JP2014072946A - Electromechanical device, rotor used in electromechanical device, and movable body and robot using electromechanical device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To suppress leakage flux from rotor magnets in a direction parallel to an axis and prevent detachment of the rotor magnets.SOLUTION: An electromechanical device includes: a rotor; and a stator that is arranged on a radially outer side of the rotor. The rotor has: a rotating shaft; a plurality of rotor magnets that are fixedly and cylindrically arranged along an outer circumference of the rotating shaft; cylindrical pipe members that are fixedly arranged along outer circumferences of the rotor magnets and that are made up of non-magnetic material; magnet side yokes that are fixedly arranged at both ends of the rotor magnets in an axial direction of the rotating shaft so as to be in contact with side surfaces of the ends of the rotor magnets and that are made up of soft magnetic material. The cylindrical pipe members retain the rotor magnets with respect to radial directions from the center of the rotating shaft toward the outer circumference so as to limit movement of the rotor magnets in the radial directions.

Description

  The present invention relates to an electromechanical device using an SPM (Surface Permanent Magnet) type rotor, a rotor used in the electromechanical device, and a moving body and robot using the electromechanical device.

  As a coreless type rotating electrical machine (herein also referred to as “coreless electromechanical device” or simply “electromechanical device”) such as a coreless type electric motor (motor) or a coreless type generator, for example, a cylindrical shape of a rotor There is known one using an SPM type rotor in which a plurality of permanent magnets are bonded together as a plurality of rotor magnets along the outer peripheral surface (see, for example, Patent Document 1). In this coreless electromechanical device, in order to suppress the leakage of magnetic flux from the rotor magnet in the direction along the rotor rotation axis (hereinafter also referred to as “axial direction”), both sides of the rotor magnet in the axial direction of the rotor are arranged. A magnet side yoke made of a magnetic material is provided at the end.

JP 2012-10572 A

  When an attempt is made to increase the load such as high-speed rotation of the rotor of the above-described coreless electromechanical device, the reliability regarding the bonding and fixing of the rotor magnets becomes insufficient. Specifically, the softening of the adhesive occurs due to the temperature rise of the rotor according to the mechanical loss and iron loss (eddy current loss) that occur according to the rotational speed and torque current, and the rotation applied to the fixed rotor magnet Due to the force (centrifugal force) in the direction from the center of the shaft toward the outer periphery (radial direction), the rotor magnet is released in the radial direction and finally detached. Another problem is that when the rotor magnets are bonded together, it is difficult to make the outer diameter of the rotor magnets uniform after bonding and fixing, and it is difficult to maintain the characteristics during high-speed rotation, etc. due to variations in the viscosity of the adhesive. It was. In addition, the conventional electromechanical devices are desired to be reduced in size, reduced in cost, resource-saving, easy to manufacture, and improved in usability.

  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.

(1) According to one aspect of the present invention, there is provided an electromechanical device having a rotor and a stator disposed on the outer periphery of the rotor. The electric rotor of the electromechanical device includes a rotating shaft, a plurality of rotor magnets fixedly arranged in a cylindrical shape along an outer periphery of the rotating shaft, and ends on both sides of the plurality of rotor magnets in the axial direction of the rotating shaft. Each of the plurality of rotor magnets is fixedly disposed so as to cover the outer periphery of the rotating shaft, and each of the cylindrical pipe members made of a non-magnetic material, and the axial direction of the rotating shaft Two end portions of the plurality of rotor magnets fixedly disposed so as to be in contact with the side surfaces of the end portions of the plurality of rotor magnets and the side surface of the pipe member in the axial direction, respectively, and made of soft magnetic material A magnet side yoke. The two cylindrical pipe members restrain the plurality of rotor magnets in a radial direction from the center of the rotary shaft toward the outer periphery perpendicular to the axial direction of the rotary shaft, and in the radial direction of the rotor magnet. Restrict movement of According to the electromechanical device of this aspect, the pipe members fixedly disposed at both ends in the axial direction of the plurality of rotor magnets restrict the movement of the rotor magnets in the radial direction to prevent the rotor magnets from being separated. And the outer peripheral diameter of the rotor defined by the outer periphery of the rotor magnet can be stably maintained. Further, leakage magnetic flux in the axial direction of the rotor magnet can be suppressed by the two magnet side yokes fixedly arranged on the side surfaces of the end portions on both sides in the axial direction of the rotor magnet.

(2) In the electromechanical device of the above aspect, the pipe side member and the magnet side yoke fixedly disposed so as to contact the pipe member are side yoke units in which the pipe member and the magnet side yoke are integrally molded in advance. It may be configured. According to this electromechanical device, handling of parts can be simplified, and the assembly of the electromechanical device is easy.

