JP2012244791A - Coreless electromechanical device and method of manufacturing the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To easily adjust a mounting position of a magnetic sensor.SOLUTION: A method of manufacturing a coreless electromechanical device includes steps of: (a) combining, with a rotor, a rotary shaft, a plurality of permanent magnets arranged in a circumferential direction of the rotary shaft and magnetized in a radiation direction centering on the rotary shaft, and magnetic body members disposed at both ends in a rotary shaft direction of the permanent magnets; (b) combining, with a stator, a plurality of electromagnetic coils arranged in the circumferential direction facing the permanent magnets and formed in a ring shape with a normal of a ring being the radiation direction centering on the rotary shaft, a substrate arranged on a plane vertical to the rotary shaft, and a magnetic sensor arranged on the substrate for detecting a size of a magnetic flux generated by the permanent magnets; and (c) combining the rotor and the stator. The step (b) includes a step (b-1) of adjusting the position of the magnetic sensor to such a position that a size of a peak of output signals of the magnetic sensor becomes largest in a range where the output signals of the magnetic sensor are not saturated.

Description

  The present invention relates to a coreless electromechanical device and a method of manufacturing a coreless electromechanical device.

  In an electric coreless motor, in order to detect the position of the rotor in the rotational direction, a magnetic sensor IC (an IC that can output the magnitude of the received magnetic flux density as an analog signal by combining an amplification circuit and a temperature compensation circuit with a magnetic element) What is provided is known (for example, Patent Document 1).

JP 2007-267565 A

  In order to detect the magnetic flux of the magnet, the magnetic sensor is preferably arranged at a position where the output of the magnetic sensor is not saturated by the magnetic field from the magnet. On the other hand, in the motor, the strength of the magnetic field generated by the electromagnetic coil changes according to the output. Conventionally, depending on the position of the magnetic sensor, the output of the magnetic sensor may be distorted due to a change in the strength of the magnetic field caused by the electromagnetic coil. In addition, when the magnetic sensor is arranged at a position that is not affected by the strength of the magnetic field generated by the electromagnetic coil, the distance between the magnet and the magnetic sensor becomes close, and the output of the magnetic sensor may be saturated.

  The present invention has been made to solve the above-described conventional problems, and it is an object of the present invention to easily adjust the mounting position of a magnetic sensor for suppressing the occurrence of distortion and saturation in the output of the magnetic sensor. To do.

  SUMMARY An advantage of some aspects of the invention is to solve at least a part of the problems described above, and the invention can be implemented as the following forms or application examples.

[Application Example 1]
A method for manufacturing a coreless electromechanical device, comprising: (a) a rotating shaft; a plurality of permanent magnets arranged in a circumferential direction of the rotating shaft and magnetized in a radial direction around the rotating shaft; A step of combining a magnetic member disposed at both ends of the rotation axis direction of the magnet with the rotor, and (b) a plurality of electromagnetic coils disposed in a circumferential direction facing the permanent magnet, formed in a ring shape An electromagnetic coil in which the normal line of the ring is a radial direction centered on the rotation axis, a substrate disposed on a plane perpendicular to the rotation axis, and a permanent magnet disposed on the substrate. A step of combining a magnetic sensor for detecting the magnitude of magnetic flux with a stator, and (c) a step of combining the rotor and the stator, wherein the step (b) comprises (b-1) on the substrate. smell By adjusting the position by moving the magnetic sensor in the radial direction around the rotation axis, the magnitude of the peak of the output signal of the magnetic sensor is maximized within a range where the output signal of the magnetic sensor is not saturated. Thus, the manufacturing method of a coreless electromechanical device including the process of adjusting the mounting position of the said magnetic sensor.
According to this application example, by adjusting the position by moving the magnetic sensor in the radial direction around the rotation axis on the substrate, the magnitude of the peak of the output signal of the magnetic sensor is maximized in a range not saturated. Since the step of adjusting the position is included, it is possible to easily adjust the mounting position of the magnetic sensor for suppressing the occurrence of distortion and saturation in the output signal of the magnetic sensor.

