JP2002204562A - Polyphase permanent magnet-type stepping motor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a high-resolution and high-precision permanent magnet-type stepping motor, without increasing a motor size and forming a complicated drive circuit, by enabling phase multiplication, without increasing the number of magnetic poles. SOLUTION: The magnetic poles of stator are formed into annular shapes by adjacently placing two stator portions in the axial direction, almost identical in width, having first magnetic poles, respectively, which have a plurality of pole teeth formed axisymmetrially with respect to the shape of the magnetic poles and second magnetic poles, having pole teeth with their arrangement pitch shifted by one-fourth from that of the above pole teeth, formed with the same pitch and in the same number as that of the above pole teeth, so that the magnetic poles with different pole teeth formed are located adjacent to each other. A rotor is formed by placing two permanent magnet-type rotor portions, including magnetic poles having north poles and south poles formed alternately in the width, corresponding to the dimensions and the pitch of the above pole teeth and opposite to the individual stator portions, so that the rotor portions are shifted from each other by a quantity equivalent to one-fourth of the magnetic pole formation pitch.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to the structure of a rotary machine, and particularly to a high-resolution OA device which requires a precise positioning function in a high-speed operation such as a printer, a high-speed fax machine, a copier for a PPC, etc. The present invention relates to a high-precision, low-noise inner rotor type or outer rotor type polyphase permanent magnet type stepping motor.

[0002]

2. Description of the Related Art As is well known, a stepping motor used for this kind of application includes a variable reluctance type in which a permanent magnet is not used for a rotor, a permanent magnet type in which a permanent magnet is used, and a hybrid in which both are mixed. There is a shape. The hybrid type is used in many fields because it exhibits excellent characteristics such as high accuracy, high torque, and a small step angle. A permanent magnet type stepping motor (hereinafter abbreviated as a PM type stepping motor) that can be configured by laminating iron cores uses a cylindrical permanent magnet for a rotor as described in, for example, JP-A-7-131968. This makes it possible to obtain high-speed rotation with low noise.

For example, a conventional inner rotor type PM stepping motor has a structure as shown in FIGS. That is, FIG. 39 shows a vertical sectional front view of an example of this type of conventional motor, and FIG. 40 shows a sectional view taken along line XX 'of FIG. The stator 101 is formed on a stator core 101A fixed to the cylindrical casing 1 at a predetermined number of equal pitches,
Winding each of the windings 104, a predetermined number of pole teeth 103a on the inner peripheral surface
Are provided by the magnetic pole 103 provided. The rotor 100 facing the magnetic pole 103 includes bearings 7a, 7 mounted at the center of end plates 5, 6 connected to the cylindrical casing 1.
A cylindrical permanent magnet 100A fixed to the rotor shaft 8 supported by b is used, and the north pole and the south pole are magnetized on the permanent magnet 100A alternately at a constant pitch in the circumferential direction. The number of magnetic poles 103 and the number of pole teeth 103a of the stator 101 and the number of magnetic poles N and S of the rotor 100 change depending on conditions such as the number of phases of the motor.

FIGS. 41 and 42 show a connection diagram of a conventional inner rotor type 6-phase 24-pole stepping motor in a monofilar winding and an excitation sequence in the case of one-phase excitation in the bipolar driving thereof. FIG. 2 shows a connection diagram of a conventional structure inner rotor type 20-phase 40-pole stepping motor in monofilar winding and an excitation sequence in the case of one-phase excitation in the bipolar drive thereof. In FIG. 41, E to 24E indicate windings wound around the respective magnetic poles of the stator, and A to F and A 'to F' indicate lead wires of the windings. Each connection, as shown in the figure,
For example, from the lead wire A, the windings 1E, 7E, 13E, 19
And E are connected in series to the lead wire A ', indicating that 7E and 19E of these windings are reversely connected in the winding direction. In FIG. 43, 1E
To 40E indicate windings wound around the respective magnetic poles of the stator, and A to T and A 'to T' indicate lead wires of the windings, respectively.
As shown in the figure, for example, the windings 1E, 2
1E shows that they are connected in series to the lead wire A '. In the excitation sequence diagrams shown in FIGS. 42 and 44, the horizontal axis represents the sequence steps, and the vertical axis represents the excitation current for each terminal. Each upper quadrilateral is, for example, from A to A ′. The lower quadrilateral indicates that the current flows in the opposite direction, for example, from A 'to the A direction.

[0005]

As described above, the hybrid type is utilized in many fields because it exhibits excellent characteristics such as high accuracy, high torque, and a small step angle. However, there is a problem that noise is inevitable due to the structure of the rotor, so that high-speed rotation is limited, and a rise in temperature is inevitable due to the structure of the rotor due to the structure of the magnet. PM type stepping motors, on the other hand, have a rotor structure that reduces the noise associated with magnetostrictive noise and reduces the amount of inertia. Can be suppressed to a low level. However, in order to realize a PM type stepping motor having good characteristics, there are the following problems.

The step angle θs, which is a basic characteristic of a stepping motor, is determined by the following equation. θs = 360 ° / (M × Pr) (1) where M is the number of phases of the stator, and Pr is the number of magnetic poles of the rotor. The step angle θs is a rotation angle obtained when one-phase winding is sequentially energized and excited, and is determined by the structure of the motor. Therefore, in order to obtain a motor with high resolution and good controllability, it is necessary to make the step angle minute. By the way, since the step angle θs of the conventional motor as described above is represented by the equation (1) as described above, if the step angle θs is to be reduced, the number of phases M must be increased or the rotor Must be increased. For example, assuming that the number of magnetic poles is 32, the step angle θs in the case of a three-phase PM type stepping motor is θs = 36 from the above equation (1).
0 ° / 3 × 32 = 3.75 °.

Incidentally, since the rotor magnetizes the north pole and the south pole alternately in the circumferential direction of the cylindrical permanent magnet, the number of magnetic poles of the rotor depends on the cylindrical diameter of the rotor and the machining of the magnetizer. Depends on accuracy capability. Therefore, the number of magnetic poles cannot be increased without limit, and the upper limit is about 100 poles. Also there is a method to increase the number of phases, 41, as shown in FIG. 43, a multi-phase motor based on the conventional operating principle, for example, stator poles 24 poles to obtain a six-phase motor, 10 phase 4 to get a motor
Zero stator poles are required for each. As the number of magnetic poles increases, the slot area is inevitably reduced. Therefore, in order to obtain a small motor, there is a problem that the cross-sectional area of the winding, that is, the amount of copper cannot be increased, and the winding process is complicated. This requires a large amount of work, increases the number of processing steps, and increases the manufacturing cost. Therefore, the three-phase motor is a practical limit of the small PM stepping motor.

Accordingly, when the number of magnetic poles of the rotor is 100 in a three-phase motor, the step angle θs is 1.2 as obtained by the following calculation from equation (1).
° was the limit. θs = 360 ° / 3 × 100 = 1.2 ° To obtain the above-mentioned resolution of 1.2 ° or more, it is necessary to perform microstep driving. However, according to the micro-step drive, the stationary position of the rotor is determined by the relative value of the current flowing through each phase. It was difficult. In addition, there is a problem that a complicated driving circuit is required for micro-step driving and the cost is high. In the above description of the related art, the problem has been described with an example of the structure of the inner rotor type PM stepping motor.
Similar and similar problems exist. The present invention solves the above-mentioned problems (problems) of the conventional device, and does not increase the number of magnetic poles.
It is an object of the present invention to provide a high-resolution and high-precision stepping motor that enables multi-phase operation and does not increase the size of the motor and does not form a complicated driving circuit.

[0009]

According to the present invention, there is provided:
The inner rotor type PM stepping motor described in (1) above includes at least six even-numbered stator magnetic poles that are implanted at equal pitches from the inner surface of the annular magnetic body toward the center of the circle. The stator includes a plurality of predetermined number of pole teeth formed at an equal pitch on the inner peripheral surface of each tip, a stator in which an exciting winding is wound around each stator magnetic pole, and a stator magnetic pole described above. A cylindrical shape that is rotatably supported through the inner peripheral surface forming the pole teeth and the air gap, and has N poles and S poles alternately magnetized with a width and pitch corresponding to the pole teeth shape formed on the stator magnetic poles In the inner rotor type PM stepping motor including a rotor having a rotor magnetic pole formed by a permanent magnet, each magnetic pole formed on the stator has a center line of the magnetic pole shape on the inner peripheral surface of each tip. The first in which a plurality of pole teeth are formed in line symmetry with respect to Pole portion and, of 該配 set pitch pole teeth of the same number and the same arrangement pitch of forming the magnetic pole portion of the first 1 /
A second magnetic pole portion which is deviated in the same circumferential direction on the inner peripheral surface of the magnetic pole tip by 4 to form pole teeth alternately in the circumferential direction;
The stator is divided into two parts in the axial direction, and is constituted by a first stator part and a second stator part, each of which forms first and second magnetic poles. Are mutually the first magnetic pole and the second magnetic pole.
And the magnetic poles are connected coaxially in a front-to-back relationship, but are alternately reversed in the circumferential direction. The rotor is provided with first and second fixed members of the stator. The first and second rotor portions are opposed to the inner peripheral surface forming the pole teeth of the rotor portion with a gap therebetween, and both of the two rotor portions are formed on the stator portion. The axial width and position of the pole teeth and the axial position and the width and pitch corresponding to the circumferential width and pitch N poles and S poles are alternately magnetized at the same radius to form a cylindrical magnet with magnetic poles, The magnetic poles of the first and second rotor portions are mutually deviated by １ ／ of the magnetic pole formation pitch, are connected in the axial direction via a non-magnetic material, and each has a holding member formed of a magnetic material. It is configured to be held on the rotor shaft via the shaft.

According to a second aspect of the present invention, the outer rotor type PM stepping motor includes at least six even-numbered stator magnetic poles radially formed at a constant pitch from a cylindrical surface of the cylindrical magnetic body. This stator magnetic pole has a plurality of predetermined number of pole teeth formed on the outer peripheral surface of each end thereof at equal pitches, and a stator in which an exciting winding is wound around each stator magnetic pole, as described above. The N pole and the S pole are rotatably supported by a predetermined bearing through an air gap and an outer peripheral surface forming the pole teeth of the stator magnetic pole, and have a width and a pitch corresponding to the pole tooth shape formed on the stator magnetic pole. And a rotor in which a rotor magnetic pole is formed by a cylindrical permanent magnet alternately magnetized. Center line of magnetic pole shape A first magnetic pole part having a plurality of pole teeth formed in line symmetry with the same number and the same pitch as the pole teeth formed on the first magnetic pole part; And a second magnetic pole portion which is deviated in the same circumferential direction on the surface to form a pole tooth is alternately formed in the circumferential direction, and the stator is bisected in the axial direction. Are formed by a first stator portion and a second stator portion, and the first and second stator portions mutually connect the first magnetic pole and the second magnetic pole to each other in a coaxial direction. The rotors are connected so that the front and back sides are alternately reversed in the circumferential direction. The rotor forms the pole teeth of the first and second stator portions of the stator. First and second rotor portions, each of which faces the outer peripheral surface with a gap therebetween, and each of the two rotor portions has a pole tooth shaft formed on the stator portion. The first and second cylindrical magnets are formed by magnetizing N poles and S poles alternately at the same position, width and pitch in the axial direction corresponding to the direction width and position, and the circumferential width and pitch. The magnetic poles of each of the two rotor portions are mutually deviated by の rotation of the magnetic pole formation pitch, are connected in the axial direction via a non-magnetic material, and each is a holding member formed at a predetermined position via a magnetic material. It was configured to be held on the rotor shaft.

In the case of a 6-phase 6-m pole inner rotor type and outer rotor type PM stepping motor according to the third aspect, the number of magnetic poles of the stator is set to six, and the number Pr of magnetic poles of the rotor is set as follows. It is necessary to satisfy the relationship of the expression (2) or the expression (3). Pr = 2m (6n + 1) (2) Pr = 2m (6n + 2) (3) As described in claim 4, a 10-phase 10-m pole inner rotor type and outer rotor type PM stepping motor. In the case of, the number of magnetic poles of the stator is formed to ten,
The number of magnetic poles Pr of the rotor needs to be formed so as to satisfy the relationship of the following expression (4) or (5). Pr = 2m (10n + 2) (4) Pr = 2m (10n + 3) (5) However, in the above equations (2), (3), (4) and (5), Pr = 2 × ( 360 ° / τR) m ≧ 1 and n ≧ 1 are integers. Further, τR is the pitch at which the magnetic poles of the rotor are formed.

