CN104917316A - Rotor and motor - Google Patents
Rotor and motor Download PDFInfo
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- CN104917316A CN104917316A CN201510119030.9A CN201510119030A CN104917316A CN 104917316 A CN104917316 A CN 104917316A CN 201510119030 A CN201510119030 A CN 201510119030A CN 104917316 A CN104917316 A CN 104917316A
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- rotating shaft
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Abstract
The invention provides a rotor and a motor. A coil frame comprises a coiling portion for coiling wires and a flange adjacent to the coiling portion, wherein the flange is provided with a recess portion for limiting the positions of wires, and the wires starts from a coiling starting point and are coiled on the coiling portion. The central shaft of the wires limited by the recessed portion does not overlap with the starting point.
Description
The divisional application that the application is the applying date is on 03 04th, 2015, application number is 201510096642.0, denomination of invention is the patent application of " coil rack, rotor, motor and robot ".
Technical field
The present invention relates to coil rack, rotor, motor and robot.
Background technology
Use small-sized motor everywhere in industrial robot, the performance of motor significantly affects the performance of robot.In robot, demand realizes the motor of small-sized and large torque, and revolving part uses with neodium magnet the permanent magnet of the brute force being representative.
In small-sized motor, at the rotating shaft of soft-magnetic body, permanent magnet is installed.As shown in figure 25, at the rotating shaft 1003 of existing rotor (revolving part), multiple permanent magnet 1052 being installed, in order to prevent permanent magnet 1052 to be stripped, the mechanism being equivalent to subring 1070 being installed at the external diameter of permanent magnet 1052.In miniature motor, in order to realize larger torque, need to do one's utmost to make the face of the magnetic pole of the permanent magnet 52 of rotor and the stator opposed with it (not shown) close.
Such as, in patent documentation 1, disclose a kind of ironing surface structure of permanent magnetism utilizing guard block to cover the external cylindrical surface of rotor.
In addition, the output of motor increases along with the energy of input and increases, but insulant is subject to damaged etc. because of the heat produced along with input, thus input exists the limit.On the other hand, the energy inputted can either be suppressed can to obtain larger output again by using powerful permanent magnet, but the resistance, the i.e. so-called cogging torque (hereinafter referred to as slot effect) that produce because of the effect of rotating shaft and permanent magnet easily increase, even if thus the problem of micro-strain slot effect because also enlarging markedly existed because of iron core.
In the past, how to use powerful magnet to suppress heat and make heat (loss) dissipate to from motor efficiently outside air, contactant become the key obtaining large output.On the other hand, in order to use powerful magnet, there is problem in teeth groove characteristic described later.
Such as, in patent documentation 2, disclose a kind of technology of being installed inner core and outer core by shrink fit.Figure 26 is the figure of the iron core conformation of the motor representing existing ribbon core.As shown in figure 26, be made up of inner core 1056 and outer these two parts of core 1058, at the protuberance winding coil 1041 being called as core tooth 1062 of inner core 1056.
In addition, usually, the performance of motor is by being called that the index of torque capacity ratio and so on is expressed.That is, required parts are loaded the raising of limited PRESSURE-VOLUME RELATION to performance.Such as, implement mold formed situation in coil wire connecting portion periphery more, if but reduce its mold formed thickness, then sectional area diminishes, and therefore can predict characteristic and improve.But wire connecting portion periphery is the position coordinated with metal shells such as aluminium alloys, if therefore reduce mold formed thickness, produces the problem that dielectric voltage withstand is bad.
Be wired directly in the method for substrate by coil spiral, although small-sized and insulating properties is also good, because coil spiral is easily out of shape, so assembleability is poor, manufacturing cost increases.
In addition, when being wound in winding pin, coil spiral being repeatedly wound on and being wound around pin and being fixed by soldering, therefore occur to be wound around the thicker situation of pin, thus the size of perfect aspect increases.Specifically, the basis of diameter being wound around pin increases the diameter of coil spiral that is wound with and the thickness of soldering with.The external shell be positioned at outside it needs to obtain insulating space (usually arranging molded shaping layer), if therefore the diameter of such as coil spiral is about 0.5mm, then manufacturing upper diameter can increase more than 1mm (coil spiral (0.5mm)+brazing layer).
On the other hand, such as, in patent documentation 3, disclose a kind of spiral that makes and pass at the through hole being formed at the insulated substrate with copper cash pattern and carry out the technology of soldering.In addition, in patent documentation 4, disclose one and spiral splice terminal is configured between insulation framework side, yoke portion each other and its one end not to the technology protruding outside of skeleton.
In addition, when carrying out spiral to the coil rack of motor (motor), insulation tunicle damages because of the spiral that produces along with the process of winding starting end coil frictional force each other, thus it is bad that partial short-circuit broken string that is bad, that cause because of excessive tensile stress occurs, as the countermeasure of the problems referred to above point, various method is proposed.Such as, in patent documentation 5, disclose following structure, the inner surface limit of namely, doing one's utmost to be close to winding starting end side flange in order to limit reels, and the face tilted towards this flange inner surface is provided with in the outer cylinder face (spiral portion) close to flange inner surface, winding starting end spiral contacts with above-mentioned flange inner surface.
Patent documentation 1: Japanese Unexamined Patent Publication 2009-239988 publication
Patent documentation 2: Japanese Unexamined Patent Publication 2007-336690 publication
Patent documentation 3: Japanese Unexamined Patent Publication 5-308742 publication
Patent documentation 4: Japanese Unexamined Patent Publication 2000-78789 publication
Patent documentation 5: Japanese Unexamined Patent Publication 11-355995 publication
But, shown in Figure 25, in the structure of existing use subring 1070, at the external diameter of permanent magnet 1052, subring 1070 is installed, the size of the thickness of the magnetic pole seprating assistant ring 1070 making permanent magnet 1052 and stator of therefore having to, thus there is the worry that torque cannot be avoided to reduce.
In addition, in the structure of patent documentation 1, the size of the thickness of rotor and stator additional separation guard block, thus the worry that there is efficiency reduction.
In patent documentation 2, although heat can dissipation, produce the distortion of core inside and outside causing because of shrink fit stress, cause because of distortion with the core dislocation etc. of rotor, thus there is the worry that slot effect increases.In addition, under being at inner core and outer core the state be close to completely by shrink fit etc., again by external shell shrink fit, the core dislocation therefore produce the distortion of inside and outside core, causing because of distortion, thus the worry having that slot effect increases.
In patent documentation 3, the region that there is soldering becomes large worry.In addition, in patent documentation 4, along with the miniaturization of motor, even if one end of terminal is not given prominence to, also exist because of external shell and terminal close to and be difficult to guarantee the worry of insulating properties.
Further, in patent documentation 5, winding starting end coil side can be made to be close to flange inner surface limit winding, but accumulation number of plies local (having the position of groove) of arrangement volume becomes many, in this configuration, there is the worry of the spiral that cannot carry out impartial volume number.Preferably, need spiral portion lateral coil is done one's utmost close to inner iron core thus improves the occupation efficiency in spiral section rectangle to improve the characteristic of motor.
Figure 27 is the figure of the relation representing the distance L of spiral portion lateral coil and iron core and the torque T of motor.If distance L increases, torque T reduces.Accordingly, if arrange groove in spiral portion, then cannot the wall thickness (distance L) of core side close to the inner portion of thinning skeleton, thus there is the worry causing characteristic to reduce.
Summary of the invention
The present invention in order to solve completing at least partially of above-mentioned problem, can in the following manner or application examples realize.
Application examples 1
Should coil rack involved by use-case, it is characterized in that, the spiral portion possessing winding cables and the coil rack of flange arranged continuously with above-mentioned spiral portion, above-mentioned flange has the recess of the position of restriction said wires, said wires is wound in above-mentioned spiral portion using the starting point that reels as the starting point reeled, and the central shaft being limited the electric wire of position by above-mentioned recess is not overlapping with above-mentioned winding starting point.
