JP2013165599A - Stator of slot-less motor, slot-less motor and robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provided a stator of a motor that allows wiring to be performed with excellent productivity.SOLUTION: In a stator, inside first coil bodies 10a and inside second coil bodies 10b are alternatively disposed along a cylinder. Each of the inside first coil bodies 10a has an inside first coil 22, an inside first terminal 22a and an inside second terminal 22b, and each of the inside second coil bodies 10b has an inside second coil 23, an inside third terminal 23a and an inside fourth terminal 23b. Each of the inside first coil bodies 10a and each of the inside second coil bodies 10b are installed such that current flows through the inside first coil 22 in a direction opposite to a direction in which current flows through the inside second coil 23 when causing the current to flow from the inside first terminal 22a to the inside second terminal 22b and the current to flow from the inside third terminal 23a to the inside fourth terminal 23b. The inside first terminal 22a and the inside fourth terminal 23b are connected, and the inside second terminal 22b and the inside third terminal 23a are connected. The inside first terminal 22a is positioned in the vicinity of the inside fourth terminal 23b, and the inside second terminal 22b is positioned in the vicinity of the inside third terminal 23a.

Description

  The present invention relates to a stator of a slotless motor, a slotless motor, and a robot.

  Many motors are used in industrial machines such as robots. Slotless motors are used because of the acceleration characteristics of the motor and the advantages of less cogging. The slotless motor includes a rotor and a stator. The rotor includes magnets in which N poles and S poles are alternately arranged, and is rotatably supported by a pair of bearings.

  A stator used in a slotless motor is disclosed in Patent Document 1. According to this, the stator includes an insulator and a stator core. The insulator is provided with a plurality of air-core coils along the surface of the thin cylinder. A pair of lead wires of the coil is fixed to the insulator, and each lead wire is connected by a connection board. And an insulator is inserted in the inner peripheral part of a cylindrical stator core.

  And an electric current is flowed through each coil and Lorentz force is produced between rotors. Then, the rotor is rotated by the Lorentz force. By switching the direction of the current flowing through each coil, the direction in which the Lorentz force is applied is switched to control the rotor to rotate in a desired direction.

JP 2002-262502 A

  A plurality of coils are installed side by side on the stator. And it is necessary to install a coil so that an electric current may flow in the same direction in the place where an adjacent coil faces. And it is necessary to install a coil so that the direction which the electric current which flows into an adjacent coil flows may turn clockwise and counterclockwise.

  In order to arrange the same coils in this form, it is necessary to devise arrangement of the coils. That is, it is necessary to set the wiring between the terminals so that the directions in which the current flows are alternate. At this time, it is necessary to connect between the terminals where one terminal is skipped without connecting the terminals of adjacent coils. And since the terminal which does not connect is located between the terminals to connect, it has become difficult to connect between terminals. Therefore, a slotless motor stator having a structure capable of wiring between terminals with high productivity has been demanded.

  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 stator of a slotless motor according to this application example is a stator of a slotless motor that rotates a rotor including a magnetic body, and is a coil in which first coil bodies and second coil bodies are alternately arranged along a cylinder. The first coil body has a first terminal connected to the first coil and one end of the first coil, and a second terminal connected to the other end of the first coil, and the second coil body is A third terminal connected to the second coil and one end of the second coil, and a fourth terminal connected to the other end of the second coil, and current flows from the first terminal to the second terminal, The first coil and the second coil are installed adjacent to each other so that the current flows in the reverse direction between the first coil and the second coil when the current flows from the third terminal to the fourth terminal. The first coil body and the In the two-coil body, the first terminal and the fourth terminal are connected, the second terminal and the third terminal are connected, and the first terminal is closer to the fourth terminal than the third terminal The second terminal is located closer to the third terminal than the fourth terminal.

  According to this application example, the first coil body and the second coil body are alternately arranged along the cylinder in the coil unit. The first coil body includes a first terminal and a second terminal, and the second coil body includes a third terminal and a fourth terminal. The first terminal and the fourth terminal are connected, and the second terminal and the third terminal are connected. Accordingly, when a current flows from the first terminal, the current flows through the first terminal, the first coil, the second terminal, the third terminal, the second coil, and the fourth terminal. Next, a current flows from the fourth terminal to the first terminal.

  One of the currents flowing through the first coil and the second coil is clockwise and the other is counterclockwise. Therefore, the current flows in the same direction at the place where the first coil and the second coil face each other. And since Lorentz force acts between the magnetic poles of a rotor, a rotor rotates with respect to a stator. Next, the direction of the current flowing through the first coil and the second coil is changed according to the magnetic poles of the rotor. Thereby, the rotor can be rotated in the same direction.

  The first terminal is located closer to the fourth terminal than the third terminal. Therefore, since the third terminal is not located between the first terminal and the fourth terminal, the first terminal and the fourth terminal can be connected with high productivity. Similarly, the second terminal is located closer to the third terminal than the fourth terminal. Therefore, since the fourth terminal is not located between the second terminal and the third terminal, the second terminal and the third terminal can be connected with high productivity.

[Application Example 2]
In the stator of the slotless motor according to the application example, the coil unit includes the first terminal, the second terminal, the third terminal, and the fourth terminal that are repeatedly arranged in this order, and the adjacent first terminals. A connection board is provided for connecting the fourth terminal and connecting the second terminal and the third terminal.

  According to this application example, the first terminal and the fourth terminal are connected using the connection board, and the second terminal and the third terminal are connected. Wiring is formed on the connection board, and each terminal can be connected by connecting each terminal to the connection board. Therefore, each terminal can be connected with higher productivity than when connecting each terminal using a wiring cord.

[Application Example 3]
In the stator of the slotless motor according to the application example, the coil unit includes the first terminal, the second terminal, the third terminal, and the fourth terminal that are repeatedly arranged in this order, and the first terminal is the first terminal. It is installed toward the fourth terminal connected to one terminal, and the fourth terminal is installed toward the first terminal connected to the fourth terminal.