The above-mentioned stator may further comprise a magnetic pole having pole teeth formed symmetrically at the tip of the magnetic pole,
1/4 of the pole tooth arrangement pitch of magnetic poles with pole teeth formed axisymmetrically
A predetermined number of magnetic plates formed by alternately forming magnetic poles with pole teeth formed by deviating are stacked, and a predetermined number of magnetic plates formed in the same shape as the magnetic plate are rotated by a magnetic pole forming pitch and stacked. It is desirable to fix the laminate and wind the winding. Further, it is desirable that the pole tooth formation pitch τs of the stator and the magnetic pole pitch τR of the rotor satisfy the relationship of the following equation (6). 0.75τR ≦ τs ≦ 1.25τR (6)

In the above-described configuration, the function as a multi-phase stepping motor having various numbers of poles is exhibited according to desired characteristics without increasing the number of magnetic poles of the stator. Therefore, a small and accurate high-resolution stepping motor can be obtained. Also, excellent functions such as lower noise, higher speed rotation, and lower temperature rise can be obtained as compared with the hybrid type stepping motor. Furthermore, if the magnetic iron plates are stacked as described in claim 5, overcurrent loss can be reduced, and a configuration that improves efficiency can be efficiently assembled.

[0014]

Embodiments of the present invention will be described in detail with reference to the drawings. In the configuration diagram of each embodiment,
Components corresponding to those shown in FIGS. 39 and 40 in the related art are denoted by the same reference numerals, and detailed description thereof will be omitted. Embodiment 1 FIG. 1 shows a 6-phase 6-pole motor (inner rotor type PM stepping motor) formed based on the present invention.
2 shows a cross section taken along line XX 'of FIG. 1 and 2, reference numeral 1 denotes a cylindrical casing. The casing 1 is integrally connected to the casing 1 by an annular portion forming a stator core 2 of the stator S1. In the stator S1, six magnetic poles 3a1 to 3a6 corresponding to the structural characteristics of the motor are formed centripetally at equal intervals in the inward direction of the stator core 2, and each magnetic pole will be described in detail later. As described above, the windings 4a1 to 4a6 for passing current and magnetizing sequentially in a predetermined direction are wound. FIG.
Represents each winding symbolically, and the sign x and the sign indicated on each winding indicate the winding direction, and here, means that current flows from the sign x to the sign in accordance with general standards. .

As will be described in detail later, first magnetic poles 3a11, 3a21, 3a31, which are provided with pole teeth 3k1 at the tips of the magnetic poles 3a1 to 3a6 in line symmetry with respect to the center line of the magnetic poles.
3a41, 3a51, 3a61 (not shown in FIG. 2; see FIGS. 4 and 6) and a second magnetic pole formed with a pole tooth 3k1 which is formed in the same direction as the pole tooth pitch by 1/4. 3a12, 3a2
23a32 3a42, 3a52, and 3a62 (not shown in FIG. 2; see FIGS. 4, 6 and 12) are formed in the axial direction alternately and substantially bisected. That is, as shown in FIGS. 4 and 12, every other three magnetic poles 3a1, 3a3, 3a5 of the six magnetic poles 3a1 to 3a6, and every other three magnetic poles 3a2, 3a4, 3a6. And each have the same shape,
Adjacent magnetic poles are connected to each other with respect to the rotor axis direction of the first magnetic pole and the second magnetic pole, which are two types of magnetic poles, in a front-to-back relationship. The first stator portion Sa1 and the second stator portion Sb1 are respectively formed so as to be inverted so as to constitute each magnetic pole portion. This relationship will be described in more detail. As shown in FIGS. 4A and 4B, for example, the first magnetic pole 3a11 formed on the first stator portion Sa1 is connected to the second stator portion Sb1. The formed second magnetic pole 3a12 is connected in a front-to-back relationship to form one magnetic pole part, and a magnetic pole part circumferentially adjacent to this magnetic pole part is formed on the first stator part Sa1. The first magnetic pole 3a21 formed on the second stator portion Sb1 is connected to the second magnetic pole 3a22 in a front-to-back relationship. Each interval angle between the magnetic poles and the pole teeth is proportional to the pitch on the circumferential surface on a predetermined radius. In the case of a circular motor, the dimensional interval changes at the position of the radius to be measured, but the angle does not change. Therefore, the display of the interval between the magnetic poles and the like will be performed based on the angle, and the interval will be referred to as pitch.

End plates 5 and 6 are integrally connected to both ends of the casing 1. End plates 5, 6
The bearings 7a and 7b are fitted to the central portions of the bearings respectively, and the pair of bearings 7a and 7b rotatably support the rotor shaft 8. The first unit rotor RA1 is provided on the rotor shaft 8 at a position facing the first stator portion Sa1 of the stator with a predetermined gap between the first shaft portion Sa1 and the inner peripheral surface of the first stator Sa1. The second unit rotor RB1 is coupled to the inner surface of the second stator Sb1 at a position facing the second stator portion Sb1 with a predetermined gap therebetween. An annular non-magnetic member 11 having a predetermined width is interposed between the first unit rotor RA1 and the second unit rotor RB1. The first unit rotor RA1 and the second unit rotor RB1 have the same structure. Each of the first unit rotor RA1 and the second unit rotor RB1 is formed by a permanent magnet 9 alternately magnetized N and S and a magnetic body 10 serving as a support. It is configured in a shape. Magnetic poles are formed on the outer circumference of the two rotors at a predetermined pitch corresponding to the shape and pitch of the pole teeth 3k1 formed on each magnetic pole of the stator. As described later, the first
The first unit rotor RA1 and the second unit rotor RB1 are coupled to each other with a 偏 deviation from a pitch (a pitch between an N pole and an N pole or a pitch between an S pole and an S pole) forming magnetic poles.

Next, an example of a method for manufacturing the stator of the above-described six-phase six-pole motor of the present invention will be described with reference to FIG. In the same figure, the stator has a magnetic pole PA1 of the same shape in which a predetermined number of pole teeth 3k1 are formed at the tip end thereof at an equal pitch τS1 and symmetrically with respect to the center line of the magnetic pole inside an annular stator core 2; At the tip, the same number of pole teeth 3k1 of the same shape as the magnetic pole PA1 and the same shape of magnetic poles PB1 formed at an equal pitch τS1 and １ ／ of the pole tooth pitch, that is, τS1 / 4, are alternately formed. Pieces,
A predetermined number of magnetic material plates SP1 (hereinafter referred to as stator iron plates) SP1 formed in a centripetal shape are laminated in such a manner that a predetermined number of pole teeth overlap each other, and one half of the stator S1, the first fixed portion Sa1 or the second fixed portion. It constitutes the iron core of the stator part Sb1. Accordingly, the interval angle θS1 between the mutually adjacent magnetic pole PA1 and magnetic pole PB1 described above.
Is formed at 360 ° / 6, that is, at 60 °. next,
The stator iron plate SP formed in the same shape as that described above by rotating the magnetic pole with respect to the above-described structure, that is, by rotating the shaft by 60 ° and displacing the same.
The same number, or substantially the same number, of 1 as described above are laminated so that the pole teeth overlap to form the other half of the stator S1, that is, the cores of the first stator portion Sa1 and the second stator portion Sb1. Is done. The first stator portion Sa1 and the second stator portion Sb1 are formed so as to be opposed to the two unit rotors formed with the non-magnetic member 11 interposed therebetween, so that each unit rotor If each child can be configured to surely face the first stator portion Sa1 and the second stator portion Sb1, it is not necessary to halve the same number. Each stator iron plate may be prepared by punching with a press.

Next, the detailed structure of the magnetic pole portion of the stator formed by the above method will be described with reference to FIG. FIG.
(A) shows predetermined magnetic poles 3a1, 3a forming the stator S1.
The magnetic poles 3a11, 3a constituting one of the magnetic pole portions of 3, 3a5
aB, and FIG. 4B shows the magnetic pole 3 shown in FIG.
The magnetic poles 3a22 and 3a21 forming one magnetic pole portion of the magnetic poles 3a2, 3a4 and 3a6 circumferentially adjacent to one of the a1, 3a3 and 3a5 are shown. Since the stator S1 is formed as described above, the stator S1 shown in FIG.
Each of the magnetic poles 1 is a predetermined number of pole teeth 3 of the first stator portion Sa1.
The magnetic pole PA1 having k1 in line symmetry with respect to the magnetic pole, and the magnetic pole P1 of the second stator portion Sb1 connected to the magnetic pole PA1 in a front-to-back relationship.
A magnetic pole PB1 having the same number of pole teeth 3k1 as A1 with respect to the pole teeth of the magnetic pole PA1 and being displaced by 1/4 of the pole tooth pitch is illustrated. That is, the pole teeth are formed symmetrically with respect to the magnetic pole at the PA1 portion of the magnetic pole, and the pole teeth are formed asymmetrically with respect to the magnetic pole at the PB1 portion of the magnetic pole. FIG. 4B shows the magnetic pole of the first stator portion Sa1 and the second stator portion S shown in FIG.
The magnetic pole b1 is formed by connecting the magnetic poles in a front-to-back relationship. That is, in this case, the magnetic poles attached to each other are exchanged, and a second stator portion Sb1 having a magnetic pole PA1 having a predetermined number of pole teeth 3k1 line-symmetrically with respect to the magnetic pole,
A magnetic pole PB1 having the same number of pole teeth 3k1 as the magnetic pole PA1 displaced by 1/4 of the pole tooth pitch with respect to the pole teeth of the magnetic pole PA1.
This indicates that the first stator portion Sa1 provided with is connected in a front-to-back relationship to form a magnetic pole. That is, the magnetic pole PB
In one part, the pole teeth are formed symmetrically with respect to the magnetic pole, and in the PA1 part of the magnetic pole, the pole teeth are formed asymmetrically with respect to the magnetic pole.

FIG. 5 (A) shows the relationship between the rotor magnetic poles forming the rotor shown in FIG. 1, and FIG.
The magnetic poles of the rotor are shown enlarged. That is, the unit rotors RA1 and RB1 constituting the rotor of the present invention are magnetized alternately by N and S, respectively. The pitch angle τR1 / 4 is formed between them.

FIGS. 6, 7 and 8 show the magnetic poles of the stator and the rotor constituting the present motor, respectively (2),
(3) is shown by decomposing the correlation shown in the equation, and θS
1 indicates the pitch of the magnetic poles of the stator, which is 360 ° / 6 in the case of the six-pole six-phase shown in the present embodiment. Also, while the formation pitch τS1 (interval angle) of the pole teeth of the stator is formed to be the same, the formation pitch τR (interval angle) of the pole teeth of the rotor is shown in FIG.
7 is τR12, the case shown in FIG. 7 is τR12, and the case shown in FIG. 8 is τR13. In the case shown by α12, and in the case shown by FIG.
In FIG. 6, τS1 = τR11, in FIG. 7, τS1 <τR12, FIG.
Then, τS1> τR13. That is, FIG. 6 shows the correlation between the pole teeth of the stator and the pole teeth of the rotor when the formation pitch τS1 of the pole teeth of the stator and the formation pitch τR1 of the pole teeth of the rotor are represented by the following equation (7). Is represented by the following equation. .theta.s1 = n.tau.R11 + (1/4) .tau.R11. +-. 11 In the case of six phases, the rotor magnetic poles move one pitch in 12 steps, so that the adjacent stator magnetic poles (in FIG.
When a11 faces a predetermined rotor magnetic pole N-pole, the deviation from the stator magnetic pole 3a21) is α11 = (1/12) τR
Must be 11. Further, since the number of stator poles is six, it is expressed as θs1 = 2π / 6. Therefore, the equation is 2π / 6 = nτR11 + (1/4) τR11 ± (1/12) τR11 ... where τR11 is the pitch of the magnetic poles of the rotor, so that τR
11 = 2 (2π / Pr). Therefore, 2π / 6 = n (4π / Pr) + (1/4) (4π / Pr) ± (1/12) (4π / Pr) When rearranging, Pr = 2 (6n + 1) (2 ') and Pr = 2 (6n + 2) (3') are obtained.