According to should use-case, coil can be made close to core side to construct easily, and reel spiral in regular the mode arranged.Thus, winding starting end spiral can as much as possible close to flange inner surface, and spiral number is impartial and can improve the occupation efficiency of spiral.In addition, the spiral friction each other because of coil can also be prevented and the insulation caused by the bad drawback of membrane damage, defective insulation, partial short-circuit.
Application examples 2
In the coil rack described in above-mentioned application examples, it is characterized in that, above-mentioned coil rack comprises pin, and this pin is arranged at above-mentioned flange, for being wound around said wires, above-mentioned pin is compared above-mentioned winding starting point and is configured in and reels around contrary direction, inclination angle, direction.
According to should use-case, the spiral being wound in pin be compared winding starting point and is being reeled along spiral portion on the direction, inclination angle contrary around direction with winding, and therefore spiral can easily be wound in spiral portion.
Application examples 3
Should motor involved by use-case, it is characterized in that there is the coil rack described in above-mentioned application examples.
According to should use-case, the effect brought by the coil rack described in above-mentioned application examples, the torque of motor, the characteristic of rotating speed improve.
Application examples 4
Should robot involved by use-case, it is characterized in that there is the motor described in above-mentioned application examples.
According to should use-case, the robot with the effect that the motor described in above-mentioned application examples brings can be provided.
Application examples 5
Should motor involved by use-case, it is characterized in that, said motor possesses the rotary body rotated centered by the rotating shaft specified and the fixed body with the armature producing rotating magnetic field, and above-mentioned armature has: multiple poles tooth, and above-mentioned multiple poles tooth configures from periphery towards above-mentioned rotating shaft; Spiral skeleton, this spiral skeleton is installed on above-mentioned pole tooth, and multiple conductor wire that reels; And multiple winding pin, above-mentioned multiple winding pin connects each of the end of above-mentioned multiple conductor wire, and the front end of above-mentioned winding pin is towards above-mentioned rotating shaft.
According to should use-case, make the front end of winding pin towards rotating shaft, the winding wiring portion of motor and the insulating properties of external shell improve thus.Thereby, it is possible to thinning molded shaped bodies, thus external shell can be made to approach to recently, can thermal conductivity be improved.Consequently, also can not implement insulation counter-measure to motor and be used, even if make the small-sized insulating properties also can guaranteeing wiring closet of the shape of motor.In addition, the raising of torque capacity ratio is also realized.
Application examples 6
In the motor described in above-mentioned application examples, it is characterized in that, above-mentioned winding pin is with arranging in the mode that roughly L-shaped erects facing to above-mentioned rotating shaft from above-mentioned spiral skeleton.
According to should use-case, can easily make the front end of winding pin towards rotating shaft.
Application examples 7
In the motor described in above-mentioned application examples, it is characterized in that, above-mentioned winding pin is arranged at the inwall extended along above-mentioned rotating shaft of above-mentioned spiral skeleton.
According to should use-case, the winding pin of I font be set, conductor wire be wound around, be brazed in this winding pin, and makes the front end of winding pin towards rotating shaft, improve with the insulating properties of external shell thus.
Application examples 8
In the motor described in above-mentioned application examples, it is characterized in that, said motor has the wiring substrate being arranged at the end face intersected with above-mentioned rotating shaft, and the end of above-mentioned multiple conductor wire is electrically connected in above-mentioned wiring substrate by soldered joint.
According to should use-case, conductor wire can be engaged with wiring substrate by the easy engagement operation of soldered joint and so on, therefore, it is possible to reduction manufacturing cost.
Application examples 9
Should robot involved by use-case, the arm of the above-mentioned base station that it is characterized in that, possess base station, is linked to and the motor described in above-mentioned arbitrary application examples that said arm is rotated.
According to should use-case, the motor described in above-mentioned application examples directly can be loaded the metal frame such as the arm of robot, thus the size of the perfect aspects such as robot can be reduced.
Application examples 10
Should motor involved by use-case, it is characterized in that, comprising: inner core, this inner core possesses multiple core tooth outstanding to the inside; Outer core, this outer core is embedded in the outside of above-mentioned inner core; And spiral skeleton, this spiral skeleton is installed on above-mentioned inner core, and there is the hollow bulb being wound with armature winding, in the clearance gap of above-mentioned inner core and above-mentioned outer core, be formed with mold formed material or grafting material, above-mentioned inner core and above-mentioned outer core are fixed by above-mentioned mold formed material or above-mentioned grafting material.
According to should use-case, best clearance gap be set, and fills mold formed material in this clearance gap and fix inner core and outer core.That cause because of distortion to misplace with core that is rotor thereby, it is possible to reduce the distortion of iron core that causes because of shrink fit and can reduce.Consequently, the motor of low slot effect can be obtained.
Application examples 11
In the motor described in above-mentioned application examples, it is characterized in that, above-mentioned clearance gap is more than 30 μm less than 100 μm.
According to should use-case, be that mold formed material in the gap of more than 30 μm less than 100 μm or grafting material carry out heat by conduction by being formed at clearance gap.Thereby, it is possible to obtain thermal conduction characteristic identical when contacting with iron core when shrink fit.
Application examples 12
In the motor described in above-mentioned application examples, it is characterized in that, above-mentioned mold formed material or above-mentioned grafting material are magnetic conductive materials.
According to should use-case, mold formed material or grafting material be magnetic conductive materials, therefore, it is possible to avoid the negative effects such as discharge and recharge.
Application examples 13
In the motor described in above-mentioned application examples, it is characterized in that, said motor comprises the external shell in the outside being embedded in above-mentioned outer core, and above-mentioned external shell shrink fit is in above-mentioned outer core.
According to should use-case, external shell shrink fit be in outer core, even if therefore not core inside and outside shrink fit, assembleability also improves.
Application examples 14
Should robot involved by use-case, it is characterized in that possessing: base station; Arm, this arm is linked to above-mentioned base station, and can rotate relative to above-mentioned base station; And the motor described in above-mentioned application examples that said arm is rotated.
According to should use-case, the robot with the effect that the motor described in above-mentioned application examples brings can be provided.
Application examples 15
Should rotor involved by use-case, it is characterized in that, be fixed with the magnet of the cylindrical shape of segmentation at rotating shaft, intersect the end of above-mentioned magnet at the rotation with above-mentioned rotating shaft, be formed with mold formed material.
According to should use-case, the permanent magnet two ends in the rotation direction of rotor be provided with stage portion, and fix stage portion by resin, thus provide permanent magnet to be difficult to the rotor peeled off.
Application examples 16
In the rotor described in above-mentioned application examples, it is characterized in that, the end that above-mentioned magnet intersects at the rotation with above-mentioned rotating shaft has stage portion, and the external diameter being formed at the above-mentioned mold formed material of above-mentioned stage portion is roughly the same with the external diameter except above-mentioned stage portion of above-mentioned magnet.
According to should use-case, the external diameter of rotor can be made impartial.
Application examples 17
In the rotor described in above-mentioned application examples, it is characterized in that, above-mentioned magnet has holding section at the mask opposed with above-mentioned rotating shaft, and above-mentioned rotating shaft has the non-engagement portion chimeric with above-mentioned holding section at the mask opposed with above-mentioned magnet.
According to should use-case, the multiple permanent magnets being installed on rotor can be made circumferentially equally spaced to arrange.
Application examples 18
In the rotor described in above-mentioned application examples, above-mentioned holding section is the jut of trapezoidal shape, and above-mentioned non-engagement portion is the groove portion of V-shaped.
According to should use-case, easily permanent magnet and rotating shaft can be fitted together to.