  According to this application example, the first terminal is installed toward the fourth terminal, and the fourth terminal is installed toward the first terminal. Thereby, the first terminal and the fourth terminal are arranged to face each other. Therefore, the first terminal and the fourth terminal can be easily connected as compared with the case where the first terminal and the fourth terminal are installed in a direction that does not face each other.

[Application Example 4]
In the stator of the slotless motor according to the application example described above, the electric wire is wound counterclockwise from the first terminal toward the second terminal in the first coil, and the electric wire is the third coil in the second coil. The terminal is wound clockwise from the terminal toward the fourth terminal.

  According to this application example, when a current flows from the first terminal to the second terminal, the current flows counterclockwise from the first terminal. When a current flows from the third terminal to the fourth terminal, the current flows clockwise from the third terminal. Therefore, when the second terminal and the third terminal are connected and a current flows from the first terminal to the fourth terminal, the current can flow in the same direction at the place where the first coil and the second coil face each other.

[Application Example 5]
A slotless motor according to this application example is a slotless motor including a rotor and a stator, and the stator according to any one of the above is included in the stator.

  According to this application example, the slotless motor includes the stator described above. The stator described above is a stator that can be manufactured with high productivity. Therefore, the slotless motor of this application example can be a slotless motor including a stator that can be manufactured with high productivity.

[Application Example 6]
A robot according to this application example includes a link and a joint, and includes a motor that rotates the link at the joint, and the motor includes the slotless motor described above. To do.

  According to this application example, the robot includes the motor described above. The motor described above includes a stator that can be manufactured with high productivity. Therefore, the robot of this application example can be a robot having a slotless motor including a stator that can be manufactured with high productivity.

FIG. 4A is a schematic side cross-sectional view showing the structure of a motor, and FIG. 5B is a schematic top cross-sectional view showing the structure of a motor, according to the first embodiment. (A) is a schematic top view showing the structure of the inner first coil body, (b) is a schematic sectional view for explaining the structure of the inner first coil body, and (c) shows the structure of the inner second coil body. A schematic top view, (d) is a schematic cross-sectional view for explaining the structure of the inner second coil body. (A) is a schematic top view showing the structure of the outer first coil body, (b) is a schematic sectional view for explaining the structure of the outer first coil body, and (c) is a schematic diagram showing the structure of the outer second coil body. A top view and (d) are typical sectional views for explaining structure of an outside 2nd coil object. The schematic cross section for demonstrating a connection board | substrate. In connection with the second embodiment, (a) is a schematic side sectional view showing the structure of the motor, and (b) is a schematic upper sectional view showing the structure of the motor. (A) is a schematic top view which shows the connection structure of a coil body, (b) is a schematic cross section for demonstrating the connection structure of a coil body. The schematic front view which shows the structure of the robot in connection with 3rd Embodiment. The schematic front view which shows the structure of a double-arm robot. FIG. 3 is a schematic cross-sectional view showing the structure of a motor according to a comparative example. (A) is a schematic top view showing the connection structure of the coil body, and (b) is a schematic cross-sectional view for explaining the connection structure of the coil body.

In the present embodiment, characteristic examples of the motor will be described with reference to FIGS. Hereinafter, embodiments will be described with reference to the drawings. In addition, each member in each drawing is illustrated with a different scale for each member in order to make the size recognizable on each drawing.
(First embodiment)
The motor according to the first embodiment will be described with reference to FIGS. FIG. 1A is a schematic side sectional view showing the structure of a motor. FIG. 1B is a schematic cross-sectional view showing the structure of the motor, and is a cross-sectional view taken along line AA ′ of FIG.

  As shown in FIG. 1, a motor 1 as a slotless motor includes a stator 2, and a rotor 3 as a rotor that is rotatably installed inside the stator 2. A lid portion 4 that holds the rotor 3 inside the stator 2 is installed on the stator 2. The motor 1 is an inner rotor type motor in which the rotor 3 rotates inside the stator 2. Hereinafter, the direction in which the rotation axis of the rotor 3 extends is referred to as the axial direction.

  The stator 2 includes a base 5. The base 5 includes a substantially disk-shaped bottom 5a extending in a direction orthogonal to the axial direction. Furthermore, a substantially cylindrical side plate portion 5b extending in the axial direction from the outer periphery of the bottom portion 5a is provided. The material of the base 5 is not particularly limited as long as it is rigid, and for example, metal, ceramic, or resin can be used. As the resin, for example, a known resin material such as polyphenylene sulfide or unsaturated polyester can be used. Furthermore, the resin may contain a filler. Furthermore, the rigidity can be increased.

  A cylindrical bearing 6 is installed at the center of the bottom 5a. A through hole 6 a is provided at the center of the bearing 6, and the bearing 6 can support one end of the rotor 3. The material of the bearing 6 is not particularly limited as long as it has a low frictional resistance and is durable. Various materials such as porous metals, ceramics, and resin materials into which oils and fats are permeated can be used. In addition, the bearing 6 may be provided with a structure having low friction such as a bearing.

  A cylindrical yoke 7 is installed on the inner peripheral side of the side plate portion 5b. The yoke 7 is made of a material containing a soft magnetic material, and restricts the flow of magnetic field lines to prevent magnetic leakage. Examples of the soft magnetic material include alloys, microcrystalline materials, amorphous materials, and the like including materials such as Fe, Co, Ni, Cr, Si, B, Nb, and P.

  A cylindrical coil unit 8 is installed on the inner peripheral side of the yoke 7. The coil unit 8 has two rows of concentric coil bodies in which coils are insert-molded. That is, the coil unit 8 includes an outer coil row 9 located near the yoke 7 and an inner coil row 10 located near the rotor 3.

  In the outer coil array 9, outer first coil bodies 9a as first coil bodies and outer second coil bodies 9b as second coil bodies are alternately arranged. Similarly, in the inner coil row 10, inner first coil bodies 10a as first coil bodies and inner second coil bodies 10b as second coil bodies are alternately arranged. Accordingly, the outer first coil body 9a and the outer second coil body 9b are arranged along the same cylinder, and the inner first coil body 10a and the inner second coil body 10b are arranged along the same cylinder. The center of the inner first coil body 10a or the inner second coil body 10b is opposed to the gap between the outer first coil body 9a and the outer second coil body 9b. Therefore, the position of the coil body of the outer coil array 9 and the position of the coil body of the inner coil array 10 are in a positional relationship that is moved by half the coil bodies.