Similarly, in the case of the 6-phase, 12-pole, the positional relationship of the pole teeth is the same as in FIG. 6, but the pole position of the stator is θs1 = 2π.
/ 12. Therefore, in the case of a 6-phase, 12-pole, 2π / 12 = nτR11 + (1/4) τR11 ± (1/12) τR11... Where τR11 = 2 (2π / Pr) Pr = 2 (12n + 2) (2 ″) Pr = 2 (12n + 4) (3 ″) is obtained. Therefore, in general, in the case of a 6-phase, 6-m pole, it is expressed as in equations (2) and (3). Pr = 2m (6n + 1) (2) Pr = 2m (6n + 2) (3) where m ≧ 1, n ≧ 1.

Similarly, in the case of 10 phases and 10 poles, θs 1 = 2
By substituting π / 10, it is obtained as follows. First, in the case of 10 phases, since the rotor magnetic pole moves one pitch in 20 steps, it is expressed as α11 = (1/20) τR11. Therefore, 2π / 10 = nτR11 + (1/4) τR11 ± (1/20) τR11... Here, since τR11 = 2 (2π / Pr), Pr = 2 (10n + 2). (4 ′), Pr = 2 (10n + 3) (5 ′) is obtained.

Similarly, the equation for the case of 10 phases and 20 poles is:
It is obtained by replacing the magnetic pole position θs1 in FIG. 6 with θs1 = 360 ° / 20. That is, since the rotor magnetic pole moves by one pitch in 20 steps, α11 = (1/20) τ
R11. Therefore, 360 ° / 20 = nτR11 + (1/4) τR11 ± (1/20) τR11... Here, since τR11 = 2 (2π / Pr), Pr = 2 (20n + 4) ( 4 "), Pr = 2 (20n + 6) (5"). Therefore, in general, in the case of 10 phases and 10 m poles, the following equations (4) and (5) are obtained. Pr = 2m (10n + 2) (4) Pr = 2m (10n + 3) (5) where m ≧ 1, n ≧ 1.

FIG. 7 shows the case where the formation pitch τS1 of the pole teeth of the stator and the formation pitch τR1 of the pole teeth of the rotor are given by the following equation (8). τS1 and the rotor tooth pitch τR1 are (9)
The case of the condition shown by the equation is shown. τR1 = τS1 (7) 0.75τR1 ≦ τS1 <τR1 (8) τR1 <τS1 ≦ 1.25τR1 (9)

In each of FIGS. 6, 7 and 8, 3a11
Is one of predetermined poles of the magnetic pole portions 3a1, 3a3, 3a5 forming the stator S1, and in the case of FIG.
The magnetic pole part 3a1 of the magnetic pole part 3a1 of the stator part Sa1 is formed in a line symmetrical manner, and the magnetic pole part 3a12 is the second stator part Sb
The magnetic pole portion 3a1 has a pole tooth formed asymmetrically, and the magnetic pole portion 3a21 has magnetic pole portions 3a2, 3a adjacent to the magnetic pole portion.
a4, 3a6, which is one of the predetermined poles. In the case of the figure, the magnetic pole portion of the magnetic pole portion 3a2 of the second stator portion Sb2 is formed in a line-symmetrical manner. The magnetic pole parts of the magnetic pole part 3a2 of the first stator part Sa1 are shown as being asymmetric.

As described above, the asymmetrically formed pole teeth are deviated by ４ of the pole tooth pitch with respect to the symmetrically formed pole teeth. As shown in the figure, the relative position between the pole teeth of the stator magnetic poles and the magnetic poles of the rotor is equal in each half. Become. For example, in FIG. 6, at the timing when the pole teeth of the magnetic pole part 3a11 face the magnetic poles of the first unit rotor RA11, the pole teeth of the magnetic pole part 3b11 of the same magnetic pole are set to the second unit rotor RB11.
Opposing to the magnetic pole. θS1 is the pitch of the magnetic poles of the stator, τ
S1 indicates the pitch of the pole teeth of the stator, and τR11 indicates the pitch of the magnetic poles of the rotor. Further, α11 indicates the interval angle between the pole teeth of the magnetic poles of the adjacent stator and the magnetic poles of the rotor when the positions of the pole teeth of the predetermined magnetic poles of the stator and the magnetic poles of the rotor match. Therefore, the pitch θS1 of the magnetic poles of the stator of the six-phase six-pole motor shown in this embodiment is θS1 = 3.
60 ° / 6, and as shown by the equation (2), the following (1)
In the case of the condition shown by the equation (0), α11 is α11 = τR11 / 1
It becomes 2. Pr11 = 2 (6n + 1) or Pr11 = 2 (6n + 2) (10) where Pr11 is the number of each magnetic pole of the rotor and n ≧ 1.

FIG. 7 is a diagram showing the state under the condition of equation (8) in the case of six phases and six poles. In FIG. 7, since the stator is the same as that in FIG. τS1 indicates the pole pitch of the stator, and τR12
Indicates the pitch of the magnetic poles of the rotor. Further, α12 is an interval angle between the pole teeth of the adjacent stator poles corresponding to the above and the rotor magnetic poles in a state where the pole teeth of the predetermined magnetic poles of the stator and the magnetic poles of the rotor coincide with each other. Is shown. Therefore, the pitch θS1 of the magnetic poles of the stator of the six-phase six-pole motor shown in the present embodiment is 360 ° / 6, (2 ′),
In the case of the condition represented by the following equation (11) as shown in the equation (3 '), α12 becomes α12 = τR12 / 12. Pr12 = 2 (6n + 1) or Pr12 = 2 (6n + 2) (11) where Pr12 is the number of each rotor magnetic pole and n ≧ 1.

FIG. 8 is a view showing the state under the condition of equation (9) in the case of six phases and six poles. In FIG. 8, since the stator is the same as that in FIG. 6, θS1 is the pitch of the magnetic pole of the stator, τS1 Indicates the pitch of the pole teeth of the stator, and τR13
Indicates the pitch of the pole teeth of the rotor. Further, α13 is the distance between the pole teeth of the rotor and the pole teeth of the rotor corresponding to the above positions of the adjacent stator in a state where the position of the pole teeth of the predetermined magnetic pole of the stator and the position of the magnetic pole of the rotor match. Is shown. Therefore, the pitch θS1 of the magnetic poles of the stator of the six-phase six-pole motor shown in the present embodiment is θS1 = 360 ° / 6, (2 ′),
In the case of the condition represented by the following equation (12) as shown in the equation (3 '), α13 becomes α13 = τR13 / 12. Pr13 = 2 (6n + 1) or Pr13 = 2 (6n + 2) (12) where Pr13 is the number of magnetic poles of each rotor and n ≧ 1.

FIG. 9 shows a motor according to this embodiment.
Table 1 shows the relationship between the number Pr of each rotor magnetic pole and the step angle of this motor under the condition that n is changed from 1 described above.
FIG. In Table 1, the number of magnetic poles P
In the case where r is 2 (6n + 1) and 2 (6n + 2), the step angles when n is sequentially increased from 1 are shown in the vertical direction.

FIG. 10 shows a connection state of the monofilar winding in the present embodiment. In the figure, A,
A 'is the lead of the winding 4a1, D and D' are the leads of the winding 4a2, B and B 'are the leads of the winding 4a3, and E and E' are the windings of the winding 4a.
The lead wire of a4, C, C 'is the lead wire of winding 4a5, F, F'.
Are the lead wires of the winding 4a6, and these terminals are connected to a driving exciting current output circuit.

Next, the driving operation of the motor having the above configuration will be described with reference to FIGS. In FIG. 11, the horizontal axis indicates the flow (sequence) of the operation steps in Step 1.
To step 15 and illustration of step 16 and subsequent steps is omitted. In the vertical direction, each of the above-mentioned lead lines is shown, and the horizontal axis showing each of the lead lines shows the timing of supplying the pulse current corresponding to each step by a quadrilateral. The quadrilateral described above the horizontal line indicating each leader is, for example, leader A
, And the quadrilateral below the horizontal line indicating each lead line indicates that a current flows from the lead line A 'to the lead line A. That is, as shown in FIG. 11, by sequentially supplying a pulse current to each lead line, this motor rotates by the above-described step angle.

FIG. 12 shows a motor based on the above-described embodiment when the stator pole tooth pitch τS1 and the rotor magnetic pole pitch τR1 are equal to each other, which is the condition described in the above equation (7). FIG. 4 is a development view showing a positional relationship with the rotor, and the magnetic pole portions 3a1, 3a of the stator are sequentially arranged from left to right in the horizontal direction.
2, 3a3, 3a4, 3a5, 3a6 and 3a1 are again shown. FIG. 12 shows Steps 1 to 4 corresponding to the steps shown in FIG. 11 in the vertical direction, and illustration of Step 5 and subsequent steps is omitted. Each step is shown in FIG.
The entire stator having the magnetic poles shown in FIG. 3 is shown in an unfolded state, and the magnetic poles 3a1, 3a2, 3a3, 3a4, 3
a5, 3a6 Magnetic poles 3a1 constituting the first unit rotor RA1 which is a half portion belonging to the respective first stator portion Sa1.
1, 3a22, 3a31, 3a42, 3a51, 3a62 and the magnetic pole 3a1 constituting the second unit rotor RB1 belonging to the second stator portion Sa2 which is the other half of each magnetic pole described above.
2, 3a21, 3a32, 3a41, 3a52, 3a61 are shown in order. 3a11, 3a21, 3a31, 3a41 described above.
Reference numerals 3a51 and 3a61 denote magnetic pole portions whose pole teeth are arranged symmetrically with respect to the magnetic poles in each of the magnetic poles 3a1 to 3a6.
a12, 3a22, 3a32, 3a42, 3a52, 3a62 are magnetic pole portions in each of the magnetic poles 3a1 to 3a6, the pole teeth of which are arranged non-symmetrically with respect to the magnetic pole. N indicates a magnetic pole magnetized on the N pole, and S indicates a magnetic pole magnetized on the S pole. In order to indicate the rotation state of the motor, a predetermined magnetic pole of the rotor has its polarity N Are indicated by circles.

Now, as shown in FIG. 11, in step 1, when a current flows from the lead A to the lead A ', the magnetic pole 3a1 of the stator is excited to the S pole. Therefore,
The magnetic pole of the N pole, which is the magnetic pole of both the first unit rotor RA1 and the second unit rotor RB1, is attracted. In step 1, the relative positions between the pole teeth of the stator and the magnetic poles of the rotor are as follows. That is, the interval angle α21 between the pole teeth of the magnetic pole 3a2 adjacent to the magnetic pole 3a1 of the stator and the N pole of the rotor adjacent to the rotor is τR1 / 12, and the rotor adjacent to the pole teeth of the magnetic pole 3a3 adjacent to the magnetic pole 3a2 of the stator. The spacing angle α31 between the magnetic pole of the S pole and the magnetic pole of the magnetic pole 3a4 adjacent to the magnetic pole 3a3 of the stator is 3τR1 / 12, and the spacing angle α41 between the magnetic pole of the S pole of the adjacent rotor is 3τR1 / 12. The spacing angle α51 between the pole teeth of the magnetic pole 3a5 adjacent to the magnetic pole 3a4 of the rotor and the N pole of the rotor adjacent thereto is 4τR1 / 12, and the rotor tooth adjacent to the pole teeth of the magnetic pole 3a6 adjacent to the magnetic pole 3a5 of the stator. The spacing angle α61 between the N pole and the magnetic pole is 5τR1 / 12, and the stator pole 3
The interval angle α71 between the pole tooth of the magnetic pole 3a1 adjacent to a6 and the magnetic pole of the S pole of the adjacent rotor is 6τR1 / 12. After step 2, the magnetic pole 3a1 excited in step 1
Illustrations other than 1 and the magnetic pole to be excited are omitted.

