JP2566791Y2 - Rotary pulse motor - Google Patents

Description

[Detailed description of the invention]

[0001]

BACKGROUND OF THE INVENTION The present invention relates to a rotary pulse motor used for factory automation (FA) equipment such as an industrial robot, for example, with the aim of improving torque, simplifying the manufacturing process, and reducing the price. A rotary pulse motor.

[0002]

2. Description of the Related Art FIG. 11 shows a conventional outer rotor type 3 rotor.
It is a figure showing composition of a magnetic circuit of a phase rotation type pulse motor. In FIG. 1, reference numeral 1 denotes a cylindrical secondary rotor, which is constituted by a magnetic member 2 having teeth 2a, 2a,. Reference numeral 4 denotes a primary-side stator, which is an A-phase magnetic pole 5A, a B-phase magnetic pole 5B, a C-phase magnetic pole 5C, an A * -phase magnetic pole 5A * (a magnetic pole that is excited in a direction opposite to the A-phase magnetic pole, and so forth), and a B * -phase magnetic pole. 5B *, C * phase magnetic pole 5
An iron core 5 having C * formed thereon and coils 6A to 6C * wound around these magnetic poles 5A to 5C *, respectively, are provided on the end faces of the magnetic poles 5A to 5C * facing the secondary rotor 1. The pole teeth are formed at regular intervals corresponding to the formation intervals of the tooth portions 2a, and the permanent magnets 3 are formed in the concave grooves between the pole teeth so that the polarities of adjacent ones are opposite to each other. , 3, ...
Are inserted and arranged. The primary stator 4 having such a configuration is fixed to the shaft 7.

In the rotary pulse motor having such a configuration, the coils 6A-6 wound around the magnetic poles 5A-5C * are used.
By sequentially supplying a pulse current to C *, the secondary-side rotor 1 rotates stepwise according to a well-known principle. The operating principle of this rotary pulse motor is described in Japanese Patent Application No. 63-301.
No. 965.

[0004]

The conventional rotary pulse motor described above has the following problems. That is, since the permanent magnets 3, 3,... Of the magnetic poles 5A to 5C * of the primary stator 4 are radially inserted and arranged, as shown in FIG. It becomes smallest at the base portion 8 of the permanent magnet 3, and the amount of magnetic flux is limited by the area of the base portion 8. Therefore, when the magnetic flux amount exceeds the area, magnetic saturation occurs,
Large torque cannot be obtained. Since coils (six pieces) are required for the number of magnetic poles, the weight increases and the price increases. It is difficult and time-consuming to attach the winding to the magnetic pole. Since the space factor cannot be increased, the winding work is difficult.

The present invention has been made in view of the above circumstances, and has as its object to provide a rotary pulse motor capable of solving the above-described problems.

[0006]

According to the present invention, a primary magnetic flux generating portion having a columnar shape and the primary magnetic flux generating portion are inserted and disposed on the inner peripheral side, and are rotatable with respect to the primary magnetic flux generating portion. A rotary pulse motor having a supported secondary side, wherein the secondary sides are arranged at regular intervals P along the inner peripheral surface rotation direction, and mutually displaced in the rotation direction by the same displacement. A plurality of magnetic members formed with two rows of pole teeth having the same are arranged with the same displacement sequentially in the rotational direction along the axial direction of the primary magnetic flux generator, and the primary magnetic flux generator is , Opposed to the end face of each of the pole teeth on the secondary side with a certain gap therebetween, and on the outer peripheral side at equal intervals P along the rotation direction of the secondary side.
/ 2, the tooth portions and the groove portions are alternately formed, and permanent magnets are inserted and arranged in the respective groove portions so that the polarities of the respective tooth portions are alternately reversed. A plurality of iron cores having two rows of magnetic poles are arranged along the axial direction, and annular coils are fitted between the two rows of magnetic poles of each of the iron cores. The iron cores are sequentially arranged with a phase difference corresponding to the number of the cores. When the number of iron cores of the primary magnetic flux generating section is 2
In the case of three, the phase difference between these cores is P / 4, in the case of three, the phase difference between these cores is P / 3, and in the case of five, the phase difference between these iron cores is P / 5, Hereinafter, P / n is set according to the number n. Further, the arrangement of the pole teeth on the secondary side and the arrangement of the magnetic poles of the primary-side magnetic flux generating section may be in an opposite arrangement relationship.

