JP2015186370A - Variable reluctance resolver, motor, and robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce influence to angle position detection due to a magnet of a motor rotor.SOLUTION: A variable reluctance resolver includes a resolver rotor coaxially coupling with a motor rotor uniformly disposed with magnets in a circumferential direction, where a center of a circumferential direction of the resolver rotor of projections disposed at equal intervals in the circumferential direction of the resolver rotor matches with a center in the circumferential direction of the motor rotor in a pole of the magnet.

Description

  The present invention relates to a variable reluctance resolver, a motor, and a robot.

  The following Patent Document 1 discloses a winding method of a winding in a resolver, which reduces the interference of a leaking magnetic flux with a resolver stator without requiring additional parts or additional work man-hours. A winding method of a winding in a resolver that can suppress a decrease in detection accuracy is disclosed. In the winding method, the one-phase winding group is configured such that the magnetic flux distribution obtained by connecting the winding groups wound around the fixed magnetic pole in series becomes a sine wave distribution of 2P poles, and a plurality of 1 In a winding method for a detector winding, wherein an n-phase winding group is configured by using a phase winding group to obtain a 2P-pole and n-phase sinusoidal magnetic flux, a single-phase winding is provided. Crossover wires between the fixed magnetic poles in the group are half of the whole and the other half of the crossover wires are opposite to each other along the circumferential direction of the stator core, and the total length is the same. It forms so that it may become.

JP 2010-63309 A

  By the way, in the said prior art, when a resolver detects rotation of a motor, the resolver rotor is connected with the motor rotor coaxially. However, when a permanent magnet is embedded in the motor rotor, leakage magnetic flux due to the magnet affects the angular position detection.

  The present invention has been made in view of the above-described circumstances, and an object thereof is to reduce the influence on the angular position detection by the magnet of the motor rotor.

  In order to achieve the above object, the present invention provides a variable reluctance resolver comprising a resolver rotor coaxially coupled to a motor rotor in which magnets are evenly arranged in the circumferential direction as a first solving means related to a variable reluctance resolver. Then, a means is adopted in which the circumferential center of the resolver rotor of the protrusions provided at equal intervals in the circumferential direction of the resolver rotor coincides with the circumferential center of the motor rotor of the magnet pole. ADVANTAGE OF THE INVENTION According to this invention, the influence on the angular position detection by the leakage magnetic flux of the magnet of a motor rotor can be reduced.

  In the present invention, as a second solving means related to the variable reluctance resolver, in the first solving means, the number of protrusions provided at equal intervals in the circumferential direction of the resolver rotor, and the magnet of the motor rotor A method is adopted in which the number of pole pairs is the same. According to the present invention, by making the number of protrusions equal to the number of pole pairs of the magnet of the motor rotor, the influence on the angular position detection due to the leakage magnetic flux of the magnet of the motor rotor can be further reduced.

In the present invention, as a solution relating to the motor, a variable reluctance resolver that employs the first or second solution is provided, and rotation is detected by the variable reluctance resolver.
ADVANTAGE OF THE INVENTION According to this invention, the influence on the angular position detection by the leakage magnetic flux of the magnet of a motor rotor can be reduced.

In the present invention, as a solving means related to the robot, a means is provided that includes a motor that employs the above-described solving means and is driven by the motor.
ADVANTAGE OF THE INVENTION According to this invention, the influence on the angular position detection by the leakage magnetic flux of the magnet of a motor rotor can be reduced.

It is sectional drawing of the variable reluctance type resolver which concerns on embodiment of this invention. It is a figure which shows the coaxial coupling with the rotor 1 of the variable reluctance type resolver which concerns on embodiment of this invention, and the motor rotor R of a motor. It is a figure which shows the coaxial coupling with the rotor 1 of the variable reluctance type resolver which concerns on embodiment of this invention, and the motor rotor R of a motor. It is sectional drawing of the motor M which concerns on embodiment of this invention. It is a perspective view of robot Rb concerning an embodiment of the present invention.