[Application Example 2]
In the manufacturing method of the coreless electromechanical device according to Application Example 1, the magnetic member is formed of one or more plate-like members having a disk shape, and the step (b) includes the step (b -1) before (b-0) adjusting the magnitude of the output signal of the magnetic sensor by adjusting the number of the magnetic members or the thickness of the magnetic members. A method of manufacturing a mechanical device.
According to this application example, the output signal of the magnetic sensor can be roughly adjusted.

[Application Example 3]
A coreless electromechanical device, comprising: a rotor; and a stator disposed to face the rotor, wherein the rotor is disposed in a circumferential direction of the rotating shaft and the rotating shaft, and alternately rotates the rotating shaft. A plurality of permanent magnets magnetized in a radial direction centered on each other, and magnetic members disposed at both ends of the rotation axis direction of the permanent magnets, and the stator faces the permanent magnets A plurality of electromagnetic coils arranged along a circumferential direction, wherein the electromagnetic coils are formed in a ring shape, and a normal line of the ring is a radial direction centered on the rotation axis; and a perpendicular to the rotation axis A substrate disposed on a plane; and a magnetic sensor disposed on the substrate and detecting a magnitude of a magnetic flux generated by the permanent magnet. The magnetic sensor mounts the magnetic sensor on the substrate. Do The substrate has a plurality of conductor patterns used for mounting with the mounting terminals of the magnetic sensor, and the conductor pattern is a radial direction centered on the rotation axis. The coreless electromechanical device, wherein the length of the conductor pattern in the radial direction is longer than the length of the mounting terminal of the magnetic sensor.
According to this application example, since the length of the conductor pattern in the radial direction is longer than the length of the mounting terminal of the magnetic sensor, the magnitude of the peak of the output signal of the magnetic sensor is the largest within a range not saturated. Since the mounting position of the magnetic sensor can be adjusted as described above, it is possible to easily adjust the mounting position of the magnetic sensor for suppressing the occurrence of distortion and saturation in the output of the magnetic sensor.

[Application Example 4]
In the coreless electromechanical device according to Application Example 3, the magnetic sensor is mounted such that the magnitude of the peak of the output signal of the magnetic sensor is maximized within a range in which the output signal of the magnetic sensor is not saturated. Coreless electromechanical device, adjusted in position.
According to this application example, the mounting position of the magnetic sensor is adjusted so that the magnitude of the peak of the output signal of the magnetic sensor is maximized within a range in which the output signal of the magnetic sensor is not saturated. The position in the rotational direction of the rotor can be easily confirmed from the output signal.

[Application Example 5]
5. The coreless electromechanical device according to Application Example 3 or 4, wherein at least one of the conductor patterns has a mark for confirming a mounting position of a mounting terminal of the magnetic sensor.
According to this application example, the mounting position of the magnetic sensor can be easily confirmed.

[Application Example 6]
In the coreless electromechanical device according to any one of Application Examples 3 to 5, the magnetic member has the largest output signal peak of the magnetic sensor within a range in which the output signal of the magnetic sensor is not saturated. A coreless electromechanical device in which the thickness of the magnetic member is adjusted to be
According to this application example, the thickness of the magnetic member is adjusted so that the magnitude of the peak of the output signal of the magnetic sensor is maximized within a range in which the output signal of the magnetic sensor is not saturated. From this output signal, the position of the rotor in the rotational direction can be easily confirmed.

[Application Example 7]
The coreless electromechanical device according to Application Example 6, wherein the magnetic member is formed of one or more plate-like members having a disk shape.
According to this application example, the total thickness of the magnetic member can be adjusted by the number of magnetic members.

[Application Example 8]
The coreless electromechanical device according to Application Example 6 or 7, wherein the length of the conductor pattern in the radial direction is 1.5 to 2 times the length of the mounting terminal of the magnetic sensor. apparatus.
According to this application example, since the magnitude of the output signal of the magnetic sensor can be adjusted by the magnetic member, the adjustment range of the magnetic sensor can be narrowed. As a result, the length of the conductor pattern in the radial direction can be reduced to 1.5 to 2 times the length of the mounting terminal of the magnetic sensor, thereby reducing the size of the substrate.