[0007]

According to the above construction, when a current is applied to an annular coil fitted in any one of the plurality of iron cores of the primary stator, the teeth on the S pole side of the magnetic poles in one row of the iron core. After flowing into the adjacent teeth of the N pole via the permanent magnet, the magnetic flux flowing into the core is guided along the axial direction from the teeth of the N pole to the other row of the iron core. Flows into the magnetic poles. Then, after flowing out of the adjacent tooth portion from the tooth portion on the S pole side through the permanent magnet, the magnetic flux flows into the pole teeth of the magnetic member on the secondary side facing the inner side and guides the inside of the magnetic member along the axial direction. A main flux loop is formed that returns to the magnetic poles of one row of the iron core of the primary stator. As described above, since the magnetic circuit is formed in the axial direction, a magnetic flux amount larger than the magnetic flux amount limited at the base portion of each permanent magnet can be passed as in the related art, so that a large torque can be obtained. Further, since the annular coil is fitted between the two rows of magnetic poles of each iron core, the amount of use of the coil is reduced, and the mounting operation is extremely simplified. Further, since the magnetic flux passing through the secondary rotor passes through the entire outer periphery, the magnetic flux density is reduced, so that the thickness of the secondary rotor can be reduced, and the inertia and the size can be reduced.

[0008]

An embodiment of the present invention will be described below with reference to the drawings. FIGS. 1 and 2 are views showing the configuration of a magnetic circuit of an outer rotor type two-phase rotary pulse motor according to a first embodiment of the present invention. In these figures, reference numeral 10 denotes a secondary rotor (secondary side) formed by a cylindrical magnetic member, and a cylindrical primary stator (primary magnetic flux) fixed to the shaft 7 is provided on the inner peripheral side thereof. A generator 11 is inserted and arranged, and is rotatably supported on the primary stator 11 in the direction of arrow M.

The secondary rotor 10 includes a first magnetic member 14 having two rows of pole teeth 14Aa to 14Ya and 14Ab to 14Yb facing the primary stator 11 with a predetermined gap G on the inner peripheral side thereof. The primary stator 11 is located on the inner side (left side in FIG. 2) of the first magnetic member 14 in the axial direction.
And two rows of pole teeth 15Aa-
The second magnetic member 15 having 15Ya and 15Ab to 15Yb is formed.

Here, the pole teeth 14A of the first magnetic member 14
The intervals between a to 14Ya and 14Ab to 14Yb
P / 2 , the pole teeth 14Aa to 14Ya and the pole teeth 14Ab
１４14Yb are arranged with a difference of about 180 ° . Also,
Similarly, the interval between the pole teeth 15Aa to 15Ya and 15Ab to 15Yb of the second magnetic member 15 is P / 2 , and the pole teeth 15Aa to 15Ya and the pole teeth 15Ab to 15Yb are 180.
゜ The arrangement is different . Then, the first magnetic member 1
4 and the second magnetic member 15 are also arranged in the same phase. That is, the first and second magnetic members 14 of the secondary rotor 10
15 are all arranged in phase.

On the other hand, as shown in FIG. 2, the primary side stator 11 has two rows of inductor teeth opposed to the pole teeth 14Aa to 14Ya and 14Ab to 14Yb of the secondary side rotor 10 with a predetermined gap G therebetween. (Tooth portion) A first iron core 12 having 12Aa to 12Ya and 12Ab to 12Yb, and an annular coil fitted between two rows of inductor teeth 12Aa to 12Ya and 12Ab to 12Yb of the first iron core 12. 16 are provided.

Similarly, the primary side stator 11 is provided with the pole teeth 15Aa to 15Ya and 15A of the secondary side rotor 10.
Inductor teeth 13Aa-13 in two rows facing b-15Yb
Second core 13 having Ya and 13Ab to 13Yb
And two rows of inductor teeth 13Aa-1A of the second iron core 13.
3Ya and an annular coil 17 fitted between 13Ab to 13Yb.