(3) In the electromechanical device of the above aspect, as the non-magnetic member constituting the pipe member, the non-magnetic member constituting the pipe member includes a carbon fiber reinforced plastic member, a glass fiber reinforced plastic member, Any one member of a mixed member of a carbon fiber reinforced plastic member and a glass fiber reinforced plastic member may be used. If any of these members is used, a pipe member that is non-magnetic and capable of restricting movement of the rotor magnet in the radial direction by suppressing a plurality of rotor magnets in the radial direction can be easily obtained. Can be formed.

  The present invention can be realized in various forms. For example, in addition to an electric machine device such as an electric motor (motor) or a generator, a rotor or an electric machine device used in the electric machine device is used. It can be realized in various forms such as an electric mobile body, an electric mobile robot, or a medical device.

It is explanatory drawing which shows the structure of the coreless motor as 1st Embodiment. It is explanatory drawing which shows the structure of the coreless motor as 1st Embodiment. It is a schematic perspective view which shows the electromagnetic coil arranged along the inner periphery of a coil back yoke. It is explanatory drawing shown about a pipe member and a magnet side yoke. It is explanatory drawing which shows the process of manufacturing a pipe member. It is explanatory drawing which shows the example of a fiber woven fabric. It is explanatory drawing which shows the structure of the coreless motor as 2nd Embodiment. It is explanatory drawing shown about the side yoke unit used in place of a pipe member and a magnet side yoke. It is explanatory drawing which shows the process of manufacturing a side yoke unit. It is explanatory drawing which shows the modification of a side yoke unit. It is explanatory drawing which shows the electric bicycle (electrically assisted bicycle) which is an example of the moving body using a motor / generator as a modification of this invention. It is explanatory drawing which shows an example of the robot using a motor as a modification of this invention. It is explanatory drawing which shows an example of the double arm 7 axis | shaft robot using a motor as a modification of this invention. It is explanatory drawing which shows an example of the vertical articulated robot using a motor as a modification of this invention. It is explanatory drawing which shows an example of the robot with a double arm caster using a motor as a modification of this invention. It is explanatory drawing which shows an example of the rail vehicle using a motor as a modification of this invention.

A. Coreless motor of the first embodiment:
FIG. 1A and FIG. 1B are explanatory views showing the configuration of the coreless motor 10 as the first embodiment. 1A schematically shows a cross section of the coreless motor 10 taken along a plane parallel to the rotation axis 230 (1A-1A cut plane in FIG. 1B). FIG. 1B shows a plane perpendicular to the rotation axis 230 of the coreless motor 10. The cross section cut | disconnected by (1B-1B cut surface of FIG. 1A) is shown typically.

  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 rotor magnet 200, a magnet back yoke 236, magnet side yokes 237a and 237b, pipe members 239a and 239b, a bearing portion 240, and a wave spring washer 260. .

  The rotor 20 has a rotation shaft 230 at the center, and a cylindrical magnet back yoke 236 formed of a soft magnetic material is fixedly disposed on the outer periphery of the rotation shaft 230 with an adhesive. In addition, a plurality (six in this example) of rotor magnets 200 are fixedly arranged in an approximately cylindrical shape with an adhesive on the outer periphery of the magnet back yoke 236. The plurality of rotor magnets 200 are permanent magnets magnetized in the direction (radial direction) from the center of the rotating shaft 230 to the outside, and permanent magnetized in the direction (center direction) from the outside toward the center of the rotating shaft 230. And a magnet. The rotor magnet 200 having a radial magnetization direction and the rotor magnet 200 having a central magnetization direction are alternately arranged along the circumferential direction. The symbols “N” and “S” attached to the rotor magnet 200 in FIG. 1B indicate the polarities of the magnetic poles on the outer peripheral side of the rotor magnet 200. In the present embodiment, the magnetizing direction of the rotor magnet 200 is described as a radial direction (radial direction or central direction), but may be magnetized in a parallel direction instead of a radial direction.

  Since the magnetic flux easily passes through the soft magnetic material than in the air, the magnet back yoke 236 formed of the soft magnetic material leaks the magnetic flux from the rotor magnet 200 toward the center of the rotating shaft 230. Suppress. As a result, non-magnetic members such as CFRP (carbon fiber reinforced plastics) and GFRP (glass fiber reinforced plastics), ceramics, plants A fiber material, a resin material, etc. can be used, and weight reduction becomes easy.

  The pipe members 239a and 239b are fixedly disposed so as to cover the plurality of rotor magnets 200 along the outer periphery thereof at the end portions on both sides of the rotor magnet 200 in the direction (axial direction) along the rotation shaft 230, respectively. Yes. The pipe members 239a and 239b are cylindrical members formed of a nonmagnetic material such as carbon fiber reinforced plastic as will be described later. The pipe members 239a and 239b will be further described later.