Application examples 19
Should motor involved by use-case, it is characterized in that there is the rotor described in above-mentioned arbitrary application examples.
According to should use-case, use the rotor described in above-mentioned arbitrary application examples, thus permanent magnet is difficult to peel off, therefore, it is possible to realize the stability of motor, the raising of fail safe.
Application examples 20
Should robot involved by use-case, it is characterized in that there is the motor described in above-mentioned application examples.
Accompanying drawing explanation
Fig. 1 is the cutaway view of the motor represented involved by present embodiment.
Fig. 2 is the partial enlarged drawing of the coil rack involved by present embodiment.
Fig. 3 represents to utilize the coil rack involved by present embodiment to form the figure of the state of coil.
Fig. 4 is the cutaway view of the coil represented involved by present embodiment.
Fig. 5 is the partial enlarged drawing of the coil rack involved by present embodiment.
Fig. 6 is the cutaway view of the motor represented involved by present embodiment.
Fig. 7 is the partial enlarged drawing of the stator represented involved by present embodiment.
Fig. 8 is the figure of the outward appearance of stator after to represent involved by present embodiment mold formed.
Fig. 9 is the partial enlarged drawing of the stator represented involved by present embodiment, and wherein, Fig. 9 (A) is the cutaway view from laterally observing, and Fig. 9 (B) and Fig. 9 (C) is the vertical view from top view substrate.
Figure 10 is the partial enlarged drawing of the stator involved by present embodiment.
Figure 11 is the partial enlarged drawing of the stator involved by present embodiment, and wherein, Figure 11 (A) is the cutaway view from laterally observing, and Figure 11 (B) is the vertical view from top view substrate.
Figure 12 is the partial enlarged drawing of the stator involved by present embodiment.
Figure 13 is the cutaway view of the motor represented involved by present embodiment.
Figure 14 is the figure of the structure of the stator represented involved by present embodiment.
Figure 15 is the figure of the outward appearance of the mold formed front stator represented involved by present embodiment.
Figure 16 is the figure of the outward appearance of stator after to represent involved by present embodiment mold formed.
Figure 17 is the clearance gap of the iron core represented involved by present embodiment, the figure with the relation of magnetic flux density and cogging torque.
Figure 18 is the cutaway view of the motor represented involved by present embodiment.
Figure 19 is the figure for being described the structure of the permanent magnet involved by present embodiment, wherein, and the figure of Figure 19 (A) permanent magnet that to be the figure of permanent magnet observed from outside diameter, Figure 19 (B) be observes from internal side diameter.
Figure 20 is the figure for being described the structure of the rotor involved by present embodiment, wherein, Figure 20 (A) is the sketch of rotating shaft, Figure 20 (B) is the sketch being provided with the state of permanent magnet at rotating shaft, and Figure 20 (C) is the sketch being filled with the state of resin in stage portion.
Figure 21 is the figure for being described the assembling sequence of the rotor involved by present embodiment, wherein, Figure 21 (A) is operation rotating shaft being imported assembling fixture, Figure 21 (B) is operation permanent magnet being inserted assembling fixture, and Figure 21 (C) is the operation to gap-filled resin.
Figure 22 is the flow chart for being described the assembling sequence of the rotor involved by present embodiment.
Figure 23 is the stereogram of the robot representing the motor applied involved by present embodiment.
Figure 24 is the stereogram of the robot representing the motor applied involved by present embodiment.
Figure 25 is the figure for being described the existing rotor possessing permanent magnet.
Figure 26 is the figure of the iron core conformation representing the motor that existing band is cored.
Figure 27 is the figure of the relation representing the distance of spiral portion lateral coil and iron core and the torque of motor.
Embodiment
Below, with reference to the accompanying drawings execution mode the present invention specialized is described.In addition, in order to the part be described is in discernible state, used accompanying drawing is suitably zoomed in or out and expresses.
First execution mode
Motor
Fig. 1 is the cutaway view of the motor represented involved by present embodiment.
As shown in Figure 1, the motor 1 involved by present embodiment has shell 2, rotating shaft 3, stator 4 and rotor (revolving part) 5.In addition, motor 1 is not particularly limited, and such as, can enumerate servo motor, stepper motor etc.
The upper wall of shell 2 and diapire are provided with bearing 21,22.And the rotatable earth's axis of rotating shaft 3 is supported on this bearing 21,22.In addition, in shell 2, be fixed with rotor 5 at rotating shaft 3.
Rotor 5 is in cylindric, and the permanent magnet 52 of the iron core 51 be made up of soft magnetic materials such as iron and the periphery being arranged at iron core 51 is formed.In addition, around rotor 5, stator 4 is configured with.Stator 4 cylindrically, and has the multiple coil racks 56 configured at predetermined intervals in the circumferential and the multiple coils 41 being wound in the plurality of coil rack 56.
Permanent magnet 52 is in annulus column.In addition, permanent magnet 52 has the multipolar configuration being formed with multiple magnetic pole in its circumference.
Fig. 2 is the partial enlarged drawing of the coil rack 56 involved by present embodiment.
Coil rack 56 involved by present embodiment possesses the spiral portion 64 reeled for spiral (electric wire) 66 (with reference to Fig. 3 (B)) and the flange 70 arranged continuously with spiral portion 64.
Flange 70 has the recess 62 of the position of restriction spiral 66.Spiral 66 is wound in spiral portion 64 using the starting point 60 that reels as the starting point reeled.The central shaft being limited the spiral 66 of position by recess 62 is not overlapping with winding starting point 60.
Flange inner surface 58 is provided with the recess 62 away from winding starting point 60.Winding starting point 60 is the intersection points in flange inner surface 58 and spiral portion 64.In the cylinder in spiral portion 64, not shown iron core is installed.Spiral 66 is guided by recess 62 and imports winding starting point 60.
Coil rack 56 comprises the pin 68 be wound around for spiral 66.Pin 68 is arranged at flange 70.Pin 68 is compared winding starting point 60 and is configured at and reels around contrary direction, inclination angle, direction.Accordingly, the spiral 66 being wound in pin 68 is compared winding starting point 60 and is being reeled along spiral portion 64 on the direction, inclination angle contrary around direction with winding, thus easily spiral 66 can be wound in spiral portion 64.
Recess 62 is formed from spiral portion 64 to pin 68 with the width in spiral portion 64.At recess 62, be provided with the step 69 for spiral 66 being guided to winding starting point 60 in side, spiral portion 64.
Fig. 3 represents the figure utilizing the coil rack 56 involved by present embodiment to form the state of coil 41.Wherein, Fig. 3 (A) is the overall diagram of coil rack 56, and Fig. 3 (B) represents that the spiral 66, Fig. 3 (C) that starts to reel has represented coil 41.
As shown in Fig. 3 (A), the coil rack 56 involved by present embodiment is formed with the recess 62 keeping out of the way groove as winding starting end spiral 66a (with reference to Fig. 3 (B)).In addition, 2 pins 68 terminating to hold spiral 66b to be wound around for winding starting end spiral 66a and winding are molding by insert and form.
Next, as shown in Fig. 3 (B), by reel winder (not shown), the winding starting end spiral 66a (simultaneously recording both positive (using pin 68a) and anti-phase (using pin 68b)) carrying out spiral is wound to pin 68 and is rolled into reel.The coil rack 56 of present embodiment possess can with positive and both corresponding recesses 62 anti-phase.
Next, as shown in Fig. 3 (C), winding is terminated end spiral 66b and be wound to pin 68 and form coil 41.PPS resin-made is made shape by injection mo(u)lding etc. by this coil rack 56.In addition, the material of coil rack 56, except PPS resin, also can be Noryl, PA (polyamide), PBTP (polybutylene terephthalate (PBT)), PETP (PETG), PC (Merlon).