Here, as shown in FIG.
2 inductor teeth 12Aa-12Ya and 12Ab-12
The permanent magnets 18, 18,... Are respectively inserted and arranged in the concave grooves between the Yb teeth so that the polarities of adjacent ones are opposite to each other. And the inductor teeth 12Aa to 12Y
Each interval of a and 12Ab~12Yb has become a P / 2, also, inductor teeth 12Ab~12Yb the inductor teeth 12Aa~12Ya are arranged such that the same poles.

Similarly, inductor teeth 13A of second iron core 13
The permanent magnets 18, 18,... are inserted and arranged in the concave grooves between the teeth a to 13Ya and 13Ab to 13Yb so that the polarities of adjacent ones are opposite to each other.
Then, the inductor teeth 13Aa to 13Ya and 13Ab
13Yb is P / 2, and the inductor teeth 13Aa to 13Ya and the inductor teeth 13Ab to 13Y
b are arranged such that the same poles.

The inductor teeth 12A of the first iron core 12
a to 12Ya and 12Ab to 12Yb, the second iron
Inductor teeth 13Aa to 13Ya, 13Ab to 13 of heart 13
Yb is arranged with a phase difference of P / 4.

In the above arrangement, by applying a pulse current to the coils 16 and 17 in the order shown in FIGS. 4 to 7, as described in the conventional example, the principle of a well-known sawer (for example, Japanese Patent Application No. 63-301965). ), The secondary rotor 10 advances by P / 4 and rotates. In addition, by supplying a pulse current in the reverse direction, the secondary rotor 10 steps in the reverse direction by P / 4 and rotates.

Here, as shown in FIGS. 4 to 7, when a pulse current is applied to each of the coils 16, 17, a magnetic circuit is formed in the axial direction. For example, in FIG. 4, when a predetermined current is applied to the coil 16 in the direction from the x mark to the mark shown in the figure, the magnetic flux is generated by the magnetic poles of one row of the first core 12 of the primary stator 11. After the magnetic flux flowing into the S-pole-side inductor teeth flows into the adjacent N-pole-side inductor teeth via the permanent magnet 18, the inside of the iron core 12 is axially moved from the N-pole-side inductor teeth. And flows out of the adjacent teeth of the iron core 12 via the permanent magnets 18 from the inductor teeth on the S pole side of the magnetic poles in the other row. After flowing into the pole teeth of the magnetic member 14 of the opposing secondary rotor 10, the inside of the magnetic member 14 is guided along the axial direction, and the magnetic poles of one row of the iron core 12 of the primary stator 11 are Return.

In the first embodiment, a two-phase motor in which the primary stator 11 is provided with the two iron cores 12 and 13 has been described. However, the present invention is not limited to the two-phase motor, and is not limited to the two-phase motor. The number of phases may be increased to five phases. In this case, in the case of a three-phase motor, the phase difference between the iron cores is P
/ 3, and P / 5 for a five-phase motor. Less than,
P / n. Further, in the above embodiment, all the pole teeth of the secondary rotor 10 are set to the same phase, and the primary stator 1
Although each magnetic pole has a phase difference, this relationship may be reversed.

As a method of driving the linear pulse motor according to the first embodiment described above, an AC drive may be used in addition to the above-described pulse excitation. In this case, as shown in FIG.
a and the B-phase current Ib may be supplied to the coils 16 and 17, respectively. Thereby, the secondary rotor 10 rotates continuously.

Next, a second embodiment of the present invention will be described. In the first embodiment described above, the outer rotor
Type rotary pulse motor, with permanent magnet on the stator side
Although a was the case inserted into, the second embodiment also A
This is a rotor / rotor type pulse motor.
It is inserted on the data side . Also in this case , the same as in the first embodiment.
A magnetic circuit is formed in the same axial direction . Hereinafter, the configuration will be described with reference to FIGS. 9 and 10.