Embodiments of the present invention will be described below with reference to the drawings.
The variable reluctance resolver according to the present embodiment is a rotation sensor that has excellent durability and can be used even under severe environmental conditions such as in a vehicle, and detects, for example, the rotation of a motor mounted on the vehicle. As shown in FIG. 1, the variable reluctance resolver includes a rotor 1, a stator 2, and a rotating shaft 3.

  The rotor 1 is configured by, for example, laminating a plurality of silicon steel plates in the length direction, and four protrusions 11 are arranged at equal intervals in the circumferential direction. That is, the outline of the outer shape in the circumferential direction of the rotor 1 is not formed with a constant diameter but with a diameter that changes periodically.

  The rotor 1 is fixed to a rotating shaft 3 that is rotatably supported by a bearing (not shown). That is, the rotor 1 is fixed by the rotary shaft 3 being press-fitted into a through hole provided in the central axis thereof.

  The rotor 1 is coaxially coupled to the motor rotor R of the motor shown in FIGS. The center of the protrusion 11 in the circumferential direction of the rotor 1 is fixed so as to coincide with the center of the pole of the magnet G in the circumferential direction of the motor rotor R. At this time, each of the rotary shaft 3 of the variable reluctance resolver and the rotary shaft of the motor is provided with a mark S, and the protrusion S 11 is connected in the circumferential direction of the rotor 1 by being connected with the mark S as a reference. The center is fixed so as to coincide with the circumferential center of the motor rotor R of the pole of the magnet G.

  The motor is, for example, a permanent magnet synchronous motor. In the motor rotor R, magnets G are evenly arranged in the circumferential direction. The protrusions 11 are provided so as to have the same number as the number of pole pairs of the magnets G of the motor rotor R.

The stator 2 includes a stator core 21, an excitation coil 22, a cos phase detection coil 23, and a sin phase detection coil 24.
The stator core 21 is formed by, for example, laminating a plurality of silicon steel plates in the length direction, and has a shape that covers the periphery of the rotor 1 so as to face the outer peripheral surface of the rotor 1. Further, the stator core 21 includes 16 teeth 21b protruding from the annular yoke 21a toward the inner peripheral side at equal angular intervals. In general, the stator 2 is fixed to a case or the like by a fixing member (not shown).

  The exciting coil 22 is a coil for exciting based on the input electric power, wound around the 16 teeth 21b in the same number, and fixed to the teeth 21b with a molding agent.

  The cos phase detection coil 23 is a coil that outputs the detected cos wave, and is fixed to the tooth 21b together with the excitation coil 22 and the sin phase detection coil 24 by a molding agent.

  The sin phase detection coil 24 is a coil that outputs the detected sin wave, and is fixed to the tooth 21b together with the excitation coil 22 and the cos phase detection coil 23 by a molding agent.

Next, the operation of the variable reluctance resolver configured as described above will be described.
The variable reluctance resolver is a variable reluctance resolver including a rotor 1 coaxially coupled to a motor rotor R in which magnets G are uniformly arranged in the circumferential direction, and is provided with projections provided at equal intervals in the circumferential direction of the rotor 1. The center in the circumferential direction of the rotor 1 of the part 11 and the center in the circumferential direction of the motor rotor R of the pole of the magnet G coincide (see FIG. 2). That is, in this variable reluctance resolver, the magnetic flux leakage of the pole of the magnet G is fixed by fixing the magnetic flux of the pole of the magnet G so that the center of the protrusion 11 in the circumferential direction of the rotor 1 coincides. Therefore, the influence on the angular position detection due to the leakage flux of the magnet G of the motor rotor R can be reduced.

  In the variable reluctance resolver, the number of protrusions 11 provided at equal intervals in the circumferential direction of the rotor 1 is equal to the number of pole pairs of the magnet G of the motor rotor R. As a result, the influence of the magnet G on each protrusion 11 is further equalized, and therefore the influence on the angular position detection due to the leakage magnetic flux of the magnet G of the motor rotor R can be further reduced.