  The magnet side yokes 237a and 237b are arranged at the end portions on both sides in the axial direction of the plurality of rotor magnets 200 on which the pipe members 239a and 239b are fixedly arranged, respectively, and the side surfaces of the end portions of the plurality of rotor magnets 200 and the pipe members 239a, It is fixedly arranged so as to contact the side surface of 239b. The magnet side yokes 237a and 237b are substantially disk-shaped members made of soft magnetic material. Since the magnetic flux passes through the soft magnetic material more easily than in the air, the magnet side yokes 237a and 237b suppress the magnetic flux leaking in the axial direction of the rotating shaft 230 out of the magnetic flux generated from the rotor magnet 200. The magnet side yokes 237a and 237b will be described later together with the pipe members 239a and 239b.

  The rotating shaft 230 has a through hole 231. The rotating shaft 230 is supported by the bearing portion 240 and attached to the casing 110. In the present embodiment, a wave spring washer 260 is provided inside the casing 110. The wave spring washer 260 positions the rotor magnet 200. However, the wave spring washer 260 can be omitted.

  The casing 110 is a housing that houses the stator 15 and the rotor 20. The casing 110 includes a first casing portion 110a that is a cylindrical portion at the center in the axial direction, and second and third casing portions 110b and 110c that are lid portions at both ends. The first casing portion 110a is made of a material having good thermal conductivity such as aluminum.

  A coil back yoke 115 is provided on the inner peripheral side of the first casing portion 110a. The axial length of the coil back yoke 115 is substantially the same as the axial length of the rotor magnet 200. The reason why the first casing portion 110a is formed of a material having good thermal conductivity such as aluminum is to easily release the heat generated in the coil back yoke 115 to the outside. The cause of the heat generated in the coil back yoke 115 is a loss due to the eddy current generated as the rotor magnet 200 of the rotor 20 rotates (also referred to as “eddy current loss”). When radiation is drawn in the radial direction from the rotating shaft 230 toward the coil back yoke 115, the radiation just penetrates the rotor magnet 200. That is, when viewed from the rotating shaft 230, the coil back yoke 115 and the rotor magnet 200 appear to overlap each other.

  Two-phase electromagnetic coils 100 </ b> A and 100 </ b> B are arranged along the inner periphery of the coil back yoke 115 on the inner periphery side of the coil back yoke 115. When the two-phase electromagnetic coils 100A and 100B are not distinguished, the electromagnetic coils 100A and 100B are also collectively referred to as “electromagnetic coil 100”. FIG. 1C is a schematic perspective view showing the electromagnetic coils 100 arranged along the inner periphery of the coil back yoke. There are a plurality of electromagnetic coils 100 </ b> A and 100 </ b> B, respectively, and they are connected to the circuit board 305. 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 (mainly a direction perpendicular to the rotation direction) is applied to the rotor 20 when it flows. However, there are two coil end regions across the effective coil region, and the Lorentz forces cancel each other because they have the same magnitude and opposite directions. In the effective coil region, the conductor wiring constituting the electromagnetic coils 100A and 100B is in a direction substantially parallel to the rotation shaft 230, and in the coil end region, the conductor wiring constituting the electromagnetic coils 100A and 100B is parallel to the rotation direction. It is. Further, when radiation is drawn in the radial direction from the rotary shaft 230 toward the coil back yoke 115, the radiation penetrates the effective coil region but not the coil end region. That is, when viewed from the rotating shaft 230, the effective coil region appears to overlap both the rotor magnet 200 and the coil back yoke 115, but the coil end region does not appear to overlap both the rotor magnet 200 and the coil back yoke 115. . The electromagnetic coils 100A and 100B overlap the rotor magnet 200, but the electromagnetic coils 100A and 100B do not overlap the rotor magnet 200 in the coil end region.

  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, as described above, the magnet side yoke is disposed for the purpose of suppressing the magnetic flux from leaking from the rotor magnet in the axial direction, but the magnet side yoke 237b on the side where the magnetic sensor 300 is disposed is magnetic. It is necessary to allow the leakage of magnetic flux to the extent that the sensor 300 can sense the change of the magnetic flux. Therefore, the axial thickness of the magnet side yoke 237b on the side where the magnetic sensor 300 is disposed is set to be thinner than the axial thickness of the magnet side yoke 237a on the side opposite to the side where the magnetic sensor 300 is disposed. The When an encoder is provided outside, the magnetic sensor 300 and the circuit board 310 can be omitted.