  In the coil unit 8, a connection board 11 is installed at one end in the axial direction. And wiring is installed in the connection board | substrate 11, and this wiring is electrically connected with the outer side 1st coil body 9a, the outer side 2nd coil body 9b, the inner side 1st coil body 10a, and the inner side 2nd coil body 10b. .

  A mold body 12 is installed so as to cover the outer periphery of the base 5, one end of the yoke 7 on the axial direction side, and a part of the connection board 11. The mold body 12 has a function of fixing the coil unit 8 and the yoke 7 to the base 5. As a material which comprises the mold body 12, well-known resin materials, such as polyphenylene sulfide and unsaturated polyester, can be used, for example. Moreover, the material which comprises the mold body 12 may contain the filler and the insulating material. This insulating material is not particularly limited, and examples thereof include a polyester resin, an epoxy-modified formal resin, and polyvinyl formal. Two or more of these insulating materials may be prepared and used alone or may be used alone.

  The dielectric strength of the mold body 12 is preferably 10,000 V / mm or more and 20000 V / mm or less. Thereby, since the mold body 12 can be made thin, the motor 1 can be designed small.

  One end of the wiring board 11 is provided so as to protrude from the mold body 12. Then, a part of the wiring is exposed from the mold body 12. Thereby, it is possible to flow a current to the coil unit 8 through the connection substrate 11.

  A lid portion 4 is installed at one end closer to the connection board 11 in the axial direction of the stator 2. The lid portion 4 includes a disc-like lid plate 13, and a bearing 14 is installed at the center of the lid plate 13. The bearing 14 has the same function and form as the bearing 6, and a through hole 14a is provided at the center.

  A through hole 13 a is installed at a location near the outer periphery of the cover plate 13, and a screw hole is installed at a location facing the through hole 13 a in the mold body 12. The mold body 12 and the lid plate 13 are fixed by screws 15.

  The rotor 3 includes an output shaft 16 extending in the axial direction, and the output shaft 16 passes through the through hole 6a and the through hole 14a. Then, both ends of the output shaft 16 are rotatably supported by the bearing 6 and the bearing 14. A first restriction wheel 17 is installed on the output shaft 16 near the bearing 14 side of the bearing 6. Similarly, a second restriction wheel 18 is installed on the output shaft 16 near the bearing 6 side of the bearing 14. And the 1st control wheel 17 and the 2nd control wheel 18 become a magnitude | size which cannot pass the through-hole 6a and the through-hole 14a. Therefore, the movement amount of the output shaft 16 in the axial direction is restricted by the first restriction wheel 17 and the second restriction wheel 18.

  A cylindrical magnet 21 is installed around the output shaft 16 at a location facing the coil unit 8 in the rotor 3. The magnet 21 is magnetized so that a magnetic pole pair of N pole and S pole is located in the radial direction. And the magnet 21 is arrange | positioned so that the north-pole and south pole of a magnetic pole pair may be located alternately in each place divided | segmented into 12 equally in the circumferential direction.

  Each of the outer coil array 9 and the inner coil array 10 includes 12 coil bodies, and the coil bodies correspond to the magnetic pole pairs. The rotor 3 can be rotated by switching the pattern of the current flowing through the outer coil group 9 and the current flowing through the inner coil group 10. Since the coil unit 8 is fixed, the motor 1 is a brushless motor.

  FIG. 2A is a schematic top view showing the structure of the inner first coil body, and FIG. 2B is a schematic cross-sectional view for explaining the structure of the inner first coil body. FIG. 2C is a schematic top view showing the structure of the inner second coil body, and FIG. 2D is a schematic cross-sectional view for explaining the structure of the inner second coil body. 2B is a side sectional view of the section taken along the line BB ′ of FIG. 2A, and FIG. 2D is a side sectional view of the section taken along the line CC ′ of FIG. is there.

  As shown in FIG. 2, the inner first coil body 10 a and the inner second coil body 10 b have an arc shape when viewed from the axial direction. When the inner first coil body 10a and the inner second coil body 10b are arranged along a cylinder, the inner peripheral side of the inner coil array 10 becomes a circle. Thereby, since the distance of the inner side coil row | line | column 10 and the magnet 21 can be made into equal distance, it is possible to make uniform the force which each coil body exerts on the magnet 21. FIG. In the inner coil row 10, inner first coil bodies 10a and inner second coil bodies 10b are alternately arranged, but in the figure, each of the inner first coil bodies 10a and the inner second coil bodies 10b is shown. Others are omitted.

  The inner first coil body 10a includes a convex portion 10c on the outer peripheral side, and the inner second coil body 10b includes a convex portion 10d on the outer peripheral side. And the convex part 10c and the convex part 10d are installed so that it may be pinched | interposed into the outer side 1st coil body 9a and the outer side 2nd coil body 9b. Thereby, the relative positions of the coil bodies of the outer coil array 9 and the coil bodies of the inner coil array 10 can be arranged with high accuracy.

  An inner first coil 22 as a first coil is embedded in the inner first coil body 10a, and has a structure embedded with a resin material. Similarly, an inner second coil 23 as a second coil is embedded in the inner second coil body 10b and is embedded with a resin material. With such a structure, the inner first coil body 10a and the inner second coil body 10b can be thinned while maintaining the overall rigidity. Thereby, the motor 1 is a small motor.

  The resin material is not particularly limited, and known resin materials such as polyphenylene sulfide and unsaturated polyester can be used. Moreover, the filler may be contained in the resin material. Thereby, the heat generated from the inner first coil 22 can be released more effectively. Furthermore, the position shift of the inner first coil 22 can be prevented.