Fig. 4 is the cutaway view of the coil 41 represented involved by present embodiment.For the coil 41 of present embodiment, spiral 66 is accommodated in the spiral region of the script shown in spiral region 67 in the mode being close to arrangement winding.Thereby, it is possible to reduce the wall thickness (distance L) of the core side close to the inner portion in spiral portion 64.
According to the present embodiment, coil 41 can be made close to core side to construct easily, and reel spiral 66 in regular the mode arranged.Thus, winding starting end spiral 66a can as much as possible close to flange inner surface 58, and spiral number is impartial and can improve the occupation efficiency of spiral 66.In addition, the spiral friction each other because of coil 41 can also be prevented and the insulation caused by the bad drawback of membrane damage, defective insulation, partial short-circuit.
Second execution mode
Coil rack
Fig. 5 is the partial enlarged drawing of the coil rack involved by present embodiment.Below, be described with reference to the structure of Fig. 5 to coil rack.
The coil rack 57 of present embodiment be formed in 2 place's recess this point different from the first execution mode.Below, identical Reference numeral is marked to the component parts identical with the first execution mode, and omit or simplify their explanation herein.
As shown in Figure 5, the recess 63a, the 63b that keep out of the way groove as winding starting end spiral 66a is formed with at the coil rack 57 of present embodiment.Flange inner surface 58 is provided with recess 63a, the 63b away from winding starting point 60.Recess 63a is from the winding starting point 60 arranged near the root of pin 68 to pin 68.Recess 63b is from arranging near the root of pin 68 near between pin 68 and spiral portion 64.Recess 63b also can be arranged near spiral portion 64 near the root of pin 68.
3rd execution mode
Motor
Fig. 6 is the cutaway view of the motor represented involved by present embodiment.
As shown in Figure 6, the motor 101 involved by present embodiment has shell (external shell) 102, rotating shaft 103, stator (armature) 104 and rotor (rotary body) 5.In addition, motor 101 is not particularly limited, and such as, can enumerate servo motor, stepper motor etc.
The upper wall of shell 102 and diapire are provided with bearing 121,122.And the rotatable earth's axis of rotating shaft 103 is supported on this bearing 121,122.In addition, in shell 102, be fixed with rotor 105 at rotating shaft 103.Rotor 105 is in cylindric, and be made up of the permanent magnet 152 of iron core 151 with the periphery being arranged at iron core 151, iron core 151 is made up of metal material, resin material.In addition, around rotor 105, stator 104 is configured with.Stator 104 cylindrically, and has the multiple coils 141 configured at predetermined intervals in the circumferential.
Permanent magnet 152 is in annulus column.In addition, permanent magnet 152 has the multipolar configuration being formed with multiple magnetic pole in its circumferential direction.
Fig. 7 is the partial enlarged drawing of the stator 104 represented involved by present embodiment.Fig. 8 is the figure of the outward appearance of stator 104 after to represent involved by present embodiment mold formed.Fig. 9 is the partial enlarged drawing of the stator 104 represented involved by present embodiment.Wherein, Fig. 9 (A) is the cutaway view (for simplicity, illustrating the first half of spiral skeleton 158) from laterally observing, and Fig. 9 (B) and Fig. 9 (C) is the vertical view from top view wiring substrate 166.
As shown in Figure 7, the stator 104 of present embodiment possesses: multiple teeth portion (pole tooth) 154, and they are to configure from periphery towards the mode of rotating shaft 103; Spiral skeleton 158, it is installed on teeth portion 154, and for multiple coil spiral (conductor wire) 156 (with reference to Fig. 9) winding; And multiple winding pin 160, they connect the end of multiple coil spiral 156 respectively.
The front end of the winding pin 160 of present embodiment is towards rotating shaft 103.Be wound around pin 160 with arranging in the mode that roughly L-shaped erects facing to rotating shaft 103 from spiral skeleton 158.
Accordingly, can easily make the front end of winding pin 160 towards rotating shaft 103.Specifically, as shown in Fig. 9 (A), if make winding pin 160 for L-shaped, and make the wound portion 162 for the winding of coil spiral 156 of winding pin 160 towards inner side, the increase then caused because of coil spiral 156 disappears, thus can make molded shaping layer 164 minimization (with reference to Fig. 8) of periphery.Such as, the diameter of coil spiral 156 be the situation of 0.5mm compared with conventional example, more than diameter 1mm can be reduced.The coil spiral 156 of usual 0.5mm is used in the motor that finished diameter is about 60mm, and according to the present embodiment, finished diameter can be made to be 59mm, and therefore torque capacity ratio can improve about 3%.Further, pin 160 is wound around owing to using, so assembling, soldering wiring becomes easy.In addition, as the material being wound around pin 160, preferably phosphor bronze is used, as long as but be the material that copper, aluminium, gold, silver, platinum etc. have conductivity, can be any material.
In the assembling of the stator 104 of present embodiment, when wiring substrate 166 to be positioned over spiral skeleton 158 from top, as shown in Fig. 9 (B), winding pin 160 is passed through and falls into the larger position of depression 168.Then, rotate wiring substrate 166, carry out soldering in the position of Fig. 9 (C).In this case, the position of the wound portion 162 of brazed portion 169 and winding pin 160 is positioned at the inner side (left side of Fig. 9 (A)) of spiral skeleton 158, therefore compared with the conventional method, can insulation distance be obtained, thus realize thin-walled property, the miniaturization of molded shaping layer 164.In addition, the Optimal orientation being wound around pin 160 according to wiring substrate 166, spiral skeleton 158, be wound around pin 160, the size of otch etc. of linear and wiring substrate 166 carries out various change.Such as, the angle being wound around pin 160 compares the tangent line of the periphery of wiring substrate 166 towards inner side.
According to the present embodiment, make the front end of winding pin 160 towards the rotating shaft 103 of motor 101, the wire connecting portion of the coil spiral 156 of motor 101 and the insulating properties of shell 102 can be improved thus.Thereby, it is possible to thinning molded shaping layer 164, thus shell 102 can be made to approach to front, and then can thermal conductivity be improved.In addition, also can not use with implementing insulation counter-measure motor 101, even if make the small-sized insulating properties also can guaranteeing wiring closet of the shape of motor 101.In addition, the raising of torque capacity ratio is also realized.
4th execution mode
Stator
Figure 10 is the partial enlarged drawing of the stator 106 involved by present embodiment.Figure 11 is the partial enlarged drawing of the stator 106 represented involved by present embodiment.Wherein, Figure 11 (A) is the cutaway view from laterally observing, and Figure 11 (B) is the vertical view from top view wiring substrate 166.Below, be described with reference to the structure of Figure 10 and Figure 11 to stator 106.
For the stator 106 of present embodiment, the setting position being wound around pin 170 is different from the 3rd execution mode.Below, identical Reference numeral is marked to the component parts identical with the 3rd execution mode, and omit or simplify their explanation at this.
As shown in Figure 10, the stator 106 involved by present embodiment is provided with at the inwall of spiral skeleton 158 and is wound around pin 170.If insert at the inwall of spiral skeleton 158 and be wound around pin 170, and winding around spiral 156, then expand further with the distance of shell 102, therefore insulating properties improves.
In the assembling of the stator 106 of present embodiment, when wiring substrate 166 to be positioned over spiral skeleton 158 from top, as shown in Figure 11 (B), winding pin 170 is passed through and falls into the larger position of depression 168.Then, soldering is carried out.In this case, accept spiral skeleton 158 and determine the position of wiring substrate 166, can soldering be carried out.Brazed portion 169 is positioned at the inner side of spiral skeleton 158, with outside (right side of Figure 11 (A)) the flange resin across spiral skeleton 158, therefore, it is possible to guarantee enough withstand voltage propertiess.Therefore, it is possible to arrange shell 102 with the form being close to spiral skeleton 158, thus significant miniaturization can be realized.