  FIG. 2 is an explanatory view showing a pipe member and a magnet side yoke. 2A is an enlarged schematic cross-sectional view (similar to FIG. 1A) showing the rotor magnet 200, the pipe members 239a and 239b, and the magnet side yokes 237a and 237b, and FIG. FIG. 5 is a schematic perspective view showing parts of pipe members 239a and 239b and magnet side yokes 237a and 237b in an exploded manner from the rotor 20.

  As shown in FIG. 2A, cylindrical recesses 200a and 200b are formed along the outer periphery at the ends on both sides in the axial direction of the plurality of rotor magnets 200, and correspond to the recesses 200a and 200b. Cylindrical pipe members 239a and 239b are fitted and fixedly arranged. A plurality of rotor magnets 200 into which the pipe members 239a and 239b are fitted are provided on the side surfaces of both end portions in the axial direction so as to cover the rotor magnet 200 and the pipe members 239a and 239b. , 237b are fixedly arranged.

  The structure shown in FIG. 2A is formed as follows. That is, as shown in FIG. 2 (B), a cylindrical magnet back yoke 236 is bonded with an adhesive along the outer periphery of the rotating shaft 230, and a plurality of (as shown in FIG. 2) along the outer periphery of the magnet back yoke 236. In the example, six rotor magnets 200 are bonded with an adhesive. Next, an adhesive is applied to the inner peripheral surfaces of the pipe members 239a and 239b or the recesses 200a and 200b of the plurality of rotor magnets 200, and the pipe members 239a and 239b are fitted into the recesses 200a and 200b. Then, the magnet side yokes 237a and 237b are bonded with an adhesive so as to be in contact with the axial side surface of the rotor magnet 200 in which the pipe members 239a and 239b are fitted and the side surfaces of the pipe members 239a and 239b. Since the magnet side yokes 237a and 237b are attracted to the axial side surface of the rotor magnet 200 by magnetic force, the pipe members 239a and 239b are stably fixed to the recesses 200a and 200b by the magnet side yokes 237a and 237b. Further, the magnet side yokes 237a and 237b are bonded to the side surface of the rotor magnet 200 without an adhesive. As described above, the structure shown in FIG. 2A is formed. In addition, you may make it provide a balancer in magnet side yoke 237a, 237b.

  The pipe members 239a and 239b can be manufactured as follows. FIG. 3 is an explanatory diagram illustrating an example of a process for manufacturing a pipe member. In the step (A), a separation inner frame mold 500 is prepared, a release agent is applied to the outer periphery of the separation inner frame mold 500, and the fiber woven fabric 273 immersed in a molding resin (for example, epoxy resin) is applied once or Wrap several times. The example in the figure shows a state in which it is wound a plurality of times. In this example, the separation inner frame mold 500 can be divided into four parts, and the combined shape of the separation inner frame molds 500 is a cylindrical shape.

  FIG. 4 is an explanatory view showing an example of a fiber woven fabric. This fiber woven fabric 273 is a rectangular woven fabric (also referred to as “carbon fiber woven fabric”) obtained by knitting a fourth bundle of carbon fibers bundled with carbon fibers 271 (referred to as “carbon fiber bundle 272”). In the drawing, the carbon fiber 271 is distinguished from the carbon fibers 271A and 271B and the carbon fiber bundle 272 is distinguished from the carbon fiber bundles 272A and 272B depending on the orientation of the carbon fibers 271 of the carbon fiber bundle 272 when knitting. . Further, as shown in FIG. 4 (A), the fiber woven fabric has fiber orientations of 0 ° and 90 ° with respect to the winding direction, and the fiber orientation with respect to the winding direction as shown in FIG. 4 (B). Are 45 ° and 45 ° fiber woven fabrics. However, the present invention is not limited to this, and fiber woven fabrics in which the direction of the fibers has various angles with respect to the winding direction can also be used.

  In the step (B), the molding resin is thermoset. In the step (C), the separation inner frame molds 500 are removed one by one. The mold resin may be a wet fiber reinforced plastic obtained by thermosetting, or may be a dry fiber reinforced plastic by adding a baking process. By using a dry fiber reinforced plastic, the strength can be further increased.

  In the next step (D), for example, a nonconductive paint is applied to the outer peripheral portion of the fiber woven fabric 273 to form the nonconductive layer 275. Through the above steps, pipe members 239a and 239b made of carbon fiber reinforced plastic (CFRP) can be formed. The thickness of the pipe members 239a and 239b molded from the fiber woven fabric 273 can be reduced to about 0.8 mm.