[Application Example 9]
A robot comprising the coreless electromechanical device described in any one of Application Examples 3 to 8.

  The present invention can be realized in various forms. For example, in addition to a coreless electromechanical apparatus such as a motor or a power generation apparatus, the present invention can be realized in the form of a moving body, a robot, or the like using the same. .

It is explanatory drawing which shows the structure of a coreless motor. It is explanatory drawing which expands and shows the magnetic sensor vicinity. FIG. 3 is an explanatory diagram showing waveforms of output signals of the magnetic sensor 300 at each position of the magnetic sensor 300 of FIG. 2. It is explanatory drawing which shows a circuit board and a magnetic sensor. It is explanatory drawing which shows the conductor pattern of a circuit board. It is explanatory drawing which shows the arrangement position on the circuit board of the magnetic sensor 300. FIG. It is explanatory drawing which shows a 2nd Example. It is explanatory drawing which shows the example of the output signal of the magnetic sensor 300 in a 2nd Example. It is explanatory drawing which shows the electric bicycle (electric assisted bicycle) as an example of the moving body using the motor / generator by the modification of this invention. It is explanatory drawing which shows an example of the robot using the motor by the modification of this invention. It is explanatory drawing which shows an example of the double-arm 7-axis robot using the motor by the modification of this invention. It is explanatory drawing which shows the rail vehicle using the motor by the modification of this invention.

[First embodiment]
FIG. 1 is an explanatory diagram illustrating a configuration of a coreless motor. 1A is a cross section of the coreless motor 10 cut along a plane parallel to the rotation shaft 230, and FIG. 1B is a cross section of the coreless motor perpendicular to the rotation shaft 230 (1B-1B cut surface). It is a cut section.

  The coreless motor 10 is an inner rotor type motor in which a substantially cylindrical stator 15 is disposed on the outer side and a substantially cylindrical rotor 20 is disposed on the inner side. The stator 15 includes electromagnetic coils 100A and 100B, a casing 110, a coil back yoke 115, and a magnetic sensor 300. The rotor 20 includes a rotating shaft 230, a permanent magnet 200, a magnetic member 215, a bearing 240, and a coil spring 260.

  The rotor 20 has a rotating shaft 230 at the center, and has six permanent magnets 200 on the outer periphery of the rotating shaft 230. The six permanent magnets 200 include a permanent magnet 200 magnetized in a direction (radial direction) from the center of the rotating shaft 230 to the outside, and a permanent magnet 200 magnetized in a direction (center direction) from the center to the outside. In addition, the permanent magnet 200 whose magnetization direction is the central direction and the permanent magnet 200 whose magnetization direction is the radial direction are alternately arranged along the circumferential direction. A magnetic member 215 is provided at the end of the permanent magnet 200 in the direction of the rotation shaft 230. The magnetic member 215 is a disk-shaped member made of a soft magnetic material. Of the magnetic flux emitted from the permanent magnet 200, the magnetic flux leaking in the direction of the rotating shaft 230 easily passes through the magnetic member 215. The rotating shaft 230 is supported by the bearing portion 240 of the casing 110 and attached to the casing 110. In the present embodiment, a coil spring 260 is provided inside the casing 110, and the permanent magnet 200 is positioned by the coil spring 260 pushing the permanent magnet 200 leftward in the drawing. However, the coil spring 260 can be omitted.