According to the present embodiment, the winding pin 170 of I font is set, is wound around and soldering coil spiral 156 at this winding pin 170, and makes the front end of winding pin 170 towards the rotating shaft 103 of motor 101, improve with the insulating properties of shell 102 thus.
5th execution mode
Stator
Figure 12 is the partial enlarged drawing of the stator 109 involved by present embodiment.Below, be described with reference to the structure of Figure 12 to stator 109.
For the stator 109 of present embodiment, the shape being wound around pin 180 is different from the 4th execution mode.Below, identical Reference numeral is marked to the component parts identical with the 4th execution mode, and omit or simplify their explanation at this.
Stator 109 involved by present embodiment is provided with the winding pin 180 of L-shaped at the inwall of spiral skeleton 158.In this case, if not winding pin 180 is formed as the U-shaped shown in above-mentioned execution mode, but offer hole 167 at wiring substrate 166, then as shown in figure 12, winding pin 180 can be utilized to support wiring substrate 166, thus stable brazing operation can be realized.Brazed portion 169 is positioned at the upside of spiral skeleton 158, thus can guarantee enough withstand voltage propertiess with outside (right side of Figure 12).Therefore, it is possible to arrange shell 102 with the form being close to spiral skeleton 158, thus significant miniaturization can be realized.
According to the present embodiment, coil spiral 156 can be engaged with wiring substrate 166 by the easy engagement operation of soldered joint and so on, therefore, it is possible to reduce manufacturing cost.
6th execution mode
Motor
Figure 13 is the cutaway view of the motor represented involved by present embodiment.
As shown in figure 13, the motor 201 involved by present embodiment has shell (external shell) 202, rotating shaft 203, stator 204 and rotor (revolving part) 205.In addition, motor 201 is not particularly limited, and such as, can enumerate servo motor, stepper motor etc.
The upper wall of shell 202 and diapire are provided with bearing 221,222.And the rotatable earth's axis of rotating shaft 203 is supported on this bearing 221,222.In addition, in shell 202, be fixed with rotor 205 at rotating shaft 203.Rotor 205 is in cylindric, and be made up of the permanent magnet 252 of iron core 251 with the periphery being arranged at iron core 251, iron core 251 is made up of metal material, resin material.In addition, around rotor 205, stator 204 is configured with.Stator 204 cylindrically, and has the multiple coils (armature winding) 241 configured at predetermined intervals in the circumferential.
Permanent magnet 252 is in annulus column.In addition, permanent magnet 252 has the multipolar configuration being formed with multiple magnetic pole in its circumferential direction.
Figure 14 is the figure of the structure of the stator 204 represented involved by present embodiment.Figure 15 is the figure of the outward appearance of the mold formed front stator 204 represented involved by present embodiment.Figure 16 is the figure of the outward appearance of stator 204 after to represent involved by present embodiment mold formed.
As shown in figure 14, the stator 204 involved by present embodiment possesses inner core 256, outer core 258 and spiral skeleton 260.
Inner core 256 possesses multiple core tooth 262 outstanding to the inside.Outer core 258 is embedded in the outside of inner core 256.Spiral skeleton 260 have be installed on inner core 256 and for coil 241 reel hollow bulb 264.Mold formed resin material (mold formed material) 268 or grafting material is formed in inner core 256 with the clearance gap 266 of outer core 258.Inner core 256 and outer core 258 are molded shaping resin material 268 or grafting material is fixed.
The outside shrink fit of core 258 has shell 202 outside.Accordingly, shell 202 shrink fit in outer core 258, even if therefore not inside and outside shrink fit core 256,258 also can improve assembleability well.In addition, under clearance gap 266 is the condition of less than 30 μm, when shrink fit, the minute asperities of inside and outside core 256,258 can produce interference, thus inside and outside core 256,258 is out of shape because of shrink fit, and slot effect increases.
On the other hand, the problem causing pyroconductivity to decline because inside and outside core 256,258 is separated can solve in the following way, that is, become utilize mold formed resin material 268 pairs of coils 241 to carry out mold formed state as shown in Figure 16 from not carrying out mold formed state to coil 241 as shown in Figure 15.
Inner core (core tooth 262) 256 can be 30 ~ 100 μm with the clearance gap 266 of outer core 258.Accordingly, heat is that mold formed resin material 268 in the gap of more than 30 μm less than 100 μm conducts by being formed at clearance gap.Thereby, it is possible to obtain exothermic character equal when contacting with the inside and outside core 256,258 when shrink fit.
Mold formed resin material 268 or grafting material can comprise magnetic electroconductive stuffing.Accordingly, mold formed resin material 268 or grafting material are magnetic conductive materials, therefore, it is possible to avoid the negative effects such as discharge and recharge.Mold formed resin material 268 material that preferably pyroconductivity is higher.
As mold formed resin material 268, the both sides of the thermoplastic resins such as unsaturated polyester resin, PPS resin, phenolic resins, melamine resin, urea resin, LCP resin, thermosetting resin can be used.Preferred use heat resisting temperature is higher and be placed with the resin of heat transfer filler.As filler, outside the ceramic based material such as alumina, silicon dioxide, metallics can also be used.
When not arranging mold formed resin material 268, when the rotor rotates, stator 204 moves a little, thus produces vibration, noise.Therefore, the clearance gap 266 shown in Figure 14 is fixed preferably by adhesive or welding.
As adhesive, ethyl acrylate system anaerobic adhesive, acrylic adhesive, epoxy adhesive etc. can be enumerated, in order to improve heat resisting temperature, relax shrink fit stress, preferably use the adhesive that Young's modulus is less.
As welding, arc welding, laser welding can be enumerated, preferably use the laser welding that thermal impact is less.
If inner core 256 is more than 100 μm with the clearance gap 266 of outer core 258, then the magnetic resistance produced because of clearance gap 266 increases, and the magnetic flux flowed in core tooth 262 reduces, and therefore preferred gap interval 266 is less than 100 μm.
In addition, if become complete space, then inner core 256 becomes the state that electricity suspends, if owing to carrying out Driven by inverter, there is negative effects such as carrying out discharge and recharge, therefore conductive paste etc. can either be relaxed the material that stress can conduct electricity again and be filled in clearance gap 266.Now, as shown in Figure 17 described later, if magnetic material is used as conductive paste, even if then clearance gap 266 is more than 100 μm and also can maintains good characteristic.
Figure 17 is the figure of the clearance gap 266 of the inside and outside core 256,258 represented involved by present embodiment and the relation of magnetic flux density and cogging torque.Figure 17 illustrate the clearance gap 266 of inside and outside core 256,258, the magnetic flux density of core tooth 262 central authorities and as cogging torque relative to the ratio of clearance gap=0mm.When clearance gap 266 is 30 ~ 100 μm, it is the good area that magnetic flux density is high, cogging torque is low, stable.But if magnetic material is used as conductive paste, even if then clearance gap 266 is 100 μm more than and also can maintains good characteristic, the order that as shown in figure 17, iron system is noncrystal, silicon steel plate, pure iron raise according to magnetic permeability, characteristic change well.Accordingly, the high motor 201 exporting low slot effect can be obtained.
7th execution mode
Motor
Figure 18 is the cutaway view of the motor represented involved by present embodiment.
As shown in figure 18, the motor 301 involved by present embodiment has shell (external shell) 302, rotating shaft 303, stator (fixture) 304 and rotor (revolving part) 305.In addition, motor 301 is not particularly limited, and such as, can enumerate servo motor, stepper motor etc.
The upper wall of shell 302 and diapire are provided with bearing 321,322.And the rotatable earth's axis of rotating shaft 303 is supported on this bearing 321,322.In addition, in shell 302, be fixed with iron core 351 at rotating shaft 303.Rotor 305 is in cylindric, and the permanent magnet 352 of the iron core 351 be made up of soft magnetic materials such as rotating shaft 303, iron and the periphery that is arranged at iron core 351 is formed.In addition, around rotor 305, stator 304 is configured with.Stator 304 cylindrically, and has the multiple coils 341 configured at predetermined intervals in the circumferential.