In step 2, when a current flows from the lead line D to the lead line D ', the magnetic pole 3a2 of the stator is excited to the S pole. Therefore, the first unit rotor RA1 and the second
Of the unit rotor RB1 is attracted. In step 1, the interval angle β between the first unit rotor RA1 attracted to the magnetic pole 3a1 of the stator and the corresponding pole tooth of the magnetic pole 3a1 of the stator becomes τR1 / 12. This τR 1/12 is the step angle.

In step 3, when a current flows from the lead line B 'to the lead line B, the magnetic pole 3a3 of the stator is excited to the N pole. Therefore, the first unit rotor RA1 and the second
Of the unit rotor RB1 is attracted. Since the motor rotates one more step angle, step 1
The interval angle β between the first unit rotor RA1 and the magnetic pole 3a1 of the stator, which has been attracted to the magnetic pole 3a1 of the stator, is 2τR1
/ 12.

In step 4, when a current flows from the lead line E 'to the lead line E, the magnetic pole 3a4 of the stator is excited to the N pole. Therefore, the first unit rotor RA1 and the second
Of the unit rotor RB1 is attracted. Since the motor rotates one more step angle, step 1
Then, the interval angle β between the predetermined magnetic pole of the first unit rotor RA1 attracted to the magnetic pole 3a1 of the stator and the pole tooth corresponding to the magnetic pole 3a1 of the stator becomes 3τR1 / 12. In other words, each time the step advances, it rotates by the step angle τR1 / 12.

Thereafter, in the same manner as described above, the motor continues to rotate by the step angle τR 1/12 by circulating and repeating the steps shown in FIG.

Embodiment 2: Next, the present invention is applied to a 6-phase 12-pole motor (inner rotor type PM stepping motor).
A second embodiment applied to the first embodiment will be described with reference to FIGS. In each figure, the element functions corresponding to the element functions shown in the first embodiment are denoted by the same reference numerals or different reference numerals with different suffixes, and detailed description is omitted. FIG. 13 is a longitudinal front view of a 6-phase 12-pole motor,
FIG. 14 shows a cross section taken along line XX 'of FIG. FIG.
In FIG. 14, S2 denotes a stator, and a stator core 2
The 12 magnetic poles 3b1 to 3b12 are formed centripetally at equal angular intervals in the inward direction, as in the first embodiment.
The connection state of the pole teeth PA2 and PB2 constituting the magnetic pole portions of the first and second stator portions Sa2 and Sb2 is configured to be alternately reversed at magnetic poles adjacent in the circumferential direction. That is, a predetermined number of pole teeth 3k2 are formed at an equal pitch at the tip of each magnetic pole of the stator S2, and the magnetic poles 3b1, 3b3, 3b
In each of 5, 3b7, 3b9, and 3b11, a half provided with the pole teeth symmetrically with respect to the magnetic pole and a half provided asymmetrically with the magnetic pole are connected in the front-to-back relationship in the axial direction. Magnetic poles 3b2, 3b4, 3b6, 3b8, 3b1
0 and 3b12 are provided in such a manner that a half provided symmetrically with respect to the magnetic poles and a half provided asymmetrically with respect to the magnetic poles are reversed from the above and connected to each other in a front-to-back relationship to form each magnetic pole. The poles are formed. Each magnetic pole has a winding 4b1
To 4b12 are wound.

The first unit rotor RA2 is connected to the rotor shaft 8 with a predetermined gap between it and a half of the axial direction of the stator S2, that is, the inner surface of the first stator Sa2. A second unit rotor RB2 is coupled to the other half of the stator S2, that is, a position facing the second stator Sb2 with a predetermined gap. First unit rotor R described above
An annular nonmagnetic body 11 having a predetermined width is interposed between A2 and the second unit rotor RB2. The first unit rotor RA2 and the second unit rotor RB2 have the same structure, and form a cylindrical permanent magnet alternately N and S magnetized on the outer periphery similarly to the first embodiment. ing. On the outer periphery of the two rotor magnetic poles, the N and S poles form magnetic poles with dimensions and pitches corresponding to the shape and pitch of the pole teeth 3k2 formed on each magnetic pole of the stator. Like the first embodiment, the first
The unit rotor RA2 and the second unit rotor RB2 are coupled to each other with a 偏 deviation from the pitch forming the magnetic pole.

Next, with reference to FIGS. 15 and 16, an example of a method for producing a stator according to the present embodiment will be described. As shown in FIG. 15, the stator has the same shape of magnetic poles in which a predetermined number of pole teeth 3k2 are formed at the tip thereof at a constant pitch τS2 and symmetrically with respect to the center line of the magnetic poles inside the annular stator core 2. Alternately, the pole PB2 and the pole PB2 of the same shape formed by displacing the pole teeth 3k2 of the same shape and the same number at the tip portion at the same pitch τS2 as 1/4 of the pole tooth pitch, ie, τS2 / 4, at the tip end. A magnetic material plate (hereinafter referred to as "stator iron plate") SP2 formed in a total of 12 pieces and a total of 12 pieces is laminated in such a manner that a predetermined number of pole teeth overlap so as to constitute one half of the stator S2. Accordingly, the interval angle θS2 between the magnetic pole PA2 and the magnetic pole PB2 adjacent to each other is 3
It is formed at 60 ° / 12, that is, 30 °. Next, the pitch of the magnetic poles, that is, the stator iron plate SP2 formed in the same shape as that described above by rotating by 30 ° and displacing it with respect to the above-described structure.
The same number, or almost the same number, as described above, are stacked so that the pole teeth overlap to form the other half of the stator S2, and the above-mentioned half of the stator is formed line-symmetrically with respect to the center line. The magnetic pole PA2 has the same shape as the magnetic pole PA2 and has a pitch of 1 /
4, that is, the magnetic pole PB2 formed by τS2 / 4 deflection is adjacent to the magnetic pole PB2. That is, the first stator portion Sa2
And the iron core of the 2nd stator part Sb2 is formed. The first stator Sa2 and the second stator Sb2 are formed so as to be opposed to the two unit rotors formed with the non-magnetic material 11 interposed therebetween. If it is possible to surely face each of the first stator portion Sa2 and the second stator portion Sb2 which is one half of the stator, it is not necessary to make each half the same number. Each stator iron plate may be prepared by punching with a press.

FIG. 16 shows an iron core structure of the magnetic pole portion of the stator formed by the above-described method. That is, FIG.
(A) shows predetermined magnetic poles 3b1, 3 forming the stator S2.
one of b3, 3b5, 3b7, 3b9, 3b11
FIG. 16B shows the magnetic poles 3 b 1 and 3 b shown in FIG.
One of the magnetic poles 3b2, 3b4, 3b6, 3b8, 3b10, 3b12 adjacent to one of b3, 3b5, 3b7, 3b9, 3b11 is shown. Since the stator S2 is formed as described above, each magnetic pole of the stator S2 shown in FIG. 16A has a magnetic pole PA2 having a predetermined number of pole teeth 3k2 line-symmetrically with respect to the magnetic pole. The first stator portion Sa2 and the magnetic pole PA
2 and a second stator portion Sb2 having a magnetic pole PB2 provided with the same number of pole teeth 3k2 as the pole teeth of the magnetic pole PA2 deviated by 1/4 of the pole tooth pitch in a front-to-back relationship. It is configured to be. In this case, the pole teeth are formed symmetrically with respect to the magnetic pole at the PA2 portion of the magnetic pole, and the pole teeth are formed asymmetrically with respect to the magnetic pole at the PB2 portion of the magnetic pole. In FIG. 16B,
Shown in FIG. 16 (A), shows the magnetic pole connected by the relation of sides to each of the magnetic poles of the first stator portion Sa2 and the second magnetic pole of the stator portion Sb 2. That is, the magnetic poles attached to each other are exchanged, and a second stator portion Sb2 having a magnetic pole PA2 having a predetermined number of pole teeth 3k2 line-symmetrically with respect to the magnetic pole, and a magnetic pole P
Each of the first stator portions Sa2 includes a magnetic pole PB2 having the same number of pole teeth 3k2 as A2 with respect to the pole teeth of the magnetic pole PA2 deviated by １ ／ of the pole tooth pitch. As a result, the pole teeth are formed symmetrically with respect to the magnetic pole at the PB2 portion of the magnetic pole, and the pole teeth are formed asymmetrically with respect to the magnetic pole at the PA2 portion of the magnetic pole.

FIG. 17A shows the relationship between the rotor magnetic poles forming the rotor, and FIG. 17B shows the magnetic poles of the rotor in an expanded manner. In FIG. 17, when the magnetic pole pitch of each rotor is τR2, the angle between the magnetic poles of the second rotor RB2 and the first unit rotor RA2 is τR2 / 4.

The configuration of the pole teeth of the stator and the rotor having the above-described structure is expressed by the equations (7), (8), and (9) shown in the first embodiment.
Corresponding the present embodiment to the equation, the code τR1 is changed to τ
The following (13) in which the code τS1 is converted to τS2 in R2
The relationship between the pole teeth formed on the magnetic poles of the stator and the rotor magnetic poles under the conditions of Expressions (14) and (15) will be described with reference to FIGS. τR2 = τS2 (13) 0.75τR2 ≦ τS2 <τR2 (14) τR2 <τS2 ≦ 1.25τR2 (15)

That is, the mutual positional relationship between the pole teeth of the stator and the rotor is the same as that described in the first embodiment with reference to FIGS. 7 and FIG. 8, the pole teeth symmetrical portions 3a11 and 3a21 of predetermined magnetic poles of the stator are respectively denoted by 3b11 and 3b21.
The pole tooth asymmetric parts 3a12 and 3a22 are respectively 3b12 and 3b22,
The stator magnetic pole pitch θS1 = 360 ° / 6 is converted to θS2 = 3.
At 60 ° / 12, the pole tooth pitch τS1 of the stator is changed to τS2.
In addition, the first unit rotors RA11, RA12 and RA13 are
A21, RA22 and RA23 are connected to the second unit rotor RB1 by R
In B2, the rotor magnetic pole pitch τR11, τR12, τR13
ΤR21, τR22, τR23, respectively, in the state where the position of the pole teeth of the predetermined magnetic pole of the stator and the position of the magnetic pole of the rotor match, the interval angle α11 between the pole teeth of the adjacent stator and the magnetic pole of the rotor, α
By replacing 12, α13 with α21, α22, α23, respectively, it can be used as it is.

In the six-phase 12-pole motor shown in the present embodiment, when the pitch relationship between the pole teeth of the stator and the magnetic poles of the rotor is expressed by equation (13), the number of rotor magnetic poles is set to (2 ), (3) is equivalent to m = 2.
When the condition expressed by the following expression (16) is satisfied, when the pole teeth of the predetermined magnetic pole of the stator are matched with the magnetic poles of the rotor, the pole teeth of the magnetic pole of the adjacent stator are rotated. The spacing angle α21 between the magnetic pole of the child and the magnetic pole of the child is α21 = τR21 / 12
become. Pr21 = 2 (12n + 2) or Pr21 = 2 (12n + 4) (16) Here, Pr2 is the number of each magnetic pole of the rotor, and is an integer of n ≧ 1.

Similarly, when the pitch relationship between the pole teeth of the stator and the magnetic poles of the rotor is expressed by the equation (14), the number of rotor magnetic poles is expressed by the following equations (2) and (3). In some cases, when the condition expressed by the following expression (17) is satisfied, the pole teeth of the stator and the magnetic poles of the adjacent stator are matched when the pole teeth of the magnetic pole match the magnetic poles of the rotor. The spacing angle α22 between the teeth and the rotor magnetic poles is α22 = τR22 / 12. Pr22 = 2 (12n + 2) or Pr22 = 2 (12n + 4) (17) Here, Pr22 is the number of magnetic poles of each rotor, and n ≧ 1 integer.

When the relationship between the pole teeth of the stator and the magnetic poles of the rotor is expressed by equation (15), the number of rotor magnetic poles is expressed by equations (2) and (3) where m = 2. The following (1
When the condition expressed by the expression 8) is satisfied, when the pole teeth of this magnetic pole and the magnetic pole of the rotor are matched with a predetermined magnetic pole of the stator, the pole teeth of the magnetic pole of the adjacent stator and the rotor teeth of the rotor are matched. The interval angle α23 between the pole teeth is α23 = τR23 / 12. Pr23 = 2 (12n + 2) or Pr23 = 2 (12n + 4) (18) Here, Pr23 is the number of each magnetic pole of the rotor, and is an integer of n ≧ 1.