  3 and 4, the pipe members 239 a and 239 b are made of carbon fiber reinforced plastic using a fiber woven fabric (also referred to as “carbon fiber woven fabric”) knitted with a fourth carbon fiber bundle. As described in the example, the pipe member may be made of glass fiber reinforced plastic using a fiber woven fabric (also referred to as a glass fiber woven fabric) obtained by knitting a fourth glass fiber bundle. In addition, the pipe member is made of a mixed member of carbon fiber reinforced plastic and glass fiber reinforced plastic using a fiber woven fabric (also referred to as “mixed fiber woven fabric”) knitted with a carbon fiber bundle and a glass fiber bundle. Also good. Furthermore, a pipe member having a multilayer structure in which the inner peripheral side of the pipe member is made of carbon fiber reinforced plastic with a carbon fiber woven fabric and the outer peripheral side is made of glass fiber reinforced plastic with a glass fiber woven fabric may be produced. It is possible to provide insulation and strength by the glass fiber reinforced plastic on the outer peripheral side and further strength by the carbon fiber reinforced plastic on the inner peripheral side. That is, it is possible to use pipe members manufactured using not only carbon fiber reinforced plastics but also various fiber reinforced plastics.

  Further, the fiber woven fabric has been described by taking as an example a fourth knitted carbon fiber bundle or glass fiber bundle. However, as in the case of iron wire knitting (also referred to as “turtle knitting”) or hemp leaf knitting. The fiber woven fabric may be formed by knitting fiber bundles in three directions that intersect at an angle of about 60 degrees (about 120 degrees). The triangle has a simple shape and is preferably a strong mechanical shape because it can resist the pulling in any direction with glass fiber in at least one of the three directions.

  Here, due to the rotation of the rotor 20, a centrifugal force (indicated by an arrow in FIG. 2A) in the radial direction about the rotation shaft 230 is applied to the rotor magnet 200, and the rotor magnet 200 is separated or Causes withdrawal. However, in the case of the structure shown in FIG. 2, when the rotor 20 rotates, the pipe members 239 a and 239 b hold the rotor magnet 200 against the radial direction, and the rotor magnet 200 moves in the radial direction due to the centrifugal force. Can be limited. As a result, the problem that the rotor magnet 200 is released by the rotation of the rotor 20 and is finally removed can be solved, and the rotor 20 can be rotated at a high speed. In addition, the outer diameter of the rotor formed by the magnet surface can be stably maintained. Further, since the axial surface (side surface) of the rotor magnet 200 is covered with the magnet side yokes 237a and 237b, magnetic flux leakage from the rotor magnet 200 in the axial direction can be suppressed. Since the pipe members 239a and 239b are made of fiber reinforced plastic, the thickness can be reduced while maintaining the strength for restricting the movement of the rotor magnet 200 in the radial direction. It is possible to suppress the influence on the arrangement space, magnetic field, etc. generated by providing the pipe member.

B. Coreless motor of the second embodiment:
FIG. 5 is an explanatory diagram showing a configuration of a coreless motor 10B as the second embodiment. FIG. 5A schematically shows a cross section of the coreless motor 10 taken along a plane parallel to the rotation shaft 230 (5A-5A cut plane in FIG. 5B), and FIG. 5B shows the coreless motor. 10 schematically shows a cross-section of 10 cut by a plane perpendicular to the rotation shaft 230 (5B-5B cut plane in FIG. 5B). In this coreless motor 10B, side yoke units 237aU and 237bu are used instead of the pipe member 239a, the magnet side yoke 237a, the pipe member 239b, and the magnet side yoke 237b of the coreless motor 10 (FIG. 1) of the first embodiment. This is different from the coreless motor 10.

  FIG. 6 is an explanatory view showing a side yoke unit used in place of the pipe member and the magnet side yoke. 6A is an enlarged schematic cross-sectional view showing a portion of the side yoke unit 237aU arranged on the right side of the rotor magnet 200 in FIG. 5A, and FIG. FIG. 6C is a schematic perspective view of the side yoke unit 237aU viewed from the rotor magnet 200 side, and FIG. 6C is a schematic perspective view of the side yoke unit 237aU viewed from the side opposite to the rotor magnet 200 side.

  The side yoke unit 237aU has a magnet side yoke 237a fitted into the inner peripheral portion of one end of the cylindrical pipe member 239a in the axial direction of the rotating shaft 230, and is integrally formed with a molding resin (for example, epoxy resin) 238a. Has a structured. This structure can be formed as follows, for example.

