JP3523714B2 - Hybrid type stepping motor - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a stepping motor, and more particularly to a printer, a high speed fax machine, a copying machine for PPC, etc., which requires a precise positioning function in high speed operation.
The present invention relates to a high-resolution hybrid type stepping motor suitable for driving equipment A.

[0002]

2. Description of the Related Art A hybrid type stepping motor in which a structure of a variable reluctance type stepping motor is combined with a permanent magnet type stepping motor can obtain high accuracy, high torque and a small step angle. For example, a conventional inner rotor type hybrid type Figure 3 shows the stepping motor.
1 has a structure as shown in FIG. In each of the drawings, an example of a stepping motor (hereinafter abbreviated as a motor) is partially shown in section. FIG. 31 is a vertical sectional front view, and FIG.
FIG. 32 is a sectional view taken along line XX ′ in FIG. 31. In FIGS. 31 and 32, 21 is a cylindrical casing, and the casing 21 is integrally connected to a stator core 22 formed of a magnetic material. A predetermined number of magnetic poles 23 corresponding to the structural characteristics of the motor are formed in the inner direction of the stator core 22 in a centripetal (reverse radial) pattern at equal intervals. A stator winding 24 for magnetizing each magnetic pole 23 is fitted.
Further, at the tip of each magnetic pole 23, a number of pole teeth 23a corresponding to the structural characteristics of this motor are formed at equal intervals. In general, the stator core 22 and the magnetic poles 23 are formed by punching a magnetic plate from a single plate, stacking a predetermined number of the formed plates, and fitting the stator windings 24 to form a stator. .

End covers 2 are provided on both ends of the casing 21.
5, 26 are integrally connected. End cover 25,
Bearings 27a and 27b are fitted in the central portion of 26, respectively, and a pair of bearings 27a and 27b rotatably support a rotary shaft 28. Each permanent magnet 29 magnetized in the axial direction is fitted and fixed to the rotating shaft 28. The permanent magnet 29 is sandwiched by two disk-shaped rotor magnetic poles 30A and 30B. On the outer circumference of each of the rotor magnetic poles 30A and 30B, pole teeth 30a are formed with a shape and a spacing corresponding to the shape and spacing of the pole teeth 23a formed on the magnetic pole 23 of the stator. The pole teeth 30a of the magnetic pole 30A and the pole teeth 30a of the second rotor magnetic pole 30B are coupled by a 1/2 pitch rotational deviation. In general, the magnetic poles of the rotor are also formed by punching a magnetic plate from a single magnetic plate, and a predetermined number of the formed plates are laminated to form the rotor. In the motor having the above-described structure, the stator winding 24 is sequentially energized in a predetermined order, whereby the pole teeth 23a of the stator are sequentially rotationally magnetized. Therefore, each pole tooth 23a of this stator and the permanent magnet 29
The interaction with each pole tooth 30a of the rotor magnetized by causes the rotor to rotate and stop as the pole teeth 23a of the stator rotate.

FIG. 33 shows a connection example in which the windings of a conventional 6-phase motor are monofilar (unifilar) wound and 12 lead wires are drawn out. The numbers attached to the upper part of the figure are those in which the predetermined magnetic pole winding of the stator is 1, and the numerical values are sequentially increased by 1 for the adjacent magnetic pole windings.
As shown in the figure, the current is in phase with the magnetic pole windings 1 and 13,
7 and 19 are leader lines A connected in series so as to have opposite phases,
Between the lead wires B and B'connected in series so that the magnetic pole windings 2 and 14 are in phase with each other between A'and 8 and 20 are in opposite phase, the magnetic pole windings 3 and 15 are in phase with each other, and the magnetic pole windings 9 and 9 are parallel with each other. Reference numeral 21 is between the lead wires C and C ′ connected in series so as to be in opposite phase, and between the lead wires D and D ′ is connected in series so that the magnetic pole windings 4 and 16 are in phase so as to be in opposite phase. In-phase the magnetic pole windings 5 and 17, 11, 2
3 is between the lead wires E and E'connected in series so as to be in the opposite phase,
The magnetic pole windings 6 and 18 are sequentially applied so as to flow between the lead wires F and F'connected in series so that the magnetic pole windings 6 and 18 have the same phase and the opposite phases 12 and 24 are provided. FIG. 34 shows an example of an excitation sequence in the case of one-phase excitation in the connection shown in FIG. In the same figure, the leader lines shown in FIG. 33, through which the exciting current flows, are shown in the vertical direction, and the exciting steps are shown in the upper horizontal direction. The upper rectangle shown in each horizontal column indicates that a current flows in a predetermined direction of the leader line, and the lower rectangle indicates that a current flows in the opposite direction. Assuming that the state in which current flows from the leader line A shown in FIG. 33 to the leader line A ′ is step 1, in the next step 2, the current flows from the leader line B to the leader line B ′ shown in FIG. 33. To flush. Thereafter, the current is sequentially supplied to step 6, and in step 7, the current is supplied from the leader line A ′ to the leader line A. Thereafter, a current is supplied to each lead wire in the same manner to sequentially excite each magnetic pole of the stator. Therefore, the magnetic polarities that sequentially appear in the magnetic poles of each stator rotate and attract the magnetic poles (pole teeth) of the corresponding rotor, so that the rotating shaft of the motor rotates.