FIG. 18 shows the relationship between the number Pr of the rotor magnetic poles and the step angle of the motor in the motor according to the present embodiment under the condition that n is changed from 1 as Table 2. It is. That is, the number of teeth Pr is 2 (1
2n + 2) and 2 (12n + 4)
The step angles when n is sequentially increased from 1 are shown in the vertical direction.

FIG. 19 shows a connection state of the monofilar winding in the present embodiment. In the figure, A,
A 'is a lead wire of a circuit in which the winding 4b1 and the winding 4b7 are connected in series. Similarly, D and D' are the windings 4b2 and 4b8, and B and B 'are the windings 4b3 and 4b9. E and E 'connect the windings 4b4 and 4b10 in series, C and C' connect the windings 4b5 and 4b11 in series, and F and F 'connect the windings 4b6 and 4b12 in series. A driving pulse output circuit is connected to each of these terminals.

Driving of the motor having the above-described configuration is executed by the same flow as that shown in FIG. 11 in the first embodiment. Therefore, the operation is the same as that described with reference to the developed view shown in FIG.
In order to replace the pole structure with a 12-pole structure, the stator magnetic poles are added for 6 poles, and the positions of the rotor magnetic poles correspond to the positions of the stator magnetic poles, as shown in FIG. Each time a pulse current is sequentially supplied to each lead line according to the flow described above, the rotation is continued by stepping by τR2 / 12r, which is a step angle.

Embodiment 3 Next, the present invention is applied to 10 phases 10
Pole motor (Inner rotor type PM stepping motor)
20 to 27 will be described with reference to FIGS. The contents described in the first and second embodiments for the 6-phase 6-pole motor or the 6-phase 12-pole motor
For items that can be easily understood by converting to a pole motor,
The illustration is omitted. In addition, element functions corresponding to the element functions shown in the first embodiment are denoted by the same reference numerals or different reference numerals with different suffixes and the like, and detailed description will be omitted. Regarding the operation, for example, the operation by applying a drive current to each winding is described with reference to FIGS. 6, 7, and 8 in which the magnetic poles are developed. Since it can be understood, a detailed description is omitted.

FIG. 20 is a longitudinal sectional front view of a 10-phase 10-pole motor, and FIG. 21 is a sectional view taken along line XX 'of FIG. FIG.
0, in FIG. 21, S3 is, like the first and second embodiments, 1/1 of the magnetic pole in the rotor axial direction, as described in detail later.
It is composed of a first stator portion Sa3 and a second stator portion SB3 formed by alternately displacing the pole teeth by ４ of the pole tooth formation pitch in units of 2 or approximately ２ of the width. Stator. Each of the first stator portion Sa3 and the second stator portion SB3 forming the stator S3 has ten magnetic poles 3c1 to 3c10 formed centripetally at equal angular intervals inward of the stator core 2. Thus, the magnetic poles adjacent to each other in the circumferential direction are configured such that the positions where the pole teeth are formed are alternately reversed. That is, similarly to the first and second embodiments, a predetermined number of pole teeth 3k3 are formed at an equal pitch at the tip of each magnetic pole, and the first stator portion Sa3 and the second stator portion Sb3 are formed. In the magnetic poles 3c1, 3c3, 3c5, 3c7, 3c9, a half provided with pole teeth symmetrically with respect to the magnetic pole and a half provided asymmetrically with respect to the magnetic pole are formed in the axial direction. 3c
8, 3c10 are provided with a half opposite to the above magnetic pole and a half provided symmetrically with respect to the magnetic pole and a half provided asymmetrically with respect to the magnetic pole. Windings 4c1 to 4c10 are wound around each of the magnetic poles.

A first unit rotor RA3 is coupled to the rotor shaft 8 at a position facing the inner surface of the first stator portion Sa3 with a predetermined gap, and a second stator portion Sa3 is provided. The second unit rotor RB3 is coupled with a predetermined gap at a position facing the inner surface of the second unit rotor RB3. An annular non-magnetic member 11 having a predetermined width is interposed between the first unit rotor RA3 and the second unit rotor RB3. The first unit rotor RA3 and the second unit rotor RB3 have the same structure, and form cylindrical permanent magnets which are magnetized on the outer periphery alternately N and S similarly to the first and second embodiments. ing. The first unit rotor RA3 and the second unit rotor RB3 are coupled to each other with a １ ／ deflection of the magnetic pole pitch.

FIG. 22 shows that the ten phases 1
An example of a method for creating a stator applied to a zero-pole motor will be described. The stator includes a magnetic pole PA3 of the same shape in which a predetermined number of pole teeth 3k3 are formed at the tip portion at an equal pitch τS3 and symmetrically with respect to the center line of the magnetic pole, and a magnetic pole at the tip portion. The poles 3k3 of the same shape and the same number as PA3 are arranged at an equal pitch τS3 and １ ／ of the pole tooth pitch, that is, 5 poles of the same shape formed by deviating τS3 / 4 are alternately formed in a total of five each. A magnetic material plate (hereinafter, referred to as a stator iron plate) SP3 formed in a centripetal shape is laminated so that a predetermined number of pole teeth overlap each other to form one half of the stator S3. Therefore, the interval angle θS3 between the magnetic pole PA3 and the magnetic pole PB3 which are adjacent to each other as described above.
Is formed at 360 ° / 10, that is, at 36 °. Next, the pitch of the magnetic poles with respect to the above-described structure, that is, 36 ° rotation and deflection, the same number of stator iron plates SP3 formed in the same shape as above, or almost the same number, and the pole teeth overlap. To form the other half of the stator S3.
That is, iron cores of the first stator portion Sa3 and the second stator portion Sb3 are formed. The first stator Sa2 and the second stator Sb2 described above are the same as in the first or second embodiment, and, as will be described later, are each formed of two unit rotors sandwiching the nonmagnetic material 11. If each unit rotor can be configured to face each of the first stator portion Sa2 and the second stator portion Sb2, which are one-half of the stator, each unit rotor can be formed in half. It is not necessary to make each the same number. Each stator iron plate may be prepared by punching with a press.

The structure of the magnetic pole portion S3 of the stator core of the present embodiment formed by the above-described method is configured as shown in FIG. That is, the first and second stator portions Sa3 and Sb3 shown in FIG. 23 (A) have the same number of magnetic poles at the same predetermined location, and have a half number of pole teeth 3k3 provided symmetrically with respect to the magnetic poles. PA3 and a half PB3, which is formed by displacing the pole tooth 3k3 by 1/4 of the pole tooth pitch and asymmetrically provided with respect to the magnetic pole, are connected in a front-to-back relationship to form each magnetic pole portion. On the other hand, each magnetic pole part circumferentially adjacent to the above shown in FIG.
A half PA3 having pole teeth 3k3 in line symmetry with respect to the magnetic pole;
A half PB3, which is provided asymmetrically with the magnetic pole deviated by 1/4 of the pole tooth pitch, is inverted from the magnetic pole shown in FIG.

FIG. 24A shows the relationship between the rotor magnetic poles forming the rotor, and FIG. 24B shows the magnetic poles of the rotor in an expanded manner. In FIG. 24, the first
The unit rotor RA3 and the second unit rotor RB3 form a cylindrical permanent magnet alternately N and S magnetized on the outer periphery. Assuming that the magnetic pole pitch of each rotor is τR3, the interval angle between the first unit rotor RA3 and the second unit rotor RB3 is τR3 / 4.

The configuration of each pole tooth of the stator and the rotor having the above structure is expressed by the equations (7), (8) and (9) shown in the first embodiment.
Corresponding the present embodiment to the equation, the code τR1 is changed to τ
The following (19) in which the code τS1 is converted to τS3 in R3
Under the conditions of Expressions (20) and (21), the relationship between the pole teeth formed on the magnetic poles of the stator and the pole teeth formed on the rotor magnetic poles will be described with reference to FIGS. Is shown. τR3 = τS3 (19) 0.75τR3 ≦ τS3 <τR3 (20) τR3 <τS3 ≦ 1.25τR3 (20) ... (21)

That is, the mutual positional relationship between the pole teeth of the stator and the rotor is the same as that described in the first embodiment with reference to FIGS. 7 and 8 denote the pole tooth symmetry portions 3a11 and 3a21 of the predetermined magnetic poles of the stator 3c11 and 3c21, respectively.
The pole tooth asymmetric portions 3a12 and 3a22 are respectively 3c12 and 3c22.
The pitch of the magnetic poles of the stator θS1 = 360 ° / 6 is converted to θS3.
= 360 ° / 10, the pitch τS1 of the pole teeth of the stator is τ
At S3, the first unit rotors RA11, RA12, and RA13 are respectively attached to RA31, RA32, and RA33, and the second unit rotor RB1 is attached.
To RB3, the rotor pole pitch τR11, τR12, τ
R13 is set to τR31, τR32, τR33, respectively, with the position of the pole teeth of the predetermined magnetic pole of the stator and the position of the magnetic pole of the rotor being matched,
Spacing angle α1 between pole teeth of adjacent stator and magnetic poles of rotor
By replacing 1, α12 and α13 with α31, α32 and α33, respectively, they can be used as they are.

In the 10-phase 10-pole motor shown in the present embodiment, when the pitch relationship between the pole teeth of the stator and the magnetic poles of the rotor is expressed by equation (19), the number of rotor magnetic poles is set to (4 ′) And (5 ′), when the condition expressed by the following expression (22) is satisfied, the predetermined magnetic pole of the stator
When the pole teeth of this magnetic pole are matched with the magnetic poles of the rotor, the interval angle α31 between the pole teeth of the magnetic pole of the adjacent stator and the magnetic pole of the rotor is α31 = τR31 / 20. Pr31 = 2 (10n + 2) or Pr31 = 2 (10n + 3) (22) where Pr31 is the number of pole teeth of each rotor magnetic pole and n ≧ 1.

When the relationship between the pole teeth of the stator and the magnetic poles of the rotor is expressed by the equation (20), the number of rotor magnetic poles is expressed by the equations (4 ') and (5'). The following (2)
When the condition expressed by the expression 3) is satisfied, the pole teeth of the adjacent stator and the magnetic poles of the rotor when the pole teeth of the predetermined magnetic pole of the stator and the magnetic pole of the rotor are matched. Α32 = τR32 / 20. Pr32 = 2 (10n + 2) or Pr32 = 2 (10n + 3) (23) where Pr32 is the number of each rotor magnetic pole, and n is an integer of 1 or more.

When the relationship between the pole teeth of the stator and the magnetic poles of the rotor is expressed by the equation (21), the number of rotor magnetic poles is expressed by the equations (4 ') and (5'). The following (2)
When the condition expressed by the expression 4) is satisfied, the predetermined teeth of the stator are matched with the pole teeth of this pole and the poles of the rotor. Α33 = τR33 / 20. Pr33 = 2 (10n + 2) or Pr33 = 2 (10n + 3) (24) where Pr33 is the number of each rotor magnetic pole and n ≧ 1.

FIG. 25 shows an example of the relation between the number of rotor magnetic poles Pr and the step angle of the motor in the motor according to the present embodiment under the condition that n is changed from 1 as shown in Table 3. It is. That is, the number of magnetic poles Pr is 2
In the case of (10n + 2) and the case of 2 (10n + 3), the step angles when n is sequentially increased from 1 are shown in the vertical direction.

FIG. 26 shows a connection state of the monofilar winding in the present embodiment. In FIG. 26,
A and A 'are the leads of the winding 4c1, F and F' are the leads of the winding 4c2, B and B 'are the leads of the winding 4c3, G and G' are the leads of the winding 4c4, and C and C 'is the lead wire of the winding 4c5, H,
H 'is the lead wire of the winding 4c6, D and D' are the lead wires of the winding 4c7, I and I 'are the lead wires of the winding 4c8, and E and E' are the winding wires of the winding 4c8.
Leading lines c9, J and J 'are leading lines of the winding 4c10, and an exciting current output circuit for driving is connected to each of these terminals.