In these figures, reference numeral 20 denotes a cylindrical secondary rotor, which has a constant interval P / along its rotation direction.
2 and the concave portions 20b, 20b,.
Are alternately formed in each of the concave grooves 20b so that the adjacent magnets have opposite polarities in opposite directions.
Are inserted and arranged. Reference numeral 23 denotes a first iron core constituting the primary-side stator, which is 180 ° out of phase with each other facing the secondary-side rotor 20 with a predetermined gap G therebetween.
Rows of inductor teeth 23Aa to 23Ja and 23 having
Ab-23Jb and two rows of inductor teeth 23Aa-23Ja
And an annular coil 25 fitted between 23Ab to 23Jb (see FIG. 10). Reference numeral 24 denotes a second iron core constituting the primary stator. Like the first iron core 23, the second iron core 24 is opposed to the two-row inductor teeth that are opposed to the secondary rotor 20 with a certain gap G therebetween. P / 4 difference
And two rows of inductor teeth 24 having a 180 ° phase difference from each other
AA to 24Ja and 24Ab to 24Jb, and an annular coil 26 fitted between two rows of inductor teeth 24Aa to 24Ja and 24Ab to 24Jb.

Here, the gap between the teeth 20a magnetized to the same polarity of the secondary rotor 20 is P, and the other inductor teeth 23Ba to 23Ba to the inductor teeth 23Aa of the first iron core 23.
3J are sequentially arranged with a displacement of P, whereby
The inductor teeth 23 </ b> Aa to 23 </ b> J a of the first iron core 23 have a positional relationship different from each other by 360 degrees. Similarly, inductor teeth 24Ab to 24Jb of second core 24
Also have a phase relationship different from each other by 360 degrees. Further, each of the inductor teeth 23Aa to 23Aa of the first iron core 23 is formed.
Each inductor teeth 24Aa of the second iron core 24 with respect to 23Ja
２４24J has a phase difference of P / 4 and also has a phase difference of 23AbＡ2.
P / 4 position in 24 Ab-24 Jb compared to 3 Jb
They are arranged with a difference. Even in such a configuration, the secondary rotor 20 rotates according to the operation principle described in the first embodiment.

Further, the present invention is not limited to the above-described embodiment, and various modifications described below are possible. (1) The primary side stator 11 may be provided with a sensor for detecting an amount of relative movement with respect to the secondary side rotor 10 and driven as a servomotor. (2) In order to remove cogging or improve thrust waveform distortion, a skew structure or a slight pitch shift (skew) within the same pole may be performed.

[0024]

As described above, according to the present invention, a columnar primary magnetic flux generating portion and the primary magnetic flux generating portion are inserted and arranged on the inner peripheral side, and the primary magnetic flux generating portion is disposed on the inner peripheral side. And a secondary side rotatably supported by the rotary pulse motor, wherein the secondary sides are arranged at regular intervals P along the rotational direction on the inner peripheral surface, and A plurality of magnetic members formed with two rows of pole teeth having the same displacement in the rotation direction are sequentially arranged with the same displacement in the rotation direction along the axial direction of the primary magnetic flux generation unit, and The side magnetic flux generating part faces the end face of each pole tooth on the secondary side with a fixed gap therebetween, and has a tooth part and a groove part on the outer peripheral side at equal intervals P / 2 along the rotation direction of the secondary side. Are alternately formed, and permanent magnets are inserted and arranged in the respective grooves so that the polarities of the teeth are alternately reversed. And P to the rotational directions /
A plurality of cores having two rows of magnetic poles having a displacement of 2 are arranged in the axial direction, and an annular coil is fitted between the two rows of magnetic poles of each of the cores. In the case where a current is applied to an annular coil fitted in any one of the plurality of iron cores of the primary stator, arranged in the rotation direction sequentially with a phase difference corresponding to the number of the iron cores. After the magnetic flux flowing into the inductor teeth on the S pole side of the magnetic poles in one row of the iron core flows into the adjacent N pole side inductor teeth via the permanent magnets, the N pole side inductor teeth After being guided along the axial direction inside the iron core, flows into the magnetic poles of the other row of the iron core, and flows out of the adjacent teeth via the permanent magnets from the S-side inductor teeth. The magnetic material flows into the pole teeth of the opposed magnetic member on the secondary side, and is guided inside the magnetic member along the axial direction, and the primary side magnetic member is rotated. Because the main flux loop back to the magnetic pole of one of the columns in the core of over data is to be formed, effects described below are obtained. Since the magnetic flux flows in the axial direction, the magnetic flux does not flow between the permanent magnets toward the axis as in the related art, and is not limited by the area of the base between the permanent magnets. Accordingly, a large amount of magnetic flux can be obtained, and a large torque can be obtained. Since the number of coils is only required for the number of phases (two in the embodiment), cost can be reduced. Since the coil shape is a ring shape, it is easy to perform aligned winding, thereby increasing the space factor and easily performing mechanical winding. Since the magnetic flux passing through the inside of the secondary rotor passes through the entire outer periphery, the magnetic flux density is reduced, so that the thickness of the secondary rotor can be reduced, and the inertia and the size can be reduced.