  The casing 110 is a substantially cylindrical casing. Two-phase electromagnetic coils 100A and 100B are arranged along the inner periphery of the casing. The electromagnetic coils 100A and 100B have an effective coil area and a coil end area. Here, the effective coil region is a region that applies a Lorentz force in the rotational direction to the rotor 20 when a current flows through the electromagnetic coils 100A and 100B, and the coil end region is a current that flows through the electromagnetic coils 100A and 100B. This is a region where a Lorentz force in a direction different from the rotation direction is applied to the rotor 20 when it flows. In the effective coil region, the conductor wiring constituting the electromagnetic coils 100A and 100B is in a direction substantially parallel to the rotation axis, and in the coil end region, the conductor wiring constituting the electromagnetic coils 100A and 100B is parallel to the rotation direction. is there. In the effective coil region, the electromagnetic coils 100A and 100B overlap the permanent magnet 200, but in the coil end region, the electromagnetic coils 100A and 100B do not overlap the permanent magnet 200. The electromagnetic coils 100A and 100B are also collectively referred to as the electromagnetic coil 100. A coil back yoke 115 is provided between the electromagnetic coils 100 </ b> A and 100 </ b> B and the casing 110. The length of the coil back yoke 115 in the direction of the rotational axis 230 is substantially the same as the length of the permanent magnet 200 in the direction of the rotational axis 230. When projected from the rotational axis 230 toward the permanent magnet 200 in the radial direction, the projection area is It overlaps with the coil back yoke. That is, the coil back yoke 115 and the permanent magnet 200 overlap each other.

  The stator 15 is further provided with a magnetic sensor 300 as a position sensor for detecting the phase of the rotor 20, one for each phase of the electromagnetic coils 100 </ b> A and 100 </ b> B. In FIG. 1A, only one magnetic sensor 300 is displayed. The magnetic sensor 300 is fixed on the circuit board 310, and the circuit board 310 is fixed to the casing 110. Here, the magnetic sensor 300 is disposed on a perpendicular line when a perpendicular line is dropped from the coil end region to the rotating shaft 230.

  FIG. 2 is an explanatory view showing the vicinity of the magnetic sensor in an enlarged manner. FIG. 2A shows an example in which the magnetic sensor 300 is arranged at a position closest to the permanent magnet 200 among positions where the magnetic sensor 300 on the circuit board 310 can be arranged. FIG. 2C shows an example in which the magnetic sensor 300 is arranged at a position farthest from the permanent magnet 200 among positions where the magnetic sensor 300 on the circuit board 310 can be arranged. FIG. 2B shows an example in which the magnetic sensor 300 is arranged between the arrangement position in FIG. 2A and the arrangement position in FIG. FIG. 3 is an explanatory diagram showing waveforms of output signals of the magnetic sensor 300 at each position of the magnetic sensor 300 of FIG. 3A to 3C correspond to FIGS. 2A to 2C, respectively.

  The waveform of the output signal of the magnetic sensor 300 changes depending on the relative positional relationship between the permanent magnet 200 and the magnetic sensor 300. That is, in this embodiment, when arranged at the position shown in FIG. 2B, the waveform of the output signal of the magnetic sensor 300 is substantially a sine wave. On the other hand, when arranged at the position shown in FIG. 2A, the waveform of the output signal of the magnetic sensor 300 is saturated and distorted from a sine wave. In addition, when the magnetic sensor 300 is arranged at the position shown in FIG. 2C, the output signal of the magnetic sensor 300 is almost a sine wave, but the magnitude of the output signal peak of the magnetic sensor 300 is as shown in FIG. The magnitude of the peak of the output signal of the magnetic sensor 300 when the magnetic sensor 300 is arranged at the position shown in FIG. It is preferable to arrange the magnetic sensor at a position where the output signal of the magnetic sensor 300 does not saturate and can output an output signal having the largest peak. That is, in this embodiment, it is preferable to arrange the magnetic sensor 300 at the position shown in FIG. However, since the waveform of the output signal of the magnetic sensor 300 changes depending on the relative positional relationship between the permanent magnet 200 and the magnetic sensor 300 as described above, for example, the position shown in FIG. In the position shown in C), the output signal of the magnetic sensor 300 may not be saturated and the output signal having the largest peak may be output. Therefore, it is preferable to adopt a configuration in which the magnetic sensor 300 can be moved in the center-radiation direction on the circuit board 310 and adjust the installation position of the magnetic sensor based on the actual output signal of the magnetic sensor 300.