Permanent magnet 352 is in annulus column.In addition, permanent magnet 352 has the multipolar configuration being formed with multiple magnetic pole in its circumference.
Figure 19 is the figure be described for the structure of permanent magnet 352 involved by present embodiment.Figure 19 (A) is the figure observed from the outside diameter of permanent magnet 352, Figure 19 (B) is the figure observed from the internal side diameter of permanent magnet 352.Permanent magnet 352 is by powder sintered and formed.
As the permanent magnet 352 of the magnet of the cylindrical shape of present embodiment, as shown in figure 19, two ends in the opposed face 353 of the iron core (not shown) with stator 304 and on rotating shaft direction are provided with stage portion 354, are linearly provided with the jut (holding section) 356 of trapezoidal shape in the opposed face 355 of contrary rotating shaft 303 along rotating shaft direction.In the present embodiment, be described for the jut 356 of trapezoidal shape, as long as but can positioning function be realized, even if the projection of semicircle shape, effect also can not change.Permanent magnet 352 is formed by being arranged as disc-shape in fan-shaped multiple permanent magnets 352.In the present embodiment, with the central angle of permanent magnet 352 (degree) α=60 degree, the mode that 6 permanent magnets 352 are arranged as disc-shape is formed.The direction of the magnetic flux of each permanent magnet 352 is thickness directions of disc-shape, is in other words the normal direction of side.
Figure 20 is the figure for being described the structure of the rotor 305 involved by present embodiment.Wherein, Figure 20 (A) is the sketch of rotating shaft 303, Figure 20 (B) is the sketch being provided with the state of permanent magnet 352 at rotating shaft 303, and Figure 20 (C) is the sketch being filled with the state of resin (mold formed material) 357 in stage portion 354.
As shown in Figure 20 (A), be provided with the groove portion (non-engagement portion) 358 of the V-shaped of guiding piece when becoming chimeric permanent magnet 352 at the rotating shaft 303 of present embodiment.The groove portion 358 of this V-shaped can be shaped by rolling forming method, also can be shaped by cut.Permanent magnet 352 is assembled in the mode that the groove portion 358 of this V-shaped is chimeric with the jut 356 of the trapezoidal shape of permanent magnet 352, and is arranged in equably circumferentially.Accordingly, the multiple permanent magnets 352 being installed on rotor 305 can be made equally spaced to arrange in the circumferential.In addition, permanent magnet 352 and rotating shaft 303 can be easily fitted together to.
At the end intersected with the rotation of rotating shaft 303 of permanent magnet 352 that is the two ends, rotating shaft direction of permanent magnet 352, be formed with stage portion 354.And, to stage portion 354 potting resin 357, and utilize the assembling fixture 359 illustrated after a while, with the mode shaping resin 357 that the external diameter of filled resin 357 is roughly the same with the external diameter of permanent magnet 352.In other words, the external diameter being formed at the resin 357 of stage portion 354 is roughly the same with the external diameter except stage portion 354 of permanent magnet 352.Accordingly, the external diameter of rotor 305 can be made impartial.
At this, resin 357 along the circumferential direction covers the stage portion 354 of permanent magnet 352, thus can prevent permanent magnet 352 from departing from rotating shaft 303.But, if it is thinner to cover the resin 357 of stage portion 354, there is the problem of lack of fill, undercapacity and so on, therefore filled (fiber or particle) 360 minimum wall thickness also needing about 0.5mm of resin 357 of strengthening.In addition, be not the length of the effective permanent magnet 352 of the torque not affecting motor 301 by the length of permanent magnet 352 on rotating shaft direction that resin 357 covers, therefore need the rotating shaft direction length of the iron core of its roughly opposed with permanent magnet 352 stator 304 consistent.
Also protuberance or recess can be set in the face contacted with resin 357 of the stage portion 354 of permanent magnet 352.Accordingly, can prevent resin 357 from misplacing from the stage portion 354 of permanent magnet 352 to end side.
Mold formed material 357 can be made up of the resin enhanced by fiber (filler 360).As forming the resin of mold formed material 357, such as, advantageously can use by glass fiber-reinforced resin, particularly considering that intensity, thin molded property etc. are come from then on suitably to select among resinoid.As an example, preferred LCP (liquid crystal polymer), PA (polyamide) based polymer alloy etc.The resin be fibre-reinforced is such as glass fiber reinforced plastics, carbon-fiber reinforced resins etc.
Mold formed material 357 also can be made up of the resin enhanced by particle (filler).As the particle of a kind of composition of the mold formed material 357 of formation, be not particularly limited, but as preference, such as wollastonite can be enumerated, sericite, kaolin, clay, mica, talcum, the silicate such as montmorillonite, silicon dioxide, aluminium oxide, magnesium oxide, zirconia, the metal oxides such as titanium oxide, calcium carbonate, magnesium carbonate, the carbonate such as dolomite, calcium sulfate, magnesium sulfate, the sulfate such as barium sulfate, bead, sheet glass, boron nitride, carborundum, silicon nitride, potassium titanate etc., they also can be structure (the micro-hollow balls of such as glass of hollow, white sand hollow ball, carbon hollow ball etc.).Accordingly, not only excellent in the balance of thermal endurance, rigidity and resistance to impact but also formed products that anisotropy is less is provided by particle reinforced resin combination.
In the present embodiment, utilize the two ends, rotating shaft direction of resin 357 fixing permanent magnet 352, thus easily damaged permanent magnet 352 can not be destroyed, the structure preventing permanent magnet 352 from peeling off can be realized.
8th execution mode
Rotor
Figure 21 is the figure for being described the assembling sequence of the rotor 305 involved by present embodiment.Wherein, Figure 21 (A) represents operation rotating shaft 303 being imported assembling fixture 359, Figure 21 (B) represents operation permanent magnet 352 being inserted assembling fixture 359, and Figure 21 (C) represents the operation to gap 361 potting resin 357.The rotor 305 of present embodiment uses assembling fixture 359 to position rotating shaft 303 and permanent magnet 352, and at gap 361 potting resin 357 of assembling fixture 359 with rotor 305, thus can assemble.
Figure 21 (A) is the structure representing the assembling fixture 359 inserting rotating shaft 303 and permanent magnet 352.Assembling fixture 359 is made up of cylinder 362 and lower cover 363.Cylinder 362, lower cover 363 are formed by metal, but in order to resin 357 inadhesion of filling after a while is in assembling fixture 359, at the face coating lubricant of potting resin 357.At this, in order to the outer peripheral face making resin 357 not flow into the permanent magnet 352 except stage portion 354, make cylinder 362 with the internal diameter chimeric with the external diameter of permanent magnet 352.On the other hand, lower cover 363 can abut with the axial bottom surface of rotation of the stage portion 354 of permanent magnet 352, makes the groove 364 being used for overflowing for the resin 357 of filling in the face contacted with cylinder 362.Above-mentioned cylinder 362 and lower cover 363 are to ensure that the mode of axiality is assembled, and fastening by screw 365.
Figure 21 (B) is inserted with to the assembling fixture 359 assembled in Figure 21 (A) figure that rotating shaft 303 and the state of permanent magnet 352 that has been magnetized be described.The face be fitted together to for bearing after a while of rotating shaft 303 is chimeric with the hole 366 of lower cover 363, and permanent magnet 352 is chimeric with the internal diameter of cylinder 362, and is pressed into by permanent magnet 352 and abuts to the face of lower cover 363 and the stage portion 354 of permanent magnet 352.At this, permanent magnet 352 with adjacent permanent magnet 352 each other for the mode of reversed polarity is inserted successively from 1 ~ 6.