Driving of the motor having the above-described configuration is executed by the flow shown in FIG. 27 similarly to the flow shown by FIG. 11 in the first and second embodiments. In FIG. 27, the horizontal axis indicates the flow (sequence) of operation steps from step 1 to step 22, and illustration of step 23 and subsequent steps is omitted. The above-mentioned respective lead lines are shown in the vertical direction, and the timing of supplying the pulse current corresponding to each step is shown by a quadrilateral on the horizontal axis showing the respective lead lines. The quadrilateral above the horizontal line indicating each leader is
For example, a current flows from the lead A to the lead A ', and a quadrilateral below the horizontal line indicating each lead indicates that a current flows from the lead A' to the lead A. Therefore, as shown in FIG. 27, by sequentially supplying a pulse current to each lead line, this motor advances by the aforementioned step angle and rotates. That is, the operation is as follows. In order to obtain a structure of 10 phases and 10 poles, the magnetic poles of the stator are converted into 10 poles, and the development of the 6 phases and 6 poles shown in FIG. Since the position of the magnetic pole is similarly shown by associating the position of the magnetic pole with the position of the magnetic pole of the stator, according to the flow shown in FIG.
The rotation is continued by 3/20, and is rotated by one pulse for one pitch of the pole teeth.

Embodiment 4: Next, the present invention is applied to a 10-phase 20
An embodiment applied to a pole motor (inner rotor type PM stepping motor) will be described with reference to FIGS. The contents described in the first to third embodiments for the 6-phase 6-pole motor, the 6-phase 12-pole motor, and the 10-phase 10-pole motor are changed to the 10-phase 20-pole motor, and matters which can be easily understood are illustrated and described. Is omitted. Regarding the operation, for example, the operation by applying a drive current to each winding, see FIG. 6, FIG. 7, FIG. Just do it. In addition, in each drawing, the same components as those in the first embodiment are denoted by the same reference numerals or different suffixes or the like, and description thereof is omitted.

FIG. 28 is a vertical sectional front view of a 10-phase 20-pole motor, and FIG. 29 is a sectional view taken along line XX 'of FIG. FIG.
8, in FIG. 29, S4 is a stator, and 20 magnetic poles 3d1 to 3d20 are formed centripetally at equal angular intervals in the stator core 2 inward, and each magnetic pole is alternately formed with a pole tooth. The formed shapes intersect. That is, a predetermined number of pole teeth 3 corresponding to the structural characteristics of the motor are provided at the tip of each magnetic pole.
k4 are formed at the same pitch, and the first stator portion Sa4 and the second stator portion Sb4 have magnetic poles 3d1, 3d3, 3d5, 3d7, respectively, as in the first to third embodiments.
In each of 3d9, 3d11, 3d13, 3d15, 3d17, and 3d19, the half provided with the pole teeth symmetrically with respect to the magnetic pole and the half provided asymmetrically with respect to the magnetic pole are formed on the same side in the axial direction.
3d4, 3d6, 3d8, 3d10, 3d12, 3d14, 3d1
6, 3d18 and 3d20 each include a half provided symmetrically with respect to the magnetic pole and a half provided asymmetrically with respect to the magnetic pole on the side opposite to the axis with respect to the magnetic pole, and each magnetic pole portion adjacent in the circumferential direction is mutually connected. The connection structure is provided by being inverted. The above magnetic poles include:
The windings 4d1 to 4d20 are respectively wound.

The first unit rotor RA4 has a predetermined gap between the rotor shaft 8 and the inner surface of the first stator portion Sa4.
And a second unit rotor RB4 is coupled with a predetermined gap between the second unit rotor RB4 and the inner surface of the second stator portion Sb4. A non-magnetic member 11 formed in an annular shape having a predetermined width is interposed between the first unit rotor RA4 and the second unit rotor RB4. First unit rotor RA4
The second unit rotor RB4 has the same structure, and is formed of a cylindrical permanent magnet which is magnetized on the outer periphery of N and S alternately, similarly to the first to third embodiments. The first unit rotor RA4 and the second unit rotor RB4 have a magnetic pole pitch of 1
/ 4 is combined.

Referring to FIG. 30, an example of a method for producing a stator applied to a 10-phase 20-pole motor will be described. The stator has a predetermined number of pole teeth 3k4 inside the annular stator core 2 at the tip.
And a pole PA3 of the same shape formed at a constant pitch τS4 line-symmetrically with respect to the center line of the magnetic pole, and the same number of pole teeth 3k4 as the tip of the magnetic pole PA4 at an equal pitch τS4 of の of the magnetic pole pitch. That is, a magnetic material plate (hereinafter, referred to as a stator iron plate) SP formed by centrifugally forming ten magnetic poles PB4 of the same shape alternately formed by τS4 / 4 deflection, each having a total of 20 magnetic poles PB4.
4 are stacked so that a predetermined number of pole teeth overlap each other to form one half of the stator S4. Therefore, the angular interval θS4 between the magnetic pole PAA4 and the magnetic pole PB4 adjacent to each other is 360 ° /
20 or 18 °. Next, the pitch of the magnetic poles with respect to the above-mentioned structure, that is, 18 degrees of rotational deviation,
The remaining half of the stator S4 is formed by laminating the stator iron plates SP4 formed in the same shape as described above so that the same or almost the same number of pole teeth overlap. That is, iron cores of the first stator portion Sa4 and the second stator portion Sb4 are formed. The first stator portion Sa4 and the second stator portion Sb4 are formed so as to face two unit rotors formed with the non-magnetic member 11 interposed therebetween. Need not be equal to each other if they can be configured to reliably face the first stator portion Sa4 and the second stator portion Sb4, respectively. Each stator iron plate may be prepared by punching with a press.

The structure of the magnetic pole portion S4 of the stator core is configured as shown in FIG. 31, similarly to FIGS. 5, 17, and 21 shown in the first to third embodiments. That is, FIG.
The first stator portion Sa4 and the second stator portion S shown in FIG.
b4 Each of the magnetic poles at the same predetermined position is asymmetrical with respect to the magnetic poles by displacing the half PA4 having the predetermined number of pole teeth 3k4 in line symmetry with respect to the magnetic poles and the pole tooth 3k4 by 1/4 pitch of the pole teeth. The magnetic pole portion is formed by connecting the provided half PB4 in a front-to-back relationship. On the other hand, each magnetic pole portion circumferentially adjacent to the above shown in FIG.
A half PA4 provided with a magnetic pole and a half PB4 provided asymmetrically with the magnetic pole deviated by １ ／ of the pole tooth pitch are arranged at positions that are opposite to the magnetic poles shown in FIG. Each magnetic pole part is constituted by being connected.

FIG. 32 (A) shows the relationship between the rotor magnetic poles forming the rotor, and FIG. 32 (B) shows the magnetic poles of the rotor in an enlarged manner. In FIG. 32, the first unit rotor RA4 and the second unit rotor RB4 are both N,
S is alternately magnetized on the outer periphery. If the pitch of the magnetic poles of each rotor is τR4, the first rotor magnetic pole and the second
Of the unit rotor RB4 is τR4 / 4
Formed.

The pole teeth of the stator and the rotor having the above-described structure are expressed by the equations (7), (8) and (8) shown in the first embodiment.
Corresponding the present embodiment to equation (9), the code τR
1 is converted to τR4, and the code τS1 is converted to τS4.
Under each condition of the expressions 5), (26), and (27),
The relationship between the pole teeth formed on the magnetic poles of the stator and the rotor magnetic poles is shown with reference to FIGS. τR4 = τS4 (25) 0.75τR4 ≦ τS4 <τR4 (26) τR4 <τS4 ≦ 1.25τR4 (26)・ ・ (27)

That is, since the mutual positional relationship between the pole teeth of the stator and the rotor is the same as that described in the first embodiment with reference to FIGS. 6, 7 and 8, it is not shown in FIGS. 7 and 8, the pole teeth symmetrical portions 3a11 and 3a21 of predetermined magnetic poles of the stator are denoted by 3d11 and 3d21, respectively.
The pole tooth asymmetric parts 3a12 and 3a22 are respectively 3d12 and 3d22,
The stator magnetic pole pitch θS1 = 360 ° / 6 is converted to θS4 = 3.
To 60 ° / 20, the pole tooth pitch τS1 of the stator is set to τS4.
In addition, the first unit rotors RA11, RA12 and RA13 are
A41, RA42 and RA43 are connected to the second unit rotor RB1 by R
In B4, the rotor magnetic pole pitches τR11, τR12, τR1
3, with τR41, τR42, and τR43, respectively, with the position of the pole teeth of the predetermined magnetic pole of the stator and the position of the magnetic pole of the rotor matched,
By replacing the spacing angles α11, α12, α13 between the pole teeth of the magnetic poles of the adjacent stator and the magnetic poles of the rotor with α41, α42, α43, respectively, it can be used as it is.

In the 10-phase, 20-pole motor shown in the present embodiment, if the relationship between the pole teeth of the stator and the magnetic poles of the rotor is expressed by equation (25), the number of pole teeth of the rotor magnetic poles As shown by the expressions (4 ″) and (5 ″), the following (28)
When the condition shown by the formula is satisfied, at a predetermined magnetic pole of the stator, when the pole teeth of this magnetic pole match the magnetic poles of the rotor, the pole teeth of the magnetic poles of the adjacent stator and the magnetic poles of the rotor are Α41 = τR41 / 20. Pr41 = 2 (20n + 4) or Pr41 = 2 (20n + 6) (28) where Pr41 is the number of magnetic poles of each rotor and n ≧ 1.

When the relationship between the pitch of the pole teeth of the stator and the pitch of the pole teeth of the rotor is expressed by equation (26), the number of pole teeth of the rotor magnetic poles is expressed by equations (4 ") and (5"). As shown in the above, when the condition expressed by the following equation (29) is satisfied, a predetermined magnetic pole of the stator, when the pole teeth of the magnetic pole and the magnetic pole of the rotor are matched, the magnetic pole of the adjacent stator. Is α42 = τR42 / 20 between the pole teeth of the rotor and the magnetic pole of the rotor. Pr42 = 2 (20n + 4) or Pr42 = 2 (20n + 6) (29) Here, Pr42 is the number of each magnetic pole of the rotor, and is an integer of n ≧ 1.

When the relationship between the pole teeth of the stator and the magnetic poles of the rotor is expressed by the equation (27), the number of rotor magnetic poles is expressed by the equations (4 ") and (5"). As shown below (3
When the condition expressed by the expression (0) is satisfied, the pole teeth of the stator and the magnetic poles of the rotor of the adjacent stator and the magnetic poles of the rotor when the pole teeth of the magnetic pole coincide with the magnetic poles of the rotor at a predetermined magnetic pole of the stator. Α43 = τR43 / 20. Pr43 = 2 (20n + 4) or Pr43 = 2 (20n + 6) (30) Here, Pr43 is the number of each magnetic pole of the rotor, and is an integer of n ≧ 1.

FIG. 33 shows an example of the relationship between the number Pr of the rotor magnetic poles and the step angle of the motor in the motor according to the present embodiment under the condition that n is changed from 1 as described above. Things. That is, the number of magnetic poles Pr is 2
In the case of (20n + 4) and the case of 2 (20n + 6), the step angles when n is sequentially increased from 1 are shown in the vertical direction.

FIG. 34 shows a connection state of the monofilar winding in the present embodiment. In FIG. 34,
A and A 'are the lead wires of a circuit in which the winding 4d1 and the winding 4d11 are connected in series. Similarly, F and F' are the winding 4d2 and the winding 4d.
d12, B, B ', winding 4d3 and winding 4d13, G,
G 'is C for winding 4d4 and winding 4d14, C' is winding 4d5 and winding 4d15, H and H 'are winding 4d6 and winding 4d16,
D and D 'are the windings 4d7 and 4d17, I and I' are the windings 4d8 and 4d18, and E and E 'are the windings 4d9 and 4d17.
Reference numerals 19, J and J 'are lead wires of a circuit in which the windings 4d10 and 4d20 are respectively connected in series, and a drive excitation current output circuit is connected to these terminals.