The coreless motor 10 of the present embodiment can be manufactured by the following process.
(A) A rotating shaft 230, a plurality of permanent magnets 200 arranged along a cylindrical surface around the rotating shaft 230 and magnetized in a radial direction around the rotating shaft 230, and along the direction of the rotating shaft 230 A step of preparing a rotor 20 having a magnetic member 215 disposed at a position facing the end of the permanent magnet 200.
(B) A plurality of electromagnetic coils 100 arranged along a cylindrical surface facing the permanent magnet 200, wherein the electromagnetic coils 100 are formed in a ring shape, and the normal line of the ring is a radial direction about the rotation axis 230. 100, a circuit board 310 arranged on a plane perpendicular to the rotation axis, and a magnetic sensor 300 arranged on the circuit board 310 and detecting the magnitude of magnetic flux generated by the permanent magnet 200, Preparing the process.
(C) A step of combining the rotor 20 and the stator 15.
Is provided. Then, in step (b), (b-1) by moving the magnetic sensor 300 in the radial direction around the rotation axis 230 on the circuit board 310 and adjusting the position thereof, the magnetic sensor 300 is not saturated in the range. Adjusting the position where the peak of the output signal is maximized. The step (b-1) will be described below.

  FIG. 4 is an explanatory diagram showing a circuit board and a magnetic sensor. In this embodiment, a surface mount type magnetic sensor 300 is used as the magnetic sensor 300. The magnetic sensor 300 has three mounting terminals 301 (a power supply terminal, a ground terminal, and an output signal terminal). As the surface mount type magnetic sensor 300, a SOP (Small Outline Package) type in which the mounting terminal 301 is flat or a SOJ (mall Outline J-leaded) type magnetic sensor 300 in which the mounting terminal 301 is bent into a J-shape is adopted. can do. The circuit board 310 includes a conductor pattern 311 for mounting a mounting terminal of the magnetic sensor 300.

  The magnetic sensor 300 can be mounted on the circuit board 310 as follows. First, the solder 313 is disposed on the conductor pattern 311 of the circuit board 310 by printing. Next, the magnetic sensor 300 is arranged on the circuit board 310 so that the mounting terminals 301 of the magnetic sensor 300 are in contact with the conductor pattern 311. At this stage, the circuit board 310 and the magnetic sensor 300 are not mounted by solder. The mounting terminals 301 of the magnetic sensor 300 are preferably pre-soldered. Next, the circuit board 310 on which the magnetic sensor 300 is mounted is heated by passing through a reflow furnace. As a result, the solder 313 is melted, and the conductor pattern 311 and the mounting terminals 301 of the magnetic sensor 300 are mounted by the solder 313.

  FIG. 5 is an explanatory view showing a conductor pattern of a circuit board. FIG. 5A shows a conductor pattern 311 of a comparative example, and FIG. 5B shows a conductor pattern 311 of this example. In this embodiment, the conductor pattern 311 has adjustment patterns 311a and 311b above and below the conductor pattern 311 of the comparative example (FIG. 5A). That is, the conductor pattern 311 of this example (FIG. 5B) is formed longer in the vertical direction than the conductor pattern 311 of the comparative example (FIG. 5A). The material of the adjustment patterns 311a and 311b is the same as that of the conductor pattern 311. By adopting such a configuration, the mounting terminal 301 of the magnetic sensor 300 can be connected to the portion between the adjustment patterns 311a and 311b or the adjustment patterns 311a and 311b of the conductor pattern 311. The position of the circuit board 310 can be easily adjusted.

  In FIG. 5B, a mark 314 is printed adjacent to the conductor pattern 311. The mark 314 is used when confirming the arrangement position of the mounting terminal 301 of the magnetic sensor 300. That is, the position of the mounting terminal 301 of the magnetic sensor 300 is confirmed based on the mark 314 in the prototype stage, and the magnetic sensor 300 may be arranged in accordance with the confirmed position of the mark 314 in the mass production stage. The mark 314 may be provided on at least one of the three conductor patterns 311. Note that the mark 314 may be provided adjacent to all the conductor patterns 311. Further, as shown in the lower left conductor pattern 311 in FIG. 5B, after determining the arrangement position of the mounting terminal 301 of the magnetic sensor 300, a mark 314 a may be attached so that the trace 312 of the mounting terminal 301 can be seen. . Then, by placing the mark 314a on the circuit board 310 for mass production at the same position as the mark 314a determined by trial manufacture, the arrangement position of the magnetic sensor 300 can be easily confirmed during mass production.