  According to this embodiment, the variable reluctance resolver includes the rotor 1 that is coaxially coupled to the motor rotor R in which the magnets G are evenly arranged in the circumferential direction. Since the center and the center of the magnet G pole in the circumferential direction of the motor rotor R coincide with each other, it is possible to reduce the influence of the leakage magnetic flux of the motor rotor R on the angular position detection.

  Further, according to this embodiment, the number of the protrusions 11 provided at equal intervals in the circumferential direction of the rotor 1 is equal to the number of pole pairs of the magnet G of the motor rotor R, so that the motor rotor R The influence on the angular position detection due to the leakage flux of the magnet G can be further reduced.

As mentioned above, although embodiment of this invention was described, this invention is not limited to the said embodiment, For example, the following modifications can be considered.
(1) In the said embodiment, although the projection part 11 has the four rotors 1, the projection part 11 of the rotor 1 is not limited to four, Any number may be sufficient. Here, the number of the protrusions 11 may be the same as or different from the number of pole pairs of the magnets G of the motor rotor R. Moreover, in the said embodiment, although the stator 2 is a thing of 16 slots, this invention is not limited to this, Any number may be sufficient.

(2) The present invention is not limited to the above-described variable reluctance resolver A, and includes the variable reluctance resolver A, the motor M whose rotation is detected by the variable reluctance resolver A, and the motor M, The robot Rb driven by the motor M may be used.

  The motor M includes a variable reluctance resolver A for detecting the rotation of the motor M. In addition, as shown in FIG. 4, the motor M includes, for example, an operation detection coil Dc that is independent of the excitation coil Rc, and is disposed around the rotation shaft 3 of the motor M, so that the motor rotor R of the motor M (magnet G ) To detect changes in the magnetic field due to displacement. In addition, a permanent magnet is attached to the rotating shaft 3 of the motor M or another rotating shaft following the rotating shaft 3 independently of the motor M, and a change in the magnetic field due to the rotation of the permanent magnet is arranged around the other. You may detect with the coil for operation | movement detection.

In addition, as shown in FIG. 5, the robot Rb includes, for example, a horizontal multi-unit composed of a base K, a first link L1, a first motor unit M1, a second link L2, a second motor unit M2, and a control box Cb. It is an articulated robot and operates with power supplied from an external power source.
The base K incorporates a first motor unit M1 as a drive unit that rotates the first link L1, and is installed horizontally on the floor or the like.

One end portion of the first link L1 is connected to the upper end portion of the base 1 by the drive shaft of the first motor unit M1, and rotates in the horizontal direction around the axis along the vertical direction.
The second link L2 incorporates a second motor unit M2 as a drive unit. Also, one end of the second link 20 is connected to the other end of the first link L1 by the drive shaft of the second motor unit M2, and rotates in the horizontal direction around the axis along the vertical direction. To do.

The first motor unit M1 includes a motor M.
The second motor unit M2 includes a motor M.
The control box Cb includes a power source, a power source control unit, and the like.

  DESCRIPTION OF SYMBOLS 1 ... Rotor, 2 ... Stator, 11 ... Projection part, 2 ... Stator, 21 ... Stator core, 22 ... Excitation coil, 23 ... Cos phase detection coil, 24 ... Sin phase detection coil, 21a ... Yoke, 21b ... Teeth, R ... Motor rotor

Claims (4)

A variable reluctance type resolver comprising a resolver rotor coaxially coupled to a motor rotor in which magnets are uniformly arranged in the circumferential direction,
The variable reluctance resolver characterized in that the center of the resolver rotor in the circumferential direction of the protrusions provided at equal intervals in the circumferential direction of the resolver rotor coincides with the center of the magnet pole in the circumferential direction of the motor rotor.   The variable reluctance resolver according to claim 1, wherein the number of protrusions provided at equal intervals in the circumferential direction of the resolver rotor is the same as the number of pole pairs of the magnet of the motor rotor.   A motor comprising the variable reluctance resolver according to claim 1, wherein rotation is detected by the variable reluctance resolver.   A robot comprising the motor according to claim 3 and being driven by the motor.

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