Figure 21 (C) is for covering upper cover 367 and the figure that is described of the state being filled with resin 357, and upper cover 367 is fastening with screw 368 with the state tube 362 that the external diameter of the face be fitted together to for bearing of rotating shaft 303 and cylinder 362 is chimeric.Like this, make lower cover 363, cylinder 362, upper cover 367 and rotating shaft 303, permanent magnet 352 chimeric, thus rotor 305 axiality that manufactures can be ensured.
Resin 357 injects from the cast gate 369 of upper cover 367, and passes through between the groove portion 358 and permanent magnet 352 of V-shaped, and is filled to lower cover 363 side.At this, this three parts face of outer peripheral face of the stage portion 354 of the axial both ends of the surface of rotation of rotating shaft 303, the axial both ends of the surface of rotation of permanent magnet 352, permanent magnet 352 is covered by resin 357, thus can realize the structure of the rotor 305 that permanent magnet 352 does not come off from rotating shaft 303.
In order to play the effect of present embodiment, the serviceability temperature of motor 301 is preferably coordinated to select filled resin 357.This is because permanent magnet 352 can demagnetize because of heat, when the heating of motor 301 is less than 100 DEG C, use the resin 357 without thermal endurance that can solidify under normal temperature, when the heating of motor 301 reaches 150 DEG C, needs selection has the heating of thermal endurance and the resin 357 that is shaped.And, be shaped when using heating resin 357, need for preventing from demagnetizing to consider the material of cylinder.When the heating of motor 301 is less than 100 DEG C, preferably ambient temperature curing general bi-component epoxy resinoid, owing to being shaped at normal temperatures, so can not there is the demagnetization of permanent magnet 352, cylinder 362 can use nonmagnetic metal.On the other hand, when the heating of motor 301 reaches 150 DEG C, the unsaturated polyester (UP) system resin 357 of preferred excellent heat resistance, needs be heated to 130 DEG C ~ 150 DEG C and be shaped.In this case, in order to not demagnetize because of heat when being shaped, around rotor 305, be formed with the magnetic circuit identical with motor 301, cylinder 362 uses the magnetics such as iron.When not forming magnetic circuit, from about 100 DEG C, there is irreversible demagnetization, but improve the magnetic capacity of permanent magnet 352 by forming magnetic circuit, thus more than 130 DEG C, also can prevent demagnetization.
Figure 22 is the flow chart for being described the assembling sequence of the rotor 305 involved by present embodiment.In addition, cylinder 362, lower cover 363 and upper cover 367 are assembled in not shown forming machine by the assembling fixture 359 illustrated in Figure 21 in the stage of Figure 21 (A).
First, in step slo, be assembled in heating when resin 357 is shaped from do not heat resin 357 is shaped when sequentially different, when not heating, move to step S16, but in those cases when heating is desired, move to step S12.
Next, in step s 12, assembling fixture 359 and resin 357 are heated to suitable temperature.In addition, not shown forming machine is configured with heater and temperature sensor.
Next, in step S14, whether target temperature is reached to heating-up temperature and judges, when assembling fixture 359 and resin 357 are heated to the temperature specified, move to step S16.When assembling fixture 359 and resin 357 cannot be heated to the temperature specified, return step S12.
Next, in step S16 and step S18, rotating shaft 303 and permanent magnet 352 are inserted assembling fixture 359.According to the explanation to above-mentioned Figure 21, mechanically rotating shaft 303 and permanent magnet 352 are inserted till they abut with assembling fixture 359.
Next, in step S20, cover upper cover 367, assembling fixture 359 temperature be suitable for be shaped temperature stabilization before, heating assembling fixture 359.If be heated to suitable temperature, then move to step S22.
Next, in step S22, to assembling fixture 359 potting resin 357.
Next, in step s 24 which, with the temperature (solidification process) making the completely crued mode of resin 357 of filling remain on regulation.If resin 357 solidifies, then move to step S26.
Next, in step S26, take out rotor 305 from assembling fixture 359.
Next, in step S28, remove the burr of resin 357.Above, the assembling of the rotor 305 of present embodiment completes.
By the two ends, rotating shaft direction using the assembling sequence of above-mentioned present embodiment to utilize resin 357 fixing permanent magnet 352, thus easily damaged permanent magnet 352 can not be destroyed, and the rotor 305 that prevents permanent magnet 352 from peeling off can be realized.
According to the present embodiment, stage portion 354 is set at the rotation of rotor 305 axial permanent magnet 352 two ends, and utilizes resin 357 to fix stage portion 354, thus provide permanent magnet 352 to be difficult to the rotor 305 peeled off.
In addition, by using rotor 305, permanent magnet 352 is difficult to peel off, thus can realize the stability of motor 301, the raising of fail safe.
9th execution mode
Robot
Next, the robot of the motor 1 applied involved by above-mentioned first execution mode is described.In addition, as an example of robot, below, horizontal articulated robot, vertical multi-joint robot are shown, but robot being not limited thereto, also can be tow-armed robot, other multi-axis robots.
Figure 23 is the stereogram of the robot 7 representing the motor 1 applied involved by above-mentioned execution mode.
As shown in figure 23, the robot 7 involved by present embodiment is horizontal articulated robots.Such robot 7 has base station 71, first arm 72, second arm 73, operation 74 and end effector 75.
Base station 71 is such as fixed on not shown ground by bolt etc.First arm 72 is linked to the upper end of base station 71.First arm 72 can rotate around the rotation axis along vertical relative to base station 71.The motor 1 (1A) that the first arm 72 is rotated is provided with in base station 71.
Second arm 73 is linked to the leading section of the first arm 72.Second arm 73 can rotate around the rotation axis along vertical relative to the first arm 72.The motor 1 (1B) that the second arm 73 is rotated is provided with in the second arm 73.
Operation 74 is configured with at the leading section of the second arm 73.Operation 74 has the splined nut 741 of the leading section being configured at the second arm 73 coaxially and ball-screw nut 742, is inserted through the splined shaft 743 of splined nut 741 and ball-screw nut 742.Splined shaft 743 can rotate around its axle relative to the second arm 73, and can move in the vertical direction (lifting).
Motor 1 (1C) and motor 1 (1D) is configured with in the second arm 73.The actuating force of motor 1C is passed to splined nut 741 by not shown actuating force transmission mechanism, if thus splined nut 741 rotating, splined shaft 743 is around rotating shaft (axis direction of the rotating shaft) rotating along vertical.On the other hand, the actuating force of motor 1D is passed to ball-screw nut 742 by not shown actuating force transmission mechanism, if ball-screw nut 742 rotating, splined shaft 743 moves up and down.
End effector 75 is linked with at the leading section (bottom) of splined shaft 743.As end effector 75, be not particularly limited, such as, can enumerate the mechanism that transported material is held, the mechanism etc. that machined object is processed.Accordingly, the robot 7 with the effect that said motor 1 is brought can be provided.
Figure 24 is the stereogram of the robot 8 representing the motor 1 applied involved by above-mentioned execution mode.As shown in figure 24, the robot 8 involved by present embodiment is vertical multi-joint (6 axle) robots.Such robot 8 possesses base station 81,4 arm 82,83,84,85 and toggle link 86 (wrist), and they link successively.
Base station 81 is such as fixed on not shown ground by bolt etc.Arm 82 is linked to the upper end of such base station 81 with the posture tilted relative to horizontal direction, and arm 82 can rotate around the rotation axis along vertical relative to base station 81.In addition, in base station 81, be provided with the motor 1 (1E) that arm 82 is rotated.
Arm 83 is linked to the leading section of arm 82, and arm 83 can rotate around the rotation axis along horizontal direction relative to arm 82.In addition, in arm 83, be provided with the motor 1 (1F) that arm 83 is rotated relative to arm 82.