  When the stator 2 is viewed from the rotor 3 side, the electric wires are wound counterclockwise from the outer side toward the inner side in the inner first coil 22 and the inner second coil 23. In the inner first coil 22, the end of the outer electric wire is the inner first terminal 22 a as the first terminal, and the end of the inner electric wire is the inner second terminal 22 b as the second terminal. At this time, the inner first coil 22 is wound counterclockwise from the inner first terminal 22a toward the inner second terminal 22b. Accordingly, when a current flows from the inner first terminal 22a to the inner second terminal 22b, the current flows counterclockwise. On the other hand, when current flows from the inner second terminal 22b to the inner first terminal 22a, the current flows clockwise.

  In the inner second coil 23, the end of the inner electric wire is an inner third terminal 23a as a third terminal, and the outer electric wire end is an inner fourth terminal 23b as a fourth terminal. When the stator 2 is viewed from the rotor 3 side, the inner second coil 23 is wound clockwise from the inner third terminal 23a toward the inner fourth terminal 23b. Accordingly, when a current flows from the inner third terminal 23a to the inner fourth terminal 23b, the current flows clockwise. On the other hand, when the current flows from the inner fourth terminal 23b to the inner third terminal 23a, the current flows counterclockwise.

  The inner second terminal 22b and the inner third terminal 23a are connected, and current flows from the inner first terminal 22a toward the inner fourth terminal 23b. At this time, a current flows counterclockwise in the inner first coil body 10a, and a current flows clockwise in the inner second coil body 10b. Therefore, at the place where the inner first coil 22 and the inner second coil 23 face each other, the current flows in the same direction. In the inner first coil 22 and the inner second coil 23 on the side close to the inner second terminal 22b and the inner third terminal 23a, a current flows toward the inner second terminal 22b or the inner third terminal 23a. The inner first coil 22 and the inner second coil 23 near the inner fourth terminal 23b and the inner first terminal 22a receive a current in a direction away from the inner fourth terminal 23b or the inner first terminal 22a. To flow.

  The inner fourth terminal 23b and the inner first terminal 22a are connected, and a current flows from the inner third terminal 23a toward the inner second terminal 22b. At this time, the current flows clockwise in the inner second coil body 10b, and the current flows counterclockwise in the inner first coil body 10a. Therefore, at the place where the inner first coil 22 and the inner second coil 23 face each other, the current flows in the same direction. In the inner first coil 22 and the inner second coil 23 on the side close to the inner second terminal 22b and the inner third terminal 23a, a current flows toward the inner second terminal 22b or the inner third terminal 23a. The inner first coil 22 and the inner second coil 23 near the inner fourth terminal 23b and the inner first terminal 22a receive a current in a direction away from the inner fourth terminal 23b or the inner first terminal 22a. To flow.

  In the inner coil array 10, the inner first coil bodies 10a and the inner second coil bodies 10b are alternately arranged. The inner second terminal 22b and the inner third terminal 23a are connected, and the inner fourth terminal 23b and the inner first terminal 22a are connected. Therefore, when the current flows through the inner coil row 10, the current flows from the bottom 5 a side of the base 5 toward the cover plate 13 side and from the cover plate 13 side toward the bottom 5 a side of the base 5. It is possible to alternately arrange the flowing places. The direction in which the current flows can be switched in reverse.

  FIG. 3A is a schematic top view showing the structure of the outer first coil body, and FIG. 3B is a schematic cross-sectional view for explaining the structure of the outer first coil body. FIG. 3C is a schematic top view showing the structure of the outer second coil body, and FIG. 3D is a schematic cross-sectional view for explaining the structure of the outer second coil body. 3B is a side sectional view of a section taken along the line DD ′ of FIG. 3A, and FIG. 3D is a side sectional view of a section taken along the line EE ′ of FIG. is there.

  As shown in FIG. 3, the structures of the outer first coil body 9a and the outer second coil body 9b are similar to the structures of the inner first coil body 10a and the inner second coil body 10b. The outer first coil body 9a and the outer second coil body 9b have arc shapes when viewed from the axial direction. When the outer first coil body 9a and the outer second coil body 9b are arranged along the cylinder, the inner peripheral side of the outer coil row 9 becomes a cylinder. Thereby, since the distance between the outer coil array 9 and the magnet 21 can be made equal, the force exerted on the magnet 21 by each coil body can be made uniform. Although the outer first coil bodies 9a and the outer second coil bodies 9b are alternately arranged in the outer coil row 9, in the drawing, each of the outer first coil bodies 9a and the outer second coil bodies 9b is shown. Others are omitted.

  The outer first coil body 9a includes a convex portion 9c on the inner peripheral side, and the outer second coil body 9b includes a convex portion 9d on the inner peripheral side. And the convex part 9c and the convex part 9d are installed so that it may be pinched | interposed into the inner side 1st coil body 10a and the inner side 2nd coil body 10b. Thereby, the relative positions of the coil bodies of the outer coil array 9 and the coil bodies of the inner coil array 10 can be arranged with high accuracy.

  An outer first coil 24 as a first coil is embedded in the outer first coil body 9a, and has a structure embedded with a resin material. Similarly, an outer second coil 25 as a second coil is embedded in the outer second coil body 9b and is embedded with a resin material. By adopting such a structure, the outer first coil body 9a and the outer second coil body 9b can be made thin while maintaining the overall rigidity. Thereby, the motor 1 can be reduced in size.

  The resin material used for the outer first coil body 9a and the outer second coil body 9b is not particularly limited, and the same material as the resin material used for the inner first coil body 10a and the inner second coil body 10b is used. Can do.

  When the stator 2 is viewed from the rotor 3 side, the outer first coil 24 and the outer second coil 25 have the electric wire wound counterclockwise from the outside toward the inside. In the outer first coil 24, an end of the outer electric wire is an outer first terminal 24a as a first terminal, and an end of the inner electric wire is an outer second terminal 24b as a second terminal. At this time, the outer first coil 24 is wound counterclockwise from the outer first terminal 24a toward the outer second terminal 24b. Accordingly, when a current flows from the outer first terminal 24a to the outer second terminal 24b, the current flows counterclockwise. On the other hand, when a current flows from the outer second terminal 24b to the outer first terminal 24a, the current flows clockwise.