Further, FIG. 35 is a connection diagram of an inner rotor type 10-phase stepping motor having a conventional structure in a monofilament winding, and FIG. 36 is an inner rotor type 1 having a conventional structure.
The excitation sequence diagram in the case of the 1-phase excitation in the monofilament winding of the 0-phase stepping motor is shown. The reading method is the same as that in FIGS. 33 and 34 described above.

The step angle θ _S, which is the basic characteristic of the above stepping motor, is determined by the following equation (1). θ _S = 180 ° / (M × Z) (1) where M is the number of stator phases and Z is the number of rotor pole teeth.

There is an outer rotor type motor, which is different from the inner rotor type motor described above, but the two have the same basic structure for generating torque, although the structures of their rotating mechanisms and the like are different.

By the way, there is a synchronous induction motor disclosed in US Pat. No. 3,206,623. The synchronous induction motor described in this publication has two annular electrode structure bodies in which windings are fitted to each other, and magnetic poles having pole teeth provided at the tips at equal intervals are formed radially toward the inside. A stator with the same structure, a permanent magnet magnetized in the axial direction, and end caps (pole plates) with pole teeth provided on both sides of the permanent magnet at equal intervals on both sides of the permanent magnet to form a rotating shaft, Which shielded the magnetic coupling of 2
The rotors having the same structure are opposed to each other, and the mutual positional relationship of the pole teeth of the end caps (pole plates) formed on both sides of the permanent magnet is a relationship in which the pole teeth are shifted by 1/2 pitch. .

[0009]

The step angle θ _S of the above stepping motor is a rotation angle obtained when the one-phase winding is sequentially energized and excited, and is determined by the structure of the motor. Therefore, in order to obtain a stepping motor with high resolution and good control performance, it is necessary to make the step angle minute. By the way, the step angle θ _S of the hybrid type stepping motor having the above-described conventional configuration is expressed by the equation (1) as described above. Therefore, if the step angle θ _S is made small, the number of phases M is increased or the rotation is decreased. The number Z of polar teeth of the child must be increased. For example, if the number of pole teeth is 50, 2
When the number of pole teeth of the rotor of the phase hybrid type stepping motor is 50, the step angle θ _S becomes θ _S = 180 ° / 2 × 50 = 1.8 ° from the above equation (1), In this case, the step angle θ _S is θ _S = 180 ° / 3 × 50 = 1.2 °, and the step angle in the case of 5 phases is θ _S = 180 ° / 5 × 50 = 0.72 °.

By the way, since the rotor of the stepping motor is molded by punching with a press as described above, the number of pole teeth of the rotor is determined by the working technique such as the precision capability of the press die, and therefore The number cannot be increased without limit and 100th is the upper limit. When the number of phases is increased, a stator pole with 24 poles is required to obtain a 6-phase motor, and a stator pole with 40 poles is required to obtain a 10-phase motor. Since the slot area inevitably becomes smaller as the number of magnetic poles increases, there is a problem that the cross-sectional area of the winding, that is, the amount of copper cannot be increased in order to obtain a small motor, and the winding process is complicated. There is also a problem that not only the work is required, but also the number of processing steps is increased and the manufacturing cost is high. Therefore, the 5-phase motor is the practical limit of the small hybrid stepping motor. Therefore, when the number of pole teeth in the 5-phase motor is 100, the resolution has a limit of 0.36 ° as the step angle θ _S , as can be obtained by the following calculation executed by the equation (1) described above. θ _S = 180 ° / 5 × 100 = 0.36 °