  FIG. 7 is an explanatory diagram showing a process of manufacturing the side yoke unit. In the step (A), the lower mold 410 is prepared. The lower mold 410 has a substantially cylindrical arrangement space 412 in which the magnet side yoke 237 a to be integrally molded is arranged, and has a columnar reference axis 414 corresponding to the rotation axis 230. Next, in the step (B), the magnet side yoke 237a is fitted into the reference shaft 414 and arranged at the bottom of the arrangement space 412, and the pipe member 239a is arranged on the outer periphery of the arrangement space 412. In step (C), an upper mold 420 is prepared, and the upper part of the lower mold 410 is covered using this. At this time, a space 412 s for injecting the mold resin 238 a is formed between the magnet side yoke 237 a and the upper mold frame 420. A resin injection port 422 that communicates with the space 412 s is provided on the upper mold 420. Next, in the step (D), a high-temperature mold resin 238a is injected from the resin injection port 422 toward the space 412s. In step (E), after waiting for the injected mold resin 238a to harden, the upper mold frame 420 and the lower mold frame 420 are removed, and the side yoke unit 237aU in which the magnet side yoke 237a and the pipe member 239a are integrally molded is formed. obtain.

  6 and 7 have been described by taking the side yoke unit 237aU as an example, the same applies to the side yoke unit 237bU.

  The coreless motor 10B of this embodiment uses side yoke units 237aU and 237bU. However, as with the coreless motor 10 of the first embodiment, the coreless motor 10B has pipe members 239a and 237b that hold the rotor magnet 200 in the radial direction. Therefore, the movement of the rotor magnet 200 in the radial direction due to the centrifugal force can be limited. As a result, the problem that the rotor magnet 200 is released by the rotation of the rotor 20 and is finally removed can be solved, and the rotor 20 can be rotated at a high speed. In addition, the outer diameter of the rotor formed by the magnet surface can be stably maintained. Further, similarly to the coreless motor 10 of the first embodiment, since the magnet side yokes 237a and 237b that cover the axial side surface of the rotor magnet 200 are provided, magnetic flux leakage from the rotor magnet 200 in the axial direction is suppressed. be able to. In the present embodiment, the pipe members 239a. Since the side yoke units 237aU and 237bU in which the 239b and the magnet side yokes 237a and 237b are integrally molded are used, the pipe members 239a and 239b and the magnet side yokes 237a and 237b are used as separate parts as in the first embodiment. Rather than handling, handling of parts can be simplified and assembly becomes easy.

  FIG. 8 is an explanatory view showing a modification of the side yoke unit. 8A is an enlarged schematic cross-sectional view showing a portion of the modified side yoke unit 237aUB, as in FIG. 6A. FIGS. 8B and 8C are FIGS. Similarly to (B) and (C), it is a schematic perspective view of a modified side yoke unit 237aUB. The modified side yoke unit 237aUB does not have a structure in which the magnet side yoke 237a is fitted to the inner peripheral portion of one end in the axial direction of the pipe member 239a like the side yoke unit 237aU, but the shaft of the plurality of rotor magnets 200. It is arranged so as to cover the side surface of the end portion in the direction and the side surface of the pipe member 239a, and is changed to a structure integrally molded by the mold resin 238a. That is, the pipe member 239a and the magnet side yoke 237a of the first embodiment are molded with the mold resin 238a and integrally molded. The modified side yoke unit 237aUB may be applied in place of the side yoke uni and 237aU of the above embodiment.

C. Variations:

  In addition, although the said embodiment demonstrated as a coreless motor provided with the characteristic part of this invention, it is not limited to the coreless motor which is an electric motor, It is also possible to apply to a generator. In addition, an electric motor or a generator having the characteristics of the present invention can be applied as an electric mobile body, an electric mobile robot, or a driving device for a medical device as described below.

  FIG. 9 is an explanatory view showing an electric bicycle (electric assist bicycle) that is an example of a moving body using a motor / generator as 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, it is possible to use the various coreless motors 10 described above.

  FIG. 10 is an explanatory view showing an example of a robot using a motor as 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 above-described various coreless motors 10 and the like can be used.

  FIG. 11 is an explanatory view showing an example of a double-armed seven-axis robot using a motor as 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 3490 and causes the gripper 3490 to grip an object. In the dual-arm seven-axis robot 3450, the above-described various coreless motors 10 and the like can be used as the joint motor 3460 or the gripping motor 3470.

  FIG. 12 is an explanatory diagram showing an example of a vertical articulated robot using a motor as a modification of the present invention. As shown in FIG. 12, the vertical articulated robot 3640 includes a main body portion 3641, an arm portion 3642, a robot hand 3645, and the like. The main body 3641 is fixed on, for example, a floor, a wall, a ceiling, or a movable carriage. The arm portion 3642 is provided movably with respect to the main body portion 3641. The main body portion 3641 has a drive unit (not shown) that generates power for rotating the arm unit 3642, and a control unit that controls the drive unit. Etc. are built-in. As the drive unit, the above-described coreless motor 10 or the like can be used.