Arm 84 is linked to the leading section of arm 83, and arm 84 can rotate around the rotation axis along horizontal direction relative to arm 83.In addition, in arm 84, be provided with the motor 1 (1G) that arm 84 is rotated relative to arm 83.
Arm 85 is linked to the leading section of arm 84, and arm 85 can rotate relative to the rotation axis of arm 84 around the central shaft along arm 84.In addition, in arm 85, be provided with the motor 1 (1H) that arm 85 is rotated relative to arm 84.
Toggle link 86 is linked to the leading section of arm 85.Toggle link 86 has the support ring 861 of the ring-type being linked to arm 85 and is supported on the toggle link main body 862 of cylindrical shape of leading section of support ring 861.The front end face of toggle link main body 862 is smooth face, such as, is the installed surface installed for the manipulator holding the precision equipments such as wrist-watch.
Support ring 861 can rotate around the rotation axis along horizontal direction relative to arm 85.In addition, toggle link main body 862 can be rotated relative to the rotation axis of support ring 861 around the central shaft along toggle link main body 862.In addition, be configured with in arm 85 and make the motor 1 (1I) that support ring 861 rotates relative to arm 85 and the motor 1 (1J) that toggle link main body 862 is rotated relative to support ring 861.The actuating force of motor 1I, 1J is passed to support ring 861, toggle link main body 862 respectively by not shown actuating force transmission mechanism.Accordingly, the robot 8 with the effect that said motor 1 is brought can be provided.
In addition, in the present embodiment, the robot 7,8 example as motor being applied to the motor 1 involved by the first execution mode is illustrated, but be not limited thereto, any one in the motor 101 involved by the 3rd execution mode, the motor 201 involved by the 6th execution mode and the motor 301 involved by the 7th execution mode can be applied.In these cases, the robot 7,8 with the effect that each motor 101,201,301 brings is provided.
And, also can be apply the robot 7,8 of any one in the rotor 305 of coil rack 57, the 4th execution mode or the stator involved by the 5th execution mode involved by the second execution mode the 106,109 and the 8th involved by execution mode.When applying above-mentioned parts, the robot 7,8 with respective effect can be provided.
Such as, according to the motor 201 of the 6th execution mode, between inner core 256 and outer core 258, be provided with the best clearance interval 266 of more than 30 μm less than 100 μm, and fix inner core 256 and outer core 258 by filling mold formed resin material to it.That cause because of distortion (low slot effect) is misplaced with core that is rotor thereby, it is possible to reduce the distortion of iron core that causes because of shrink fit and can reduce.The robot with the effect same with motor 201 can be obtained by using the motor 201 of so low slot effect.
Variation
The present invention is not limited to above-mentioned execution mode, also can implement in the following manner.
The mold formed material 357 used in the above-described 7th embodiment is not limited to resin, such as, also can be made up of adhesive.As adhesive, acrylic adhesive, epoxy adhesive etc. can be used.
Above, be illustrated, but the present invention is not limited thereto according to above-mentioned execution mode and variation to coil rack, rotor, motor and robot, the structure of each several part can be replaced into the arbitrary structures with identical function.In addition, also other arbitrary constructs can be added to the present invention.
Description of reference numerals:
1: motor; 7,8: robot; 2: shell; 3: rotating shaft; 4: stator; 5: rotor (revolving part); 21,22: bearing; 41: coil; 51: iron core; 52: permanent magnet; 56,57: coil rack; 58: flange inner surface; 60: winding starting point; 62,63a, 63b: recess; 64: spiral portion; 66: spiral (electric wire); 66a: winding starting end spiral; 66b: winding terminates end spiral; 67: spiral region; 68: pin; 69: step; 70: flange; 71: base station; 72: the first arms; 73: the second arms; 74: operation head; 75: end effector; 81: base station; 82,83,84,85: arm; 86: toggle link; 741: splined nut; 742: ball-screw nut; 743: splined shaft; 861: support ring; 862: toggle link main body.
Claims (6)
1. a rotor, is characterized in that,
The magnet of the cylindrical shape of segmentation is fixed with at rotating shaft,
In the end of the described magnet that the rotation with described rotating shaft intersects, be formed with mold formed material.
2. rotor according to claim 1, is characterized in that,
The end that described magnet intersects at the rotation with described rotating shaft has stage portion,
The external diameter being formed at the described mold formed material of described stage portion is roughly the same with the external diameter except described stage portion of described magnet.
3. rotor according to claim 1 and 2, is characterized in that,
Described magnet has holding section at the mask opposed with described rotating shaft,
Described rotating shaft has the non-engagement portion chimeric with described holding section at the mask opposed with described magnet.
4. the rotor according to any one of claims 1 to 3, is characterized in that,
Described holding section is the jut of trapezoidal shape,
Described non-engagement portion is the groove portion of V-shaped.
5. a motor, is characterized in that,
Described motor has the rotor according to any one of Claims 1 to 4.
6. a robot, is characterized in that,
Described robot has motor according to claim 5.
Applications Claiming Priority (9)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2014048524A JP6326876B2 (en) | 2014-03-12 | 2014-03-12 | Motor and robot |
| JP2014048526A JP6323085B2 (en) | 2014-03-12 | 2014-03-12 | Motor and robot |
| JP2014-048526 | 2014-03-12 | ||
| JP2014-048525 | 2014-03-12 | ||
| JP2014048525A JP6323084B2 (en) | 2014-03-12 | 2014-03-12 | Coil bobbin, motor, and robot |
| JP2014-048524 | 2014-03-12 | ||
| JP2014-059797 | 2014-03-24 | ||
| JP2014059797A JP6424443B2 (en) | 2014-03-24 | 2014-03-24 | Rotor, motor and robot |
| CN201510096642.0A CN104917312B (en) | 2014-03-12 | 2015-03-04 | Coil rack, rotor, motor and robot |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510096642.0A Division CN104917312B (en) | 2014-03-12 | 2015-03-04 | Coil rack, rotor, motor and robot |
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| Publication Number | Publication Date |
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| CN104917316A true CN104917316A (en) | 2015-09-16 |
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| CN201510119030.9A Pending CN104917316A (en) | 2014-03-12 | 2015-03-04 | Rotor and motor |
| CN201510096642.0A Active CN104917312B (en) | 2014-03-12 | 2015-03-04 | Coil rack, rotor, motor and robot |
| CN201510119093.4A Active CN104917317B (en) | 2014-03-12 | 2015-03-04 | Coil rack, motor and robot |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510096642.0A Active CN104917312B (en) | 2014-03-12 | 2015-03-04 | Coil rack, rotor, motor and robot |
| CN201510119093.4A Active CN104917317B (en) | 2014-03-12 | 2015-03-04 | Coil rack, motor and robot |
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| TWI623176B (en) * | 2017-04-11 | 2018-05-01 | 建準電機工業股份有限公司 | Method for manufacturing stators of inner rotor motors and stators structure of inner rotor motors |
| CN110086282A (en) * | 2019-05-28 | 2019-08-02 | 合肥巨一动力系统有限公司 | A kind of insulation framework structure and field frame assembly structure |
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- 2015-03-04 CN CN201510119093.4A patent/CN104917317B/en active Active
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| DE102007012822A1 (en) * | 2007-03-17 | 2008-05-29 | Täubner, Frank, Dr. | Rotor for electric machine i.e. synchronous motor, has bandage extended in axial direction over permanent magnets, and forming bandage ring in area adjacent to magnets, where inner diameter of ring is smaller than outer diameter of magnets |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN104917317B (en) | 2017-11-07 |
| CN104917312B (en) | 2018-05-08 |
| CN104917317A (en) | 2015-09-16 |
| CN104917312A (en) | 2015-09-16 |
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Application publication date: 20150916 |