  FIG. 6 is an explanatory view showing the arrangement position of the magnetic sensor 300 on the circuit board. 6A to 6C correspond to FIGS. 2A to 2C, respectively. In the arrangement position shown in FIG. 6A, the mounting terminal 301 of the magnetic sensor 300 is mounted on the adjustment pattern 311 a of the conductor pattern 311 of the circuit board 310. In the arrangement position shown in FIG. 6B, the mounting terminal 301 of the magnetic sensor 300 is mounted on a portion of the conductor pattern 311 of the circuit board 310 excluding the adjustment pattern 311a and the adjustment pattern 311b. In the arrangement position shown in FIG. 6C, the mounting terminal 301 of the magnetic sensor 300 is mounted on the adjustment pattern 311 b of the conductor pattern 311 of the circuit board 310. Thus, the arrangement position of the magnetic sensor 300 can be moved depending on which part of the mounting terminal 301 of the magnetic sensor 300 is mounted. Then, it is preferable to measure the output signal of the magnetic sensor 300 at the position of the magnetic sensor 300 and mount the magnetic sensor 300 at the most preferable position. The adjustment of the position of the magnetic sensor 300 is preferably performed at the manufacturing preparation stage of the coreless electromechanical device or at the trial production stage.

  FIG. 7 is an explanatory diagram showing the second embodiment. FIG. 8 is an explanatory diagram illustrating an example of an output signal of the magnetic sensor 300 in the second embodiment. The second embodiment differs from the first embodiment in the number of magnetic members 215. That is, in the example shown in FIG. 7A, the number of magnetic members 215 is one, the example shown in FIG. 7B is two, and the example shown in FIG. 7C is three. is there. 8A to 8C correspond to FIGS. 7A to 7C, respectively. As described above, the magnetic body member 215 can easily pass the magnetic flux leaked from the permanent magnet 200 in the axial direction of the rotating shaft 230. Here, the magnetic sensor 300 is disposed at a position further away from the magnetic member 215 in the direction of the rotation axis 230 when viewed from the permanent magnet 200. That is, the magnetic member 215 is between the permanent magnet 200 and the magnetic sensor 300, and the magnetic sensor 300 detects the magnetic flux density of the magnetic flux further leaking from the magnetic member 215. Here, if the number of magnetic members 215 is large (thick), the magnetic flux of the permanent magnet 200 easily passes through the magnetic members 215. That is, the magnetic flux that leaks further from the magnetic member 215 is reduced. As a result, when the number of magnetic members 215 increases in the order of (B) and (C) from FIG. 7 (A), as shown in the order of (B) and (C) of FIG. The waveform of the output signal 300 is almost a sine wave, but the peak height gradually decreases. In this embodiment, when the number of magnetic members 215 is one, the output signal waveform of the magnetic sensor 300 is adjusted so as not to be saturated. Therefore, when the magnetic member 215 shown in FIG. 7A is used as one sheet or when a magnetic member thinner than the magnetic member 215 shown in FIG. 7A is used, the output signal of the magnetic sensor 300 is displayed. As shown in FIG. 3A, the waveform of the output signal of the magnetic sensor 300 is saturated.

  In the present embodiment, the waveform of the output signal of the magnetic sensor 300 can be finely adjusted by making the magnetic member 215 as thick as possible, selecting the high-sensitivity type of the magnetic sensor 300, and adjusting the solder mounting position. Is preferred. Further, instead of the number of magnetic members 215, the thickness of the magnetic members 215 may be changed. Further, it is not necessary for all the magnetic members 215 to have the same thickness. For example, 0.1 mm, 0.2 mm, and 0.4 mm can be used to change the thickness of each magnetic member 215 so that the magnetic members having different thicknesses can be used. Body members may be combined.