  In the outer second coil 25, the end of the inner electric wire is the outer third terminal 25a as the third terminal, and the end of the outer electric wire is the outer fourth terminal 25b as the fourth terminal. When the stator 2 is viewed from the rotor 3 side, the outer second coil 25 is wound clockwise from the outer third terminal 25a toward the outer fourth terminal 25b. Accordingly, when a current flows from the outer third terminal 25a to the outer fourth terminal 25b, the current flows clockwise. On the other hand, when the current flows from the outer fourth terminal 25b to the outer third terminal 25a, the current flows counterclockwise.

  The outer second terminal 24b and the outer third terminal 25a are connected, and a current flows from the outer first terminal 24a toward the outer fourth terminal 25b. At this time, the current flows counterclockwise in the outer first coil body 9a, and the current flows clockwise in the outer second coil body 9b. Therefore, in the place where the outer first coil 24 and the outer second coil 25 face each other, current flows in the same direction. In the outer first coil 24 and the outer second coil 25 that are close to each other between the outer second terminal 24b and the outer third terminal 25a, a current flows toward the outer second terminal 24b or the outer third terminal 25a. The outer first coil 24 and the outer second coil 25 on the side close to the outer fourth terminal 25b and the outer first terminal 24a receive a current in a direction away from the outer fourth terminal 25b or the outer first terminal 24a. To flow.

  The outer fourth terminal 25b and the outer first terminal 24a are connected, and current flows from the outer third terminal 25a toward the outer second terminal 24b. At this time, the current flows clockwise in the outer second coil body 9b, and the current flows counterclockwise in the outer first coil body 9a. Therefore, in the place where the outer first coil 24 and the outer second coil 25 face each other, current flows in the same direction. In the outer first coil 24 and the outer second coil 25 that are close to each other between the outer second terminal 24b and the outer third terminal 25a, a current flows toward the outer second terminal 24b or the outer third terminal 25a. The outer first coil 24 and the outer second coil 25 on the side close to the outer fourth terminal 25b and the outer first terminal 24a receive a current in a direction away from the outer fourth terminal 25b or the outer first terminal 24a. To flow.

  In the outer coil array 9, the outer first coil bodies 9a and the outer second coil bodies 9b are alternately arranged. The outer second terminal 24b and the outer third terminal 25a are connected, and the outer fourth terminal 25b and the outer first terminal 24a are connected. Therefore, when the current flows through the outer coil array 9, the current flows from the bottom 5 a side of the base 5 toward the cover plate 13 side and from the cover plate 13 side toward the bottom 5 a side of the base 5. It is possible to alternately arrange the flowing places. The direction in which the current flows can be switched in reverse.

  The inner first coil 22 and the inner second coil 23 installed in the inner coil row 10 are air-core coils. Similarly, the outer first coil 24 and the outer second coil 25 installed in the outer coil row 9 are also air-core coils. Therefore, the motor 1 is a slotless motor because the rotor 3 is rotated using an air-core coil.

  FIG. 4 is a schematic cross-sectional view for explaining the connection board, and is a cross-sectional view taken along the line F-F ′ of FIG. As shown in FIG. 4, in the inner coil row 10, the inner first terminal 22a, the inner second terminal 22b, the inner third terminal 23a, and the inner fourth terminal 23b are repeatedly arranged in this order in the clockwise direction. Accordingly, the inner first terminal 22a is located closer to the inner fourth terminal 23b than the inner third terminal 23a, and the inner second terminal 22b is located closer to the inner third terminal 23a than the inner fourth terminal 23b. Yes.

  A wiring 11 a is installed on the connection board 11. The inner first terminal 22a and the inner fourth terminal 23b are electrically connected by the wiring 11a, and the inner second terminal 22b and the inner third terminal 23a are electrically connected by the wiring 11a. At this time, the inner first terminal 22a and the inner fourth terminal 23b are adjacent to each other, and the inner second terminal 22b and the inner third terminal 23a are adjacent to each other. For this reason, each terminal of the inner coil row 10 is easily wired.

  Similarly, in the outer coil row 9, the outer first terminal 24a, the outer second terminal 24b, the outer third terminal 25a, and the outer fourth terminal 25b are arranged in this order in the clockwise direction. Accordingly, the outer first terminal 24a is positioned closer to the outer fourth terminal 25b than the outer third terminal 25a, and the outer second terminal 24b is positioned closer to the outer third terminal 25a than the outer fourth terminal 25b. Yes.

  The outer first terminal 24a and the outer fourth terminal 25b are electrically connected by the wiring 11a, and the outer second terminal 24b and the outer third terminal 25a are electrically connected by the wiring 11a. At this time, the outer first terminal 24a and the outer fourth terminal 25b are adjacent to each other, and the outer second terminal 24b and the outer third terminal 25a are adjacent to each other. For this reason, each terminal of the outer coil row 9 is easily wired.

  Outside the first input terminal 11b, the second outer input terminal 11c, the first inner input terminal 11d, and the second inner input terminal 11e are installed at locations where the wiring board 11 protrudes from the molded body 12. The outer first input terminal 11b is electrically connected to the outer third terminal 25a by the wiring 11a, and the outer second input terminal 11c is electrically connected to the outer second terminal 24b. Similarly, the inner first input terminal 11d is electrically connected to the inner third terminal 23a by the wiring 11a, and the inner second input terminal 11e is electrically connected to the inner second terminal 22b.

  When a current flows from the outer first input terminal 11b to the outer second input terminal 11c, electricity sequentially flows to the outer first coil body 9a and the outer second coil body 9b included in the outer coil row 9. Similarly, when a current flows from the inner first input terminal 11d to the inner second input terminal 11e, electricity sequentially flows to the inner first coil body 10a and the inner second coil body 10b included in the inner coil row 10. Accordingly, it is possible to cause the current to flow through all the coil bodies simultaneously. And the direction of the Lorentz force which each coil body gives to the rotor 3 can be changed by changing the direction of the electric current which flows into each input terminal.