[0025]

[Brief description of the drawings]

FIG. 1 is a front view showing a magnetic circuit configuration of a first embodiment of the present invention.

FIG. 2 is a side sectional view showing a magnetic circuit configuration of the first embodiment of the present invention.

FIG. 3 is a plan view illustrating the shape of a part of the first embodiment of the present invention;

FIG. 4 is a side sectional view showing an excitation pattern for operating the first embodiment of the present invention.

FIG. 5 is a side sectional view showing an excitation pattern for operating the first embodiment of the present invention.

FIG. 6 is a side sectional view showing an excitation pattern for operating the first embodiment of the present invention.

FIG. 7 is a side sectional view showing an excitation pattern for operating the first embodiment of the present invention.

FIG. 8 is a driving current waveform diagram when the first embodiment of the present invention is driven by AC.

FIG. 9 is a front view showing a magnetic circuit configuration of a second embodiment of the present invention.

FIG. 10 is a side sectional view showing a magnetic circuit configuration of a second embodiment of the present invention.

FIG. 11 is a front view showing a magnetic circuit configuration of a conventional rotary pulse motor.

FIG. 12 is a partially enlarged front view for explaining a problem of the conventional rotary pulse motor.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Secondary rotor (secondary side) 11 Primary stator (primary magnetic flux generation part) 12 1st iron core 12Aa-12Ya, 12Ab-12Yb Inductor tooth 13 2nd iron core 13Aa-13Yb, 13Ab-13Yb Inductor Tooth 14 First magnetic member (magnetic member) 14Aa to 14Ya, 14Ab to 14Yb pole tooth 15 Second magnetic member (magnetic member) 15Aa to 15Yb, 15Ab to 15Yb pole tooth 16, 17 coil 18 permanent magnet

Claims (3)

(57) [Scope of request for utility model registration] A primary-side magnetic flux generating section having a columnar shape, and a secondary side in which the primary-side magnetic flux generating section is inserted and arranged on an inner peripheral side and is rotatably supported with respect to the primary-side magnetic flux generating section. Thin permanent magnets and poles arranged at a fixed interval P / 2
A rotary pulse motor using a high-density magnetic circuit composed of teeth , wherein the secondary sides are arranged at regular intervals P along an inner peripheral surface along a rotational direction, and are mutually in the axial direction. A plurality of magnetic members on which two rows of pole teeth having a P / 2 displacement are formed are sequentially arranged with the same displacement in the rotational direction along the axial direction of the primary-side magnetic flux generating portion, and The side magnetic flux generating part faces the end face of each pole tooth on the secondary side at a fixed interval, and the tooth part and the groove part on the outer peripheral side at equal intervals P / 2 along the rotation direction of the secondary side. Are alternately formed, and permanent magnets are inserted and arranged in the respective groove portions so that the polarities of the respective tooth portions are alternately reversed, and an iron core having two rows of magnetic poles having the same displacement in the rotational direction with respect to each other is axially moved. Are arranged along with each other, and an annular coil is provided between two magnetic poles of each core. Are instrumentation, further rotary pulse motor, characterized in that each of said core and arranged with a phase difference corresponding to the number of sequential each core to the direction of rotation. 2. When the number of iron cores of said primary magnetic flux generating portion is two, the phase difference between these iron cores is P / 4, and when the number is three, the phase difference between these iron cores is P / 3. 2. The rotary pulse motor according to claim 1, wherein the phase difference between the iron cores is P / 5 when the number is five, and the phase difference is P / n according to the number n. 3. A primary magnetic flux generator, and a primary magnetic flux generator.
Inserted into the inner periphery of the raw part,
With a cylindrical secondary side rotatably supported
Rotary pulse claim 1 or claim 2 rotary pulse motor of one of claims, wherein it is a motor serving.