  The arm portion 3642 includes a first frame 3642a, a second frame 3642b, a third frame 3642c, a fourth frame 3642d, and a fifth frame 3642e. The first frame 3642a is connected to the main body 3641 so as to be rotatable or refractable via a rotational refraction axis. The second frame 3642b is connected to the first frame 3642a and the third frame 3642c via a rotational refraction axis. The third frame 3642c is connected to the second frame 3642b and the fourth frame 3642d via a rotational refraction axis. The fourth frame 3642d is connected to the third frame 3642c and the fifth frame 3642e via the rotational refraction axis. The fifth frame 3642e is connected to the fourth frame 3642d via the rotational refraction axis. The arm portion 3642 is configured such that each frame 3642a to 3642e moves by being rotated or refracted around each rotational refraction axis under the control of a control portion (not shown).

  A hand connection portion 3634 is connected to the side of the arm portion 3642 opposite to the side on which the fourth frame 3642d is provided in the fifth frame 3642e, and a robot hand 3645 is attached to the hand connection portion 3634.

  The robot hand 3645 includes a base 3645a and a finger 3645b connected to the base 3645a. The various coreless motors described above are incorporated in the connecting portion between the base portion 3645a and the finger portion 3645b and each joint portion of the finger portion 3645b. When the coreless motor is driven, the finger portion 3645b is bent and an object can be gripped. This coreless motor is an ultra-small motor, and can realize a robot hand 3645 that reliably holds an object while being small. Accordingly, it is possible to provide a highly versatile robot that can perform a complex operation using the small and lightweight robot hand 3645.

  FIG. 13 is an explanatory view showing an example of a robot with a double-arm caster using a motor as a modification of the present invention. As shown in FIG. 13, the robot 3762 with a two-arm caster includes a vehicle body portion 3763. The vehicle body portion 3763 includes a vehicle body main body 3763a, and four wheels 3763b are installed on the ground side of the vehicle body main body 3763a. The vehicle body 3763a has a built-in rotation mechanism that drives the wheels 3763b. Further, a control unit 3764 for controlling the posture and operation of the robot 3762 is built in the vehicle body 3766a.

  A main body rotating portion 3765 and a main body portion 3766 are stacked on the vehicle body main body 3766a in this order. The main body rotation unit 3765 is provided with a rotation mechanism that rotates the main body unit 3766. The main body 3766 rotates about the vertical direction as the center of rotation. A pair of imaging devices 3767 is installed on the main body 3766, and the imaging device 3767 images the periphery of the robot 3762 with a double-arm caster. Then, the distance between the photographed object and the imaging device 3767 can be detected.

  A left arm portion 3768 and a right arm portion 3769 are installed on two opposing surfaces of the side surface of the main body portion 3766. Each of the left arm portion 3768 and the right arm portion 3769 includes an upper arm portion 3770, a lower arm portion 3771, and a hand portion 3772 as movable portions. The upper arm portion 3770, the lower arm portion 3771, and the hand portion 3772 are connected so as to be rotatable or bendable. The main body 3766 includes a rotation mechanism 3773 that rotates the upper arm 3770 with respect to the main body 3766. The upper arm portion 3770 includes a rotation mechanism 3773 that rotates the lower arm portion 3771 with respect to the upper arm portion 3770. The lower arm portion 3771 includes a rotation mechanism 3773 that rotates the hand portion 3772 with respect to the lower arm portion 3771. Further, the lower arm portion 3771 incorporates a rotation mechanism 3773 that twists with the longitudinal direction of the lower arm portion 3771 as the rotation axis.

  The hand portion 3772 includes a hand main body 3772a and a gripping portion 3772b as a pair of plate-like movable portions located at the tip of the hand main body 3772a. The hand main body 3772a incorporates a linear motion mechanism 3774 that moves the gripping portion 3772b to change the interval between the gripping portions 3772b. The hand portion 3772 can grip an object to be gripped by opening and closing the grip portion 3772b.

  The rotation mechanism 3773 and the linear motion mechanism 3774 are provided with the coreless motor 10 and the like and a speed reducer. The coreless motor 10 is the electromechanical device described in the above embodiment. Therefore, the rotation mechanism 3773 can smoothly change the rotation direction without rattling even when the rotation direction is reversed. The linear motion mechanism 3774 can smoothly change the movement direction without rattling even when the movement direction is reversed. Therefore, the robot 3762 with a double arm caster can move the left arm portion 3768 and the right arm portion 3769 with high positional accuracy.