  The first and second embodiments can be carried out independently. It is also possible to carry out a combination of the first and second embodiments. For example, when combining the first and second embodiments, the adjustment based on the number and thickness of the magnetic members 215 is executed first to roughly adjust the magnitude of the output signal of the magnetic sensor 300 (coarse adjustment). Then, the magnitude of the output signal of the magnetic sensor 300 may be finely adjusted by adjusting the arrangement position of the magnetic sensor 300. Further, when the coarse adjustment by the magnetic member 215 is not performed, the adjustment range of the arrangement position of the magnetic sensor 300 becomes large, and therefore the length of the conductor pattern 311 including the adjustment patterns 311a and 311b becomes long, and the circuit board 310 may become large. When coarse adjustment is performed by the magnetic member 215 as in the present embodiment, the adjustment range of the arrangement position of the magnetic sensor 300 can be narrowed. Therefore, the length of the conductor pattern 311 including the adjustment patterns 311a and 311b The length of the mounting terminal 301 of the sensor 300 can be shortened to about 1.5 to 2 times, and the circuit board 310 can be made small.

  FIG. 9 is an explanatory view showing an electric bicycle (electric assist bicycle) as an example of a moving body using a motor / generator according to a modification of the present invention. In this bicycle 3300, a motor 3310 is provided on the front wheel, and a control circuit 3320 and a rechargeable battery 3330 are provided on a frame below the saddle. The motor 3310 assists traveling by driving the front wheels using the electric power from the rechargeable battery 3330. Further, the electric power regenerated by the motor 3310 is charged in the rechargeable battery 3330 during braking. The control circuit 3320 is a circuit that controls driving and regeneration of the motor. As the motor 3310, the above-described various coreless motors 10 can be used.

  FIG. 10 is an explanatory diagram showing an example of a robot using a motor according to a modification of the present invention. The robot 3400 includes first and second arms 3410 and 3420 and a motor 3430. This motor 3430 is used when horizontally rotating the second arm 3420 as a driven member. As the motor 3430, the various coreless motors 10 described above can be used.

  FIG. 11 is an explanatory view showing an example of a double-armed seven-axis robot using a motor according to a modification of the present invention. The double-arm 7-axis robot 3450 includes a joint motor 3460, a gripper motor 3470, an arm 3480, and a gripper 3490. The joint motor 3460 is disposed at a position corresponding to a shoulder joint, an elbow joint, and a wrist joint. The joint motor 3460 includes two motors for each joint in order to move the arm 3480 and the grip portion 3490 in a three-dimensional manner. In addition, the gripper motor 3470 opens and closes the gripper 3590 and causes the gripper 3490 to grip an object. In the double-arm 7-axis robot 3450, the above-described various coreless motors can be used as the joint motor 3460 or the gripping motor 3470.

  FIG. 12 is an explanatory view showing a railway vehicle using a motor according to a modification of the present invention. The railway vehicle 3500 has an electric motor 3510 and wheels 3520. The electric motor 3510 drives the wheel 3520. Furthermore, the electric motor 3510 is used as a generator when the railway vehicle 3500 is braked, and electric power is regenerated. As the electric motor 3510, the various coreless motors 10 described above can be used.

  The embodiments of the present invention have been described above based on some examples. However, the above-described embodiments of the present invention are for facilitating the understanding of the present invention and limit the present invention. It is not a thing. The present invention can be changed and improved without departing from the spirit and scope of the claims, and it is needless to say that the present invention includes equivalents thereof.

DESCRIPTION OF SYMBOLS 10 ... Coreless motor 15 ... Stator 20 ... Rotor 100, 100A, 100B ... Electromagnetic coil 110 ... Casing 115 ... Coil back yoke 200 ... Permanent magnet 215 ... Magnetic body member 230 ... Rotating shaft 240 ... Bearing part 260 ... Coil spring 300 ... Magnetic sensor DESCRIPTION OF SYMBOLS 301 ... Mounting terminal 310 ... Circuit board 311 ... Conductor pattern 311a, 311b ... Adjustment pattern 312 ... Trace of mounting terminal 313 ... Solder 314, 314a ... Mark 3300 ... Bicycle 3310 ... Motor 3320 ... Control circuit 3330 ... Rechargeable battery 3400 ... Robot 3410 ... Second arm 3420 ... Second arm 3430 ... Motor 3450 ... Double-axis 7-axis robot 3460 ... Joint motor 3470 ... Gripping part motor 3480 ... Arm 3490 ... Gripping part 3500 ... Railway Both 3510 ... electric motor 3520 ... the wheels