As described above, this embodiment has the following effects.
(1) According to the present embodiment, the inner first terminal 22a is located closer to the inner fourth terminal 23b than the inner third terminal 23a. Accordingly, the inner third terminal 23a is not positioned between the inner first terminal 22a and the inner fourth terminal 23b. Thereby, since the inner third terminal 23a does not become an obstacle to work, the inner first terminal 22a and the inner fourth terminal 23b can be connected with high productivity. Similarly, the inner second terminal 22b is located closer to the inner third terminal 23a than the inner fourth terminal 23b. Therefore, the inner fourth terminal 23b is not positioned between the inner second terminal 22b and the inner third terminal 23a. Thereby, since the inner fourth terminal 23b does not become an obstacle to work, the inner second terminal 22b and the inner third terminal 23a can be connected with high productivity.

  (2) According to this embodiment, the outer first terminal 24a is located closer to the outer fourth terminal 25b than the outer third terminal 25a. Accordingly, the outer third terminal 25a is not positioned between the outer first terminal 24a and the outer fourth terminal 25b. Thereby, since the outer third terminal 25a does not become an obstacle to work, the outer first terminal 24a and the outer fourth terminal 25b can be connected with high productivity. Similarly, the outer second terminal 24b is located closer to the outer third terminal 25a than the outer fourth terminal 25b. Accordingly, the outer fourth terminal 25b is not positioned between the outer second terminal 24b and the outer third terminal 25a. Thereby, since the outer fourth terminal 25b does not become an obstacle to work, the outer second terminal 24b and the outer third terminal 25a can be connected with high productivity.

  (3) According to the present embodiment, the inner first terminal 22a and the inner fourth terminal 23b are connected using the connection board 11, and the inner second terminal 22b and the inner third terminal 23a are connected. Wiring 11 a is formed on the wiring board 11, and each terminal can be connected by connecting each terminal to the wiring board 11. Therefore, each terminal can be connected with higher productivity than when connecting each terminal using a wiring cord. Since the contents are the same for the first outer terminal 24a, the second outer terminal 24b, the third outer terminal 25a, and the fourth outer terminal 25b, the same effect can be obtained.

  (4) According to the present embodiment, when a current is passed from the inner first terminal 22a to the inner second terminal 22b, the current flows counterclockwise. When a current flows from the inner third terminal 23a to the inner fourth terminal 23b, the current flows clockwise. Therefore, when the inner second terminal 22b and the inner third terminal 23a are connected and current flows from the inner first terminal 22a to the inner fourth terminal 23b, the inner first coil 22 and the inner second coil 23 face each other. Then, the current can flow in the same direction. Since the content is the same for the outer first coil body 9a and the outer second coil body 9b, the same effect can be obtained.

  (5) According to the present embodiment, the motor 1 includes the stator 2. The stator 2 is a stator that can be manufactured with high productivity. Therefore, the motor 1 can be a motor 1 having a stator 2 that can be manufactured with high productivity.

(Second Embodiment)
Next, an embodiment of a motor having a characteristic structure will be described with reference to FIGS. This embodiment is different from the first embodiment in that the direction of the terminals provided in the coil body is different. Note that description of the same points as in the first embodiment is omitted.

  FIG. 5A is a schematic side sectional view showing the structure of the motor. FIG. 5B is a schematic cross-sectional view showing the structure of the motor, and is a cross-sectional view taken along the line G-G ′ of FIG. That is, in the present embodiment, as shown in FIG. 5, the motor 28 as a slotless motor includes a stator 29, and the rotor 3 rotates inside the stator 29. A coil unit 30 is installed between the yoke 7 installed on the stator 29 and the rotor 3.

  The coil unit 30 includes an outer coil row 31 and an inner coil row 32. In the outer coil array 31, outer first coil bodies 31a as first coil bodies and outer second coil bodies 31b as second coil bodies are alternately arranged along a cylinder. Similarly, in the inner coil array 32, inner first coil bodies 32a as first coil bodies and inner second coil bodies 32b as second coil bodies are alternately arranged along a cylinder.

  The coil unit 30 is connected to a part of one end located on the cover plate 13 side, and a wiring board 33 is installed. Two wires from the outer coil row 31 are connected to the connection board 33, and two wires from the inner coil row 32 are connected to the connection board 33. And unlike the connection board | substrate 11 in 1st Embodiment, the connection board | substrate 33 does not perform the connection of the terminal between the coils of an adjacent coil body.

  FIG. 6A is a schematic top view showing the connection structure of the coil body, and FIG. 6B is a schematic cross-sectional view for explaining the connection structure of the coil body. FIG. 6B is a cross-sectional side view taken along the line H-H ′ of FIG.

  As shown in FIG. 6, an inner first coil 34 as a first coil is installed inside the inner first coil body 32a. And the inner side 2nd coil 35 as a 2nd coil is installed in the inside of the inner side 2nd coil body 32b. Both ends of the inner first coil 34 are referred to as an inner first terminal 34a as a first terminal and an inner second terminal 34b as a second terminal. Both ends of the inner second coil 35 are defined as an inner third terminal 35a as a third terminal and an inner fourth terminal 35b as a fourth terminal. In the inner coil row 32, the inner first terminal 34a, the inner second terminal 34b, the inner third terminal 35a, and the inner fourth terminal 35b are arranged in this order. In the inner coil row 32, the inner first coil bodies 32a and the inner second coil bodies 32b are alternately arranged, but in the drawing, one inner first coil body 32a and one inner second coil body 32b are shown. Others are omitted.

  The inner first terminal 34a is connected to the inner fourth terminal 35b, and the inner second terminal 34b is connected to the inner third terminal 35a. The inner first terminal 34a is installed toward the inner fourth terminal 35b connected to the inner first terminal 34a, and the inner fourth terminal 35b is installed toward the inner first terminal 34a connected to the inner fourth terminal 35b. Has been. When the inner first coil body 32a and the inner second coil body 32b are arranged along the cylinder, the inner second terminal 34b and the inner third terminal 35a come into contact with each other. Therefore, the operator can easily connect the inner second terminal 34 b and the inner third terminal 35 a when assembling the stator 29.

  Similarly, when the inner first coil body 32a and the inner second coil body 32b are arranged along the cylinder, the inner first terminal 34a and the inner fourth terminal 35b come into contact with each other. Therefore, the operator can easily connect the inner first terminal 34 a and the inner fourth terminal 35 b when assembling the stator 29.