  FIG. 14 is an explanatory view showing an example of a railway vehicle using a motor as 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 present invention is not limited to the above-described embodiments, examples, and modifications, and can be realized with various configurations without departing from the spirit thereof. For example, the technical features in the embodiments, examples, and modifications corresponding to the technical features in each embodiment described in the summary section of the invention are to solve some or all of the above-described problems, or In order to achieve part or all of the above-described effects, replacement or combination can be performed as appropriate. Further, if the technical feature is not described as essential in the present specification, it can be deleted as appropriate.

DESCRIPTION OF SYMBOLS 10,10B ... Coreless motor 15 ... Stator 20 ... Rotor 100 ... Electromagnetic coil 100A, 100B ... Electromagnetic coil 110 ... Casing 110a, 110b, 110c ... Casing part 115 ... Coil back yoke 200 ... Rotor magnet (permanent magnet)
200a ... concave portion 230 ... rotating shaft 231 ... through hole 236 ... magnet back yoke 237a, 237b ... magnet side yoke 237aB, 237bB ... magnet side yoke 238a, 238b ... mold resin 239a, 239b ... pipe member 239aB, 239bB ... pipe member 240 ... Bearing part 260 ... Wave spring washer 300 ... Magnetic sensor 305 ... Circuit board 310 ... Circuit board 3300 ... Bicycle 3310 ... Motor 3320 ... Control circuit 3330 ... Rechargeable battery 3400 ... Robot 3410, 3420 ... Arm 3430 ... Motor 3450 ... Double arm 7 axis Robot 3460 ... Joint motor 3470 ... Gripping part motor 3480 ... Arm 3490 ... Gripping part 3500 ... Railway vehicle 3510 ... Electric motor 3520 ... Wheel 3640 ... Vertical articulated robot 364 ... Main body part 3642 ... Arm part 3642a ... First frame 3642b ... Second frame 3642c ... Third frame 3642d ... Fourth frame 3642e ... Fifth frame 3643 ... Hand connection part 3645 ... Robot hand 3645a ... Base part 3645b ... Finger part 3762 ... Robot with two-arm casters 3763 ... car body part 3763a ... car body main body 3763b ... wheel 3764 ... control part 3765 ... main body rotation part 3766 ... main body part 3767 ... imaging device 3768 ... left arm part 3769 ... right arm part 3770 ... lower arm part 3771 ... lower arm part 3772 ... Hand part 3772a ... Hand main body 3772b ... Grip part 3773 ... Rotation mechanism 3774 ... Linear motion mechanism

Claims (6)

An electromechanical device having a rotor and a stator disposed on an outer periphery of the rotor,
The rotor is
A rotation axis;
A plurality of rotor magnets fixedly arranged in a cylindrical shape along the outer periphery of the rotating shaft;
A cylindrical pipe member that is fixedly disposed on the plurality of rotor magnets along the outer periphery of the plurality of rotor magnets and is made of a non-magnetic material;
Magnet side yokes that are fixedly arranged at both ends of the plurality of rotor magnets in the axial direction of the rotating shaft so as to be in contact with the side surfaces of the end portions of the plurality of rotor magnets and are made of a soft magnetic material,
With
The cylindrical pipe member suppresses the plurality of rotor magnets with respect to a radial direction from the center of the rotating shaft toward the outer periphery, and restricts movement of the rotor magnet in the radial direction. Machinery. The electromechanical device according to claim 1,
The magnet side yoke is fixedly disposed so as to be in contact with the pipe member and the pipe member, and is constituted by a side yoke unit in which the pipe member and the magnet side yoke are integrally molded in advance. . An electromechanical device according to claim 1 or claim 2,
The pipe member may be any one of a carbon fiber reinforced plastic member, a glass fiber reinforced plastic member, and a mixed member of a carbon fiber reinforced plastic member and a glass fiber reinforced plastic member. apparatus.   A robot comprising the electromechanical device according to any one of claims 1 to 3.   A moving body comprising the electromechanical device according to any one of claims 1 to 3. A rotor disposed on an inner periphery of a stator of an electromechanical device,
A rotation axis;
A plurality of rotor magnets fixedly arranged in a cylindrical shape along the outer periphery of the rotating shaft;
A cylindrical pipe member that is fixedly disposed on the plurality of rotor magnets along the outer periphery of the plurality of rotor magnets and is made of a non-magnetic material;
Magnet side yokes that are fixedly arranged at both ends of the plurality of rotor magnets in the axial direction of the rotating shaft so as to be in contact with the side surfaces of the end portions of the plurality of rotor magnets and are made of a soft magnetic material,
With
The cylindrical pipe member suppresses the plurality of rotor magnets with respect to a radial direction from the center of the rotating shaft toward the outer periphery, and restricts movement of the rotor magnet in the radial direction. .

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