Claims (9)

A method of manufacturing a coreless electromechanical device, comprising:
(A) A rotating shaft, a plurality of permanent magnets arranged in a circumferential direction of the rotating shaft and magnetized in a radial direction around the rotating shaft, and arranged at both ends of the permanent magnet in the rotating shaft direction Combining the magnetic member with the rotor,
(B) a plurality of electromagnetic coils arranged in a circumferential direction facing the permanent magnet, formed in a ring shape, and an electromagnetic coil whose normal line is a radial direction centered on the rotation axis; Combining a stator disposed on a plane perpendicular to the rotation axis, and a magnetic sensor disposed on the substrate and detecting the magnitude of magnetic flux generated by the permanent magnet, with the stator;
(C) combining the rotor and the stator;
With
In the step (b), (b-1) a range in which the output signal of the magnetic sensor is not saturated by adjusting the position by moving the magnetic sensor in the radial direction about the rotation axis on the substrate. And adjusting the mounting position of the magnetic sensor so that the peak of the output signal of the magnetic sensor is maximized. In the manufacturing method of the coreless electromechanical device according to claim 1,
The magnetic member is formed of one or more plate-like members having a disk shape,
In the step (b), before the step (b-1), the output signal of the magnetic sensor is adjusted by adjusting (b-0) the number of the magnetic members or the thickness of the magnetic members. A method of manufacturing a coreless electromechanical device, comprising a step of adjusting a size. A coreless electromechanical device,
With the rotor,
A stator disposed opposite to the rotor,
The rotor is
A rotation axis;
A plurality of permanent magnets arranged in a circumferential direction of the rotating shaft and alternately magnetized in a radial direction around the rotating shaft;
A magnetic member disposed at both ends of the rotation axis direction of the permanent magnet,
The stator is
A plurality of electromagnetic coils arranged along a circumferential direction facing the permanent magnet, wherein the electromagnetic coils are formed in a ring shape, and the normal line of the ring is a radial direction centered on the rotation axis;
A substrate disposed on a plane perpendicular to the rotation axis;
A magnetic sensor disposed on the substrate and detecting the magnitude of magnetic flux generated by the permanent magnet,
The magnetic sensor has a mounting terminal for mounting the magnetic sensor on the substrate,
The substrate has a plurality of conductor patterns used for mounting with mounting terminals of the magnetic sensor,
The coreless electromechanical device, wherein the conductor pattern is parallel to a radial direction about the rotation axis, and a length of the conductive pattern in the radial direction is longer than a length of a mounting terminal of the magnetic sensor. . The coreless electromechanical device according to claim 3,
The coreless electromechanical device, wherein the mounting position of the magnetic sensor is adjusted so that the magnitude of the peak of the output signal of the magnetic sensor is maximized within a range in which the output signal of the magnetic sensor is not saturated. The coreless electromechanical device according to claim 3 or 4,
A coreless electromechanical device, wherein at least one of the conductor patterns has a mark for confirming a mounting position of a mounting terminal of a magnetic sensor. In the coreless electromechanical device according to any one of claims 3 to 5,
In the coreless electric machine, the thickness of the magnetic member is adjusted so that the peak of the output signal of the magnetic sensor is maximized within a range in which the output signal of the magnetic sensor is not saturated. apparatus. The coreless electromechanical device according to claim 6,
The coreless electromechanical device, wherein the magnetic member is formed of one or more plate-like members having a disk shape. The coreless electromechanical device according to claim 6 or 7,
The length of each conductor pattern in the radial direction is a coreless electromechanical device that is 1.5 to 2 times the length of the mounting terminal of the magnetic sensor.   A robot comprising the coreless electromechanical device according to any one of claims 3 to 8.

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