  The method for connecting the terminals is not particularly limited. Various methods such as soldering, laser welding, spot welding and brazing can be used. Even when using any of the methods, since the terminals to be connected are in contact with each other or close to each other, the terminals can be easily connected to each other. The outer coil group 31 has the same configuration as the inner coil group 32, and the terminals can be easily connected to each other. Detailed description is omitted.

As described above, this embodiment has the following effects.
(1) According to this embodiment, the inner first terminal 34a is installed toward the inner fourth terminal 35b, and the inner fourth terminal 35b is installed toward the inner first terminal 34a. Thereby, the inner first terminal 34a and the inner fourth terminal 35b are arranged to face each other. Accordingly, the inner first terminal 34a and the inner fourth terminal 35b can be easily connected as compared with the case where the inner first terminal 34a and the inner fourth terminal 35b are installed in a direction that does not face each other. Similarly, the inner second terminal 34b and the inner third terminal 35a can be easily connected as compared with the case where the inner second terminal 34b and the inner third terminal 35a are installed in a direction that does not face each other.

(Third embodiment)
Next, a robot including the motor according to the embodiment will be described with reference to FIGS. FIG. 7 is a schematic front view showing the structure of the robot. As shown in FIG. 7, the robot 38 includes a first arm 39. A second arm 40 is connected to the first arm 39. A motor 41 is installed on the first arm 39, and an output shaft of the motor 41 is connected to the second arm 40. Then, by driving the motor 41, the second arm 40 can be horizontally rotated with respect to the first arm 39.

  As the motor 41, the motor 1 in the first embodiment or the motor 28 in the second embodiment is used.

  FIG. 8 is a schematic front view showing the structure of the dual-arm robot. As shown in FIG. 8, the double-arm robot 42 includes a main body 43. A pair of arm portions 44 are connected to the main body portion 43. Each arm portion 44 includes a shoulder joint portion 45, a first link 46, an elbow joint portion 47, a second link 48, a wrist joint portion 49, and a grip portion 50 in this order.

  Two motors 51 are installed in the shoulder joint portion 45, the elbow joint portion 47, the wrist joint portion 49, and the grip portion 50, respectively. Thereby, each part can operate | move three-dimensionally. In the gripping part 50, the motor 51 is driven so that the gripping part 50 is opened and closed so that an object can be gripped. As the motor 51 provided in the double-arm robot 42, the motor 1 in the first embodiment or the motor 28 in the second embodiment is used.

As described above, this embodiment has the following effects.
(1) According to the present embodiment, the robot 38 includes the motor 41, and the motor 41 uses the motor 1 in the first embodiment or the motor 28 in the second embodiment. The motor 1 and the motor 28 are provided with a stator that can be manufactured with high productivity. Therefore, the robot 38 can be a robot having the motor 1 with the stator 2 that can be manufactured with high productivity. Alternatively, the robot 38 can be a robot having a motor 28 with a stator 29 that can be manufactured with high productivity.

  (2) According to this embodiment, the double-arm robot 42 includes the motor 51, and the motor 51 uses the motor 1 in the first embodiment or the motor 28 in the second embodiment. The motor 1 includes a stator 2 that can be manufactured with high productivity, and the motor 28 includes a stator 29 that can be manufactured with high productivity. Therefore, the double-arm robot 42 can be a robot having the motor 1 with the stator 2 that can be manufactured with high productivity. Alternatively, the double-arm robot 42 can be a robot having a motor 28 with a stator 29 that can be manufactured with high productivity.

(Comparative example)
Next, a comparative example of the motor will be described with reference to FIG. FIG. 9 is a schematic top sectional view showing the structure of the motor. This comparative example is different from the first embodiment in that the same coil bodies are arranged along the cylinder in the coil unit and each terminal is connected by a wiring cord. Note that description of the same points as in the first embodiment is omitted.

  As shown in FIG. 9, the motor 54 includes the yoke 7 and the rotor 3, and a coil unit 55 is disposed between the yoke 7 and the rotor 3. The coil unit 55 includes an outer coil array 56 and an inner coil array 57. In the outer coil array 56, an outer coil body 56a is arranged along a cylinder. Similarly, in the inner coil array 57, an inner coil body 57a is arranged along a cylinder.

  The outer coil body 56a includes a coil, and both ends of the coil are defined as an outer first terminal 56b and an outer second terminal 56c. The outer first terminals 56b of the adjacent outer coil bodies 56a are connected by a wiring cord 58. Further, the outer second terminals 56 c of the adjacent outer coil bodies 56 a are connected by the wiring cord 58.

  The outer second terminal 56c is located between the adjacent outer first terminals 56b. Accordingly, the wiring cords 58 that connect the outer first terminals 56b are arranged avoiding the outer second terminals 56c. Similarly, the wiring cord 58 that connects between the outer second terminals 56c is arranged avoiding the outer first terminal 56b. Therefore, it is difficult to connect the adjacent terminals as compared with the case where the wiring cords 58 are connected.

  Similarly, the inner coil body 57a includes an inner first terminal 57b and an inner second terminal 57c. The inner first terminals 57b of the adjacent inner coil bodies 57a are connected by the wiring cord 58. Further, the inner second terminals 57 c of the adjacent inner coil bodies 57 a are connected by the wiring cord 58.

  An inner second terminal 57c is located between the adjacent inner first terminals 57b. Accordingly, the wiring cord 58 that connects the inner first terminals 57b is arranged to avoid the inner second terminals 57c. Similarly, the wiring cord 58 that connects between the inner second terminals 57c is arranged avoiding the inner first terminal 57b. Therefore, it is difficult to connect the adjacent terminals as compared with the case where the wiring cords 58 are connected.

In addition, this embodiment is not limited to embodiment mentioned above, A various change and improvement can also be added. A modification will be described below.
(Modification 1)
In the first embodiment, the yoke 7 is installed on the stator 2. Even if the yoke 7 is not provided, the torque required for the motor 1 can be output, and the yoke 7 is not necessarily installed when the magnetic disturbance is small. Thereby, the motor 1 can be further reduced. Furthermore, since the number of parts can be reduced, the motor can be easily produced.

