit of the motor shown in Figure 1. FIG. 4 is a drive current waveform diagram for performing the drive method. DESCRIPTION OF SYMBOLS 1... Motor, 2... Housing, 3... Rotating shaft, 4... Magnetic assembly, 5, 6... Drive part assembly, 7
...Permanent magnet, 8...First tooth profile, 8'2g...
Projection, 9... Second tooth profile, 10... Left tooth profile disc, 1
0'...Protrusion, 11...Right tooth shaped disc, 11'...
Projection, 12... Division groove, 13... Drive coil, 20
, 21... air gap, a, b, c, d... magnetic resistance.

Claims (1)

[Scope of utility model registration request] The first and second parts are respectively disposed coaxially with the motor rotating shaft through an opposing gap, and are each formed along the axial direction.
A unit stator and a unit rotor having opposing tooth profiles, and a loop magnetic path wound coaxially with the motor rotating shaft between the first and second tooth profiles. A drive coil formed by the tooth profile and a coaxial cylindrical shape magnetized in the radial direction to form a constant bias magnetic field in the opposing air gap between the first and second tooth profiles. The permanent magnets of one set are magnetized in the radial direction, and the permanent magnets of the other set are magnetized in the radial direction. A stator-side yoke member that includes at least one magnetic assembly that is magnetized on the inside and is provided outside of the permanent magnets formed on the stator side and forms a common magnetic path for each permanent magnet, and the unit. A rotor-side yoke member forming a common rotational axis of the rotor forms a loop magnetic path of the drive assembly, and a first tooth profile and a second opposing tooth profile form a loop magnetic path of the excitation coil. opposing phase angles of the respective first and second tooth profile opposing sections between a pair of drive assemblies forming a magnetic assembly, and opposing phase angles of the first and second tooth profile opposing sections, viewed from the direction of axial rotation of the sections, are shifted by a predetermined angle; The angles are shifted from each other, and when there is a plurality of magnetic assemblies, the opposing phase angles between the magnetic assemblies are shifted from each other, and the sum of these shifted opposing phase angles is the phase angle 360. A polarized motor characterized by having the following characteristics.