Driving of the motor having the above-described structure is executed by the flow shown in FIG. 27, similarly to the flow shown in the third embodiment. That is, the operation is as follows. Referring to the developed view shown in FIG. 12 in the description of the first embodiment, the magnetic poles of the stator are converted to 20 poles with reference to the description of the configuration and operation of the present embodiment, and the rotor The position of the magnetic pole is similarly described by describing the position of the magnetic pole in correspondence with the position of the magnetic pole of the stator. According to the flow shown in FIG. The rotation is continued and the magnetic pole is rotated by one pitch in 20 pulses.

Fifth Embodiment In the first to fourth embodiments described above, examples in which the technical concept of the present invention is applied to an inner rotor type PM stepping motor have been described. The same technical idea can be applied to a stepping motor.
35, 36, and 37, a 6-phase 6-pole outer rotor type PM stepping motor will be described in correspondence with the description of the first embodiment. 35 is a vertical front view of a 6-phase 6-pole motor (outer rotor type PM stepping motor), FIG. 36 is a cross section taken along line XX ′ of FIG. 35, and FIG. FIG. 2 is a three-dimensional view showing the inside by cutting through. In each of the figures, reference numeral 57 denotes a cylindrical support base, which is mounted and fixed at a predetermined position by a mounting mechanism (not shown). The support 57 is integrally connected to the outside by an annular portion of the stator core 20 of the stator S10. Stator S10
In the outer direction of the annular portion of the stator core 20, six magnetic poles 3e1 to 3e6 corresponding to the structural characteristics of the motor are radially formed at equal intervals, and a current flows through each magnetic pole in a predetermined direction. The windings 4e1 to 4e6 for sequentially magnetizing are wound. In FIG. 36, each winding is symbolized and described.
The sign x and the sign • shown in each winding indicate the direction of the winding, and here, it means that a current flows from the sign x to the sign in accordance with a general standard.

The first magnetic poles 3e11, 3e21, 3e31, 3e41, 3e51, 3e61 are provided with pole teeth 3k5 at the tips of the magnetic poles 3e1 to 3e6 in line symmetry with respect to the center line of the magnetic poles.
(Not shown in the figure, refer to the first embodiment). Second magnetic poles 3e12, 3e22, 3e32, 3e42, and 3e5 provided with pole teeth 3K5 formed in the same direction and shifted by ピ ッ チ of the pole tooth pitch.
and e52 and 3e62 (not shown in the figure, refer to the first embodiment) and are formed in the axial direction so as to be alternately divided into approximately two. The structure of the first and second magnetic poles is the same as that of the inner rotor type described above. That is, every other one of the six magnetic poles 3e1 to 3e6
Each of the three magnetic poles 3e1, 3e3, 3e5 and every other three magnetic poles 3e2, 3e4, 3e6 have the same shape, but each magnetic pole portion adjacent in the circumferential direction is two magnetic poles. The first and second stator poles Sa5 and Sb5 (FIGS. 35, 36) are connected by alternately reversing the arrangement direction of the first magnetic pole and the second magnetic pole with respect to the rotor axis direction. Is not specified). In this case, as will be understood from the description of the first embodiment, the stator S5 is configured by connecting the first stator portion Sa5 and the second stator portion Sb5 in a front-to-back relationship. The first stator portion Sa5 formed on the first stator portion Sa5.
The second magnetic pole (for example, the magnetic pole 3e1 formed on the second stator portion Sb5) is attached to the magnetic pole (for example, the magnetic pole 3e11, not shown).
2, not shown) are connected in a front-to-back relationship, and a second magnetic pole (eg, magnetic pole 3e22, not shown) formed on the first stator portion Sa5 is formed on the second stator portion Sb5. First magnetic poles (for example, magnetic pole 3e21, not shown) are connected in a front-to-back relationship, and each magnetic pole portion is configured to correspond to those in FIGS. 4A and 4B.

A pair of bearings 70 a is provided inside the support base 57.
A cylindrical rotor support 50 is connected to an end of a rotor shaft 80 rotatably supported by bearings 70a and 70b. The first unit rotor RA5 is provided on the rotor support base 50 at a position facing the first stator portion Sa5 of the stator with a predetermined gap between the inner surface of the first stator portion Sa5. The second unit rotor RB5 is coupled to a position facing the second stator part Sb5 with a predetermined gap between the second unit rotor RB5 and the inner surface of the second stator part Sb5. An annular non-magnetic member 51 having a predetermined width is interposed between the first unit rotor RA5 and the second unit rotor RB5. The first unit rotor RA5 and the second unit rotor RB5 have the same structure.
It is formed by permanent magnets 90 alternately magnetized N and S, and is formed in a cylindrical shape. Magnetic poles are formed on the outer periphery of the two rotors at a predetermined pitch corresponding to the shape and pitch of the pole teeth 3k5 formed on each magnetic pole of the stator. The first unit rotor RA5 and the second unit rotor RB5 have a magnetic pole formation pitch (N-pole and N-pole or S-pole and S-pole pitch) of one.
/ 4 is combined.

Although a detailed description of the method and functions of forming the above-described stator magnetic poles is omitted, the magnetic poles may be formed in accordance with the inner rotor type described in the above-described first to fourth embodiments. It functions similarly to the 6-phase 6-pole inner rotor type PM stepping motor described above. Also in the outer rotor type structure described above, as described in the first to fourth embodiments, operation can be performed by setting the number of magnetic poles and the number of phases in accordance with the use and required characteristics.

The above-described embodiment is an example for realizing the technical idea of the present invention, and shows the use of the motor, the rotation speed and the desired torque corresponding to the use, the power supply condition suitable for the situation, and the like. Needless to say, the application may be appropriately modified in response to the above. For example, in the description of the embodiment, 6-phase 6-pole, 6-phase 12-pole, and
As an example of the phase 10 m pole, only the case of 10 phase 10 pole, 10 phase 20 pole has been described, but other 6 phase 6 m pole,
The present invention can also be applied to the case of 10-phase 10-m poles.
(3), (4), and (5) should be satisfied, and the pitch of the magnetic poles of the stator and the pitch of the pole teeth of the rotor should satisfy the above-described expression (6). Good. The manufacturing method of the magnetic pole may be formed by any means as long as the above-mentioned shape is obtained.

[0084]

The inner rotor type or outer rotor type PM stepping motor according to the present invention is constructed and operated as described above, and has the following excellent effects. (1) A large number of stator magnetic poles corresponding to the number of phases are necessary to obtain a conventional polyphase PM stepping motor of either an inner rotor type or an outer rotor type. It can be realized by the magnetic pole. (2) For example, although a six-phase stepping motor requires 24 stator magnetic poles, it can be realized with 6 to 12 stator magnetic poles. (3) The conventional 10-phase stepping motor requires 40 stator magnetic poles, but can be realized with 10 to 20 stator magnetic poles. (4) Since the number of stator magnetic poles can be reduced, it is possible to reduce the size of the motor even though it is a multi-phase stepping motor.

(5) Since the number of stator magnetic poles can be reduced, the number of windings can be reduced, and at the same time the processing cost of the windings can be greatly reduced. (6) Since the rotor has a cylindrical permanent magnet structure in which N poles and S poles are alternately magnetized, there is little magnetostrictive sound and noise can be reduced as compared with the hybrid type. (7) Since the surface of the rotor is cylindrical, inertia can be reduced, and high-speed rotation can be obtained as compared with the hybrid type. (8) Since the rotor has a cylindrical permanent magnet structure in which N poles and S poles are alternately magnetized, the eddy current loss is small and the heat loss can be reduced. it can.

(9) If the magnetic poles are formed of a magnetic material plate and the magnetic material plates are laminated and configured as described in claim 5, overcurrent loss can be reduced and the structure that can improve efficiency can be simplified. Therefore, a predetermined structure can be easily obtained at low cost. (10) As a result of the above, a multi-phase stepping motor, which was conventionally difficult to manufacture, can be realized at low cost. (11) By realizing the multi-phase stepping motor having the above-described structure, a smaller step angle can be obtained than that of a conventional commercially available stepping motor without reducing the number of pole teeth of the rotor and providing a large number. I was able to. (12) Since a minute step angle is obtained, the resolution of the stepping motor is improved. (13) By improving the resolution, high-precision rotation control has been realized, and it has become possible to apply a stepping motor to a rotation system that has conventionally had to rely on a servomotor. (14) Although related to the above (2) and (3), when the coils are excited in a plurality of phases, the number of transistors constituting the drive circuit can be halved compared to the drive circuit having the conventional structure. That is, in the case of a six-phase motor, the conventional structure requires 24 transistors, but according to the structure of the present invention,
The number of transistors can be reduced to twelve. In the case of a 10-phase motor, 40 transistors are required in the conventional structure, but in the structure of the present invention, 20 transistors are required.
Can be reduced to one.

[Brief description of the drawings]

FIG. 1 is a vertical sectional front view of a first embodiment (six-phase six-pole inner-rotor permanent-magnet type stepping motor) formed based on the technical idea of the present invention.

FIG. 2 is a sectional view taken along line XX ′ of FIG.

FIG. 3 is a plan view illustrating a shape of a magnetic material plate (stator iron plate) forming the stator according to the first embodiment.

4 (A) is a perspective view of a predetermined magnetic pole portion, and FIG. 4 (B) is a magnetic pole shown in FIG. 4 (A). FIG. 4 is a perspective view of a magnetic pole part adjacent to the part.

5A and 5B are schematic diagrams illustrating the relationship between magnetic poles of a unit rotor of the rotor according to the first embodiment, wherein FIG. 5A is a perspective view of the rotor, and FIG. FIG.

FIG. 6 shows the positional relationship between the pole teeth of the stator and the magnetic poles of the rotor when the pitch (interval angle) of the pole teeth of the stator is equal to the pitch (interval angle) of the magnetic poles of the rotor in the first embodiment. FIG. 5 is a development explanatory view of pole teeth of a stator and a rotor for explaining the embodiment.

FIG. 7 is a diagram illustrating a configuration in which the pitch (interval angle) of the pole teeth of the stator is smaller than the pitch (interval angle) of the magnetic poles of the rotor, and 0 (interval angle) of the magnetic poles of the rotor. 7 is a development explanatory view of the magnetic pole portion of the stator and the rotor for explaining the positional relationship between the pole teeth of the stator and the magnetic poles of the rotor when it is equal to or larger than 75 times.

FIG. 8 is a diagram showing a configuration in which the pitch (interval angle) of the pole teeth of the stator is larger than the pitch (interval angle) of the magnetic poles of the rotor and the pitch (interval angle) of the magnetic poles of the rotor in the first embodiment; FIG.

FIG. 9 shows a stepping motor according to the first embodiment.
3 is a table showing the relationship between the number of magnetic poles of the rotor and the step angle as Table 1.

FIG. 10 is a connection diagram showing a connection state of a monofilar winding in the first embodiment.

FIG. 11 is an excitation sequence diagram in the case of one-phase excitation in the bipolar drive of the first and second embodiments.

FIG. 12 shows a case where the pitch (interval angle) of the pole teeth of the stator is equal to the pitch (interval angle) of the magnetic poles of the rotor according to the first embodiment, and the poles of the stator during execution by the excitation sequence shown in FIG. FIG. 4 is a development explanatory view of a magnetic pole portion of a stator and a rotor for explaining a positional relationship between a tooth and a magnetic pole of a rotor.

FIG. 13 is a longitudinal sectional front view of a second embodiment (six-phase, 12-pole inner rotor type permanent magnet type stepping motor) of the present invention.

FIG. 14 is a sectional view taken along line XX ′ of FIG. 13;

FIG. 15 is a plan view illustrating the shape of a magnetic material plate (stator iron plate) forming the stator according to the second embodiment.

16 (A) is a perspective view of a predetermined magnetic pole part, and FIG. 16 (B) is a magnetic pole shown in FIG. 16 (A). FIG. 4 is a perspective view of a magnetic pole part adjacent to the part.

17A and 17B are schematic diagrams illustrating the relationship between magnetic poles of a unit rotor of the rotor according to the second embodiment, wherein FIG. 17A is a perspective view of the rotor, and FIG. is there.

FIG. 18 is a chart showing, as Table 2, a relationship between the number of magnetic poles of a rotor and a step angle in the stepping motor according to the second embodiment.