(Modification 2)
In the first embodiment, the soft magnetic material is not contained in the resin material that is the material formed by the inner first coil body 10a and the inner second coil body 10b. However, the soft magnetic material is not contained in the resin material. May be included. Thereby, leakage of magnetic force can be prevented more reliably, and the driving performance of the motor 1 can be improved.

(Modification 3)
In the second embodiment, the inner first terminal 34a and the inner second terminal 34b are protruded from the inner first coil body 32a on the side facing the inner second coil body 32b. And the inner side 3rd terminal 35a and the inner side 4th terminal 35b were made to protrude in the side facing the inner side 1st coil body 32a in the inner side 2nd coil body 32b. However, the present invention is not limited to this, and the terminal may be protruded from the coil body toward the lid portion 4 and further protrude toward the adjacent coil body.

  FIG. 10 is a schematic top view showing the connection structure of the coil body, and FIG. 10B is a schematic cross-sectional view for explaining the connection structure of the coil body. FIG. 10B is a cross-sectional side view taken along the line I-I ′ of FIG.

  Inner first coil bodies 61a as first coil bodies and inner second coil bodies 61b as second coil bodies are alternately arranged along the cylinder. The inner first coil body 61a includes an inner first coil 62 as a first coil inside, and an inner first terminal 62a as a first terminal and an inner second terminal as a second terminal at both ends of the inner first coil 62. 62b. The inner first terminal 62a protrudes from the inner first coil body 61a toward the lid portion 4 and further protrudes toward the adjacent inner second coil body 61b.

  Similarly, the inner second coil body 61b includes an inner second coil 63 as a second coil inside, and an inner third terminal 63a as a third terminal and an inner side as a fourth terminal at both ends of the inner second coil 63. A fourth terminal 63b is provided. The inner fourth terminal 63b protrudes from the inner second coil body 61b to the lid 4 side, and further protrudes to the adjacent inner first coil body 61a side. In the inner coil row, the inner first coil bodies 61a and the inner second coil bodies 61b are alternately arranged, but in the figure, each of the inner first coil bodies 61a and the inner second coil bodies 61b is shown. Is omitted.

  Therefore, it can arrange | position so that the inner side 1st terminal 62a and the inner side 4th terminal 63b may approach on the cover part 4 side of the inner side 1st coil body 61a and the inner side 2nd coil body 61b. Since a space is wide on the lid 4 side of the inner first coil body 61a and the inner second coil body 61b, it is easy to operate a tool for joining terminals. Therefore, the inner first terminal 62a and the inner fourth terminal 63b can be easily joined. Similarly, the inner second terminal 62b and the inner third terminal 63a are disposed so as to approach each other on the lid 4 side of the inner first coil body 61a and the inner second coil body 61b. Accordingly, the inner second terminal 62b and the inner third terminal 63a can be easily joined.

  DESCRIPTION OF SYMBOLS 1,28 ... Motor as slotless motor, 2,29 ... Stator, 3 ... Rotor as rotor, 7 ... Yoke, 8, 30 ... Coil unit, 9a, 31a ... Outer first coil as first coil body Body, 9b, 31b ... Outer second coil body as second coil body, 10a, 32a, 61a ... Inner first coil body as first coil body, 10b, 32b, 61b ... Inner first coil body as second coil body 2 coil bodies, 11 ... connection board, 22, 34, 62 ... inner first coil as a first coil, 22a, 34a, 62a ... inner first terminal as a first terminal, 22b, 34b, 62b ... second terminal Inner second terminal, 23a, 35a, 63a ... Inner third terminal as third terminal, 23b, 35b, 63b ... Inner fourth terminal as fourth terminal, 23, 35, 63 ... Inner second coil as two coils, 24 ... outer first coil as first coil, 24a ... outer first terminal as first terminal, 24b ... outer second terminal as second terminal, 25 ... second coil An outer second coil as a third terminal, an outer third terminal as a third terminal, and an outer fourth terminal as a fourth terminal.

Claims (6)

A stator of a slotless motor that rotates a rotor including a magnetic body,
Comprising a coil unit in which a first coil body and a second coil body are alternately arranged along a cylinder;
The first coil body has a first terminal connected to the first coil and one end of the first coil, and a second terminal connected to the other end of the first coil;
The second coil body has a third terminal connected to the second coil and one end of the second coil, and a fourth terminal connected to the other end of the second coil,
When the current flows from the first terminal to the second terminal and the current flows from the third terminal to the fourth terminal, the current flows in the reverse direction between the first coil and the second coil. The first coil and the second coil are installed;
In the adjacent first coil body and the second coil body, the first terminal and the fourth terminal are connected, the second terminal and the third terminal are connected, and the first terminal is A stator of a slotless motor, wherein the stator is located closer to the fourth terminal than the third terminal, and the second terminal is located closer to the third terminal than the fourth terminal. The stator of the slotless motor according to claim 1,
In the coil unit, the first terminal, the second terminal, the third terminal, and the fourth terminal are repeatedly arranged in this order, the adjacent first terminal and the fourth terminal are connected, and the second terminal A stator for a slotless motor, comprising a wiring board for connecting a terminal and the third terminal. The stator of the slotless motor according to claim 1,
In the coil unit, the first terminal, the second terminal, the third terminal, and the fourth terminal are repeatedly arranged in this order,
The first terminal is installed toward the fourth terminal connected to the first terminal, and the fourth terminal is installed toward the first terminal connected to the fourth terminal. Slotless motor stator. The stator of the slotless motor according to any one of claims 1 to 3,
In the first coil, the electric wire is wound counterclockwise from the first terminal toward the second terminal,
A stator of a slotless motor, wherein the electric wire is wound clockwise from the third terminal toward the fourth terminal in the second coil. A slotless motor having a rotor and a stator,
A slotless motor comprising the stator according to any one of claims 1 to 4 in the stator. A robot with links and joints,
A motor for rotating the link at the joint;
6. A robot comprising the slotless motor according to claim 5 in the motor.

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