FIG. 19 is a connection diagram showing a connection state of a monofilar winding in the second embodiment.

FIG. 20 is a longitudinal sectional front view of a third embodiment (10-phase 10-pole permanent magnet type stepping motor) formed based on the technical idea of the present invention.

FIG. 21 is a sectional view taken along the line XX ′ of FIG. 20;

FIG. 22 is a plan view illustrating the shape of a magnetic material plate (stator iron plate) forming the stator according to the third embodiment.

23 (A) and 23 (B) are views for explaining the shape of the tip of the magnetic pole of the stator according to the third embodiment. FIG. FIG. 4 is a perspective view of a magnetic pole part adjacent to the part.

24A and 24B are schematic diagrams illustrating a relationship between magnetic poles of a unit rotor of the rotor according to the third embodiment, in which FIG. 24A is a perspective view of the rotor, and FIG. is there.

FIG. 25 is a table showing, as Table 3, a relationship between the number of magnetic poles of a rotor and a step angle in the stepping motor according to the third embodiment.

FIG. 26 is a connection diagram showing a connection state of a monofilar winding in the third embodiment.

FIG. 27 is an excitation sequence diagram in the case of one-phase excitation in the bipolar drive according to the third and fourth embodiments.

FIG. 28 is a longitudinal sectional front view of Embodiment 4 (10-phase 20-pole inner rotor type permanent magnet type stepping motor) of the present invention.

FIG. 29 is a sectional view taken along line XX ′ of FIG. 28;

FIG. 30 is a plan view illustrating the shape of a magnetic material plate (stator iron plate) forming the stator according to the fourth embodiment.

31 (a) and 31 (b) illustrate the shape of the tip of the magnetic pole of the stator according to the fourth embodiment. FIG. It is a perspective view of a magnetic pole part adjacent to a magnetic pole part.

32A and 32B are schematic diagrams illustrating a relationship between magnetic poles of a unit rotor of a rotor according to a fourth embodiment, wherein FIG. 32A is a perspective view of the rotor, and FIG. is there.

FIG. 33 is a table showing, as Table 4, a relationship between the number of magnetic poles of a rotor and a step angle in the stepping motor according to the fourth embodiment.

FIG. 34 is a connection diagram showing a connection state of a monofilar winding in the fourth embodiment.

FIG. 35 is a longitudinal sectional front view of a fifth embodiment (6 phase 6 pole outer rotor type permanent magnet type stepping motor) of the present invention.

FIG. 36 is a sectional view taken along line XX ′ of FIG. 13;

FIG. 37 is a partially cutaway perspective view illustrating a rotor structure according to a fifth embodiment.

FIG. 38 is an enlarged schematic development view of a part of a rotor for explaining a relationship between magnetic poles of a unit rotor of the rotor according to the fifth embodiment.

FIG. 39 is a vertical sectional front view of a conventional inner rotor type permanent magnet type stepping motor.

FIG. 40 is a sectional view taken along line XX ′ of FIG. 39.

FIG. 41 is a connection diagram of a conventional structure inner rotor type six-phase stepping motor in a monofilar winding.

FIG. 42 is an excitation sequence diagram in the case of one-phase excitation in a monofilar winding of an inner rotor type six-phase stepping motor having a conventional structure.

FIG. 43 is a connection diagram of a conventional inner rotor type 10-phase stepping motor in a monofilar winding.

FIG. 44 is an excitation sequence diagram in the case of one-phase excitation in a monofilar winding of an inner rotor type 10-phase stepping motor having a conventional structure.

[Explanation of symbols]

2: Stator core 3a1-3a6, 3b1-3b12, 3c1-3c10, 3d1
3d20, 3e1 to 3e6: stator magnetic poles 3k1 to 3k5: stator pole teeth 3a11, 3a21, 3a31, 3a41, 3a51, 3a61: symmetric pole teeth magnetic poles of the stator 3a12, 3a22, 3a32, 3a42, 3a52, 3a62: Asymmetrical pole teeth magnetic poles of the stator 4a1-4a6, 4b1-4b12, 4c1-4c10, 4d1
4d20, 4e1-4e6: winding 50: rotor support 8, 80: rotor shaft 9, 90: permanent magnet 11, 51: non-magnetic material A, A 'to J, J': winding lead wire PA1, PA2, PA3, PA4; iron cores of the stator magnetic poles to be subjected to pole teeth PB1, PB2, PB3, PB4; cores to which the stator magnetic poles are not subjected to the pole teeth RA1 to RA5, RB1 to RB5: unit rotors S1 to S5: Stator Sa1 to Sa5: first stator Sb1 to Sb5: second stator SP1 to SP4: magnetic material plate (stator iron plate) α11, α12, α13, α21, α31, α41, α51, α61, α
71: Spacing angle between the pole teeth of the stator and the magnetic poles of the rotor β: Step angle and multiples thereof θS1 to θS4: Pitch between the magnetic poles of the stator (interval angle) τR1, τR11, τR12, τR13, τR2, τR3, τR
4: Pitch between rotor magnetic poles (interval angle) τS1 to τS4: Pitch between pole teeth of magnetic pole of stator (interval angle)

[Procedure amendment]

[Submission date] January 4, 2001 (2001.1.14)

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FIG. 26

[Procedure amendment 9]

[Document name to be amended] Drawing

[Correction target item name] FIG. 27

[Correction method] Change

[Correction contents]

FIG. 27

[Procedure amendment 10]

[Document name to be amended] Drawing

[Correction target item name] Fig. 36

[Correction method] Change

[Correction contents]

FIG. 36

Claims (6)

[Claims] 1. At least six even-numbered stator poles implanted equidistantly from the inner surface of an annular magnetic body toward the center of the circle at equal pitches, and each of the stator poles has an inner peripheral surface at a tip. A plurality of stators having a plurality of pole teeth formed at an equal pitch, and an excitation winding wound around each of the stator magnetic poles;
The stator pole is rotatably supported via an inner circumferential surface and a gap forming the pole teeth of the stator pole, and alternately has N poles and S poles at a width and a pitch corresponding to the pole teeth shape formed on the stator pole. A rotor in which a rotor magnetic pole is formed by a cylindrical permanent magnet magnetized on the inner rotor type permanent magnet type stepping motor, wherein each magnetic pole formed on the stator has an inner peripheral surface at a respective tip. A first magnetic pole portion having a plurality of pole teeth formed in line symmetry with respect to the center line of the magnetic pole shape, and the same pitch and the same pitch as the pole teeth formed on the first magnetic pole portion. A second magnetic pole portion that is deflected in the same circumferential direction on the inner circumferential surface of the magnetic pole tip by 1/4 to form a pole tooth is alternately formed in the circumferential direction, and the stator is bisected in the axial direction. A first stator portion and a second stator portion, each of which forms the first and second magnetic poles, The first and second stator portions connect the first magnetic pole and the second magnetic pole to each other coaxially in a front-to-back relationship, but alternately connect the front-to-back relationship in a circumferential direction. The rotor is configured such that the first and second rotors respectively face, via a gap, inner circumferential surfaces forming pole teeth of first and second stator portions of the stator. And two rotor portions, each of which has an axial position and width corresponding to the axial width and position and the circumferential width and pitch of the pole teeth formed on the stator portion. And N and S poles are alternately magnetized at the same radius to form a cylindrical magnet having magnetic poles, and the magnetic poles of the first and second rotor portions are mutually rotated by 1/4 of the magnetic pole formation pitch. It is deflected and connected in the axial direction via a non-magnetic material, and each is held on the rotor shaft via a holding member formed of a magnetic material. An inner rotor type multi-phase permanent magnet type stepping motor characterized in that it is formed. 2. At least six even-numbered stator magnetic poles radially formed at a constant pitch from a cylindrical surface of a cylindrical magnetic body, wherein each of the stator magnetic poles has a plurality of predetermined numbers on an outer peripheral surface at a tip end thereof. A stator having pole teeth formed at equal pitches, a stator in which an exciting winding is wound around each stator magnetic pole, and an outer peripheral surface and a gap that form pole teeth of the stator magnetic pole are formed. The rotor magnetic pole is rotatably supported by a predetermined bearing via a cylindrical permanent magnet in which N poles and S poles are alternately magnetized with a width and a pitch corresponding to the pole tooth shape formed on the stator magnetic pole. In the outer rotor type permanent magnet type stepping motor provided with the rotor, each of the magnetic poles formed on the stator has a plurality of poles on the outer peripheral surface of each tip in line symmetry with respect to the center line of the magnetic pole shape. A first magnetic pole portion having teeth formed thereon, and the first magnetic pole portion; The same number and the same arrangement pitch as the pole teeth to be formed are alternately arranged in the circumferential direction with the second magnetic pole portion which is displaced in the same circumferential direction on the outer peripheral surface of the magnetic pole tip by 1/4 of the arrangement pitch in the same circumferential direction. And the stator is divided into two parts in the axial direction, and the first and second stator parts are respectively formed with the first and second magnetic poles. The second stator portion is configured to mutually connect the first magnetic pole and the second magnetic pole in a coaxial direction with a front-to-back relationship, but to alternately reverse the front-to-back relationship in a circumferential direction. The rotor is constituted by first and second rotor portions each facing an outer peripheral surface of the first and second stator portions of the stator that form pole teeth via a gap. The two rotor portions each have an axial position and width corresponding to the axial width and position of the pole teeth formed on the stator portion and the circumferential width and pitch. N-poles and S-poles are alternately magnetized with a width, a pitch, and the same radius to form a cylindrical magnet having a magnetic pole, and the magnetic poles of the first and second rotor portions are mutually at a magnetic pole forming pitch of one. An outer member which is deviated by / 4 rotation, is connected in the axial direction via a non-magnetic material, and is held on the rotor shaft by a holding member formed at a predetermined position via the magnetic material. Rotor type multi-phase permanent magnet type stepping motor. 3. The inner rotor type multi-phase permanent magnet type stepping motor according to claim 1, or the outer rotor type multi-phase permanent magnet type stepping motor according to claim 2, wherein the number of magnetic poles of the stator is 6 m. An inner rotor type or outer rotor type multi-phase permanent magnet type stepping motor having 6-phase 6-m poles in which the number of magnetic poles Pr of the rotor satisfies the following relationship. Pr = 2m (6n + 1) or Pr = 2m (6n + 2) where Pr = 2 × (360 ° / τR), m ≧ 1, n ≧ 1
Integer. Further, τR is the pitch at which the magnetic poles of the rotor are formed. 4. The inner rotor type multi-phase permanent magnet type stepping motor according to claim 1, or the outer rotor type multi-phase permanent magnet type stepping motor according to claim 2, wherein the number of magnetic poles of the stator is 10 m. An inner rotor type or outer rotor type multi-phase permanent magnet type stepping motor having a 10-phase 10-meter pole formed so that the number of magnetic poles Pr of the rotor satisfies the following relationship. Pr = 2m (10n + 2) or Pr = 2m (10n + 2)
3) However, Pr = 2 × (360 ° / τR), m ≧ 1, n ≧ 1
Integer. Further, τR is the pitch at which the magnetic poles of the rotor are formed. 5. The inner rotor type or outer rotor type multi-phase permanent magnet type stepping motor according to claim 1, wherein each stator is provided at a tip of a magnetic pole having a predetermined shape and size. On the other hand, m magnetic poles having pole teeth formed in line symmetry and m magnetic poles having pole teeth formed by deviating by ４ of the pole tooth arrangement pitch of the magnetic poles having pole teeth formed in line symmetry are provided. A predetermined number of magnetic plates and alternately formed magnetic plates are laminated, and a predetermined number of magnetic plates formed in the same shape as the magnetic plate are deviated by 180 ° / h and fixed, and each laminated body is fixed. An inner rotor type or outer rotor type polyphase permanent magnet type stepping motor configured by winding windings. Here, h is any of 6 m and 10 m, and m is an integer of 1 or more. 6. An inner rotor type or outer rotor type multi-phase permanent magnet type stepping motor according to claim 1, wherein a pitch τs of pole teeth of the stator and a pitch τR of poles of the rotor are formed. Is formed so as to satisfy the following relationship: 0.75τR ≦ τs ≦ 1.25τR