In order to obtain the above-mentioned resolution of 0.36 ° or more, it is necessary to perform microstep driving. However, according to the micro-step drive, since the stationary position of the rotor is determined by the relative value of the currents flowing in the respective phases, the accuracy of resolution cannot be improved due to variations in the current value supplied to each winding and variations in the characteristics of the switching elements. It was difficult.
In addition, there is a problem that a complicated driving circuit is required for the microstep driving, and the cost becomes high. The one disclosed in U.S. Pat. No. 3,206,623 is a synchronous induction motor in which two sets of stators and rotors having the same structure, which are similar in structure to the conventional stepping motor described with reference to FIG. 31, are simply axially connected. There
It intends to obtain a torque (double the torque) larger than that of the conventional synchronous induction motor. A motor to which this technology is applied can be driven by a pulsed power source like a stepping motor, but since the pole teeth are arranged on the same line, the resolution is low and accurate rotation cannot be obtained. The present invention solves the above-mentioned problems (problems) of the conventional one, and enables multi-phase without increasing the number of magnetic poles. Therefore, without increasing the size of the motor and without forming a complicated drive circuit. An object is to provide a hybrid type stepping motor with high resolution and high accuracy.

[0012]

In a hybrid type stepping motor according to the present invention, each magnetic pole of a stator formed in an annular shape is such that adjacent magnetic poles alternately lack pole teeth of half the thickness on the left and right in the axial direction, A first rotor magnetic pole having concentric pole teeth corresponding to the number of pole teeth formed by each magnetic pole with a predetermined gap provided on the surface of the pole tooth, the first rotor magnetic pole, and a permanent magnet. A first unit in which the second rotor magnetic pole formed in the same shape as the first rotor magnetic pole is offset from the first rotor magnetic pole by 1/2 rotation of the pole tooth formation pitch and fixed. The rotor corresponds to half the width of the stator, and the second unit rotor having the same shape as the first unit rotor is connected to the first unit rotor with a pole tooth formation pitch of 1/4
It is configured to be rotationally displaced and correspond to the width of the other half of the stator. In addition, in the outer rotor type hybrid stepping motor, each magnetic pole of the stator formed in a cylindrical shape has an annular rotor in which the adjacent magnetic poles are alternately lacking half the pole teeth in the left and right axial directions. Is a first rotor magnetic pole having concentric pole teeth corresponding to the number of pole teeth formed on each magnetic pole of the stator, with a predetermined gap provided on the surface of the stator pole teeth. The second rotor magnetic pole formed in the same shape as the first rotor magnetic pole through the rotor magnetic pole and the permanent magnet of
A second unit having the same shape as the first unit rotor corresponds to a half width of the first unit rotor, which is fixed by being displaced by two rotations.
The unit rotor of (1) is configured to be displaced by 1/4 rotation of the pole tooth formation pitch with respect to the first unit rotor via a non-magnetic material so as to correspond to the other half width of the stator.

In this case, in a 6-phase 6-pole inner rotor type and outer rotor type hybrid type stepping motor, the number of magnetic poles of the stator is set to 6, and the number of pole teeth (Z) of the rotor is the following (2). ) Should be formed so as to satisfy the relation of the formula. In the case of a 6-phase 12-pole inner rotor type and outer rotor type hybrid stepping motor, the number of magnetic poles of the stator is 12 and the number of pole teeth (Z) of the rotor is expressed by the following formula (3). It is preferable that the stator is formed so as to satisfy the above relationship, and the stator is excited so that the magnetic poles displaced by 180 ° from each other become the same pole. Also, 1
In the case of a 0-phase 10-pole inner rotor type and outer rotor type hybrid type stepping motor, the number of magnetic poles of the stator is 10 and the number of rotor pole teeth (Z) is expressed by the following equation (4). Should be formed so as to satisfy Furthermore, in the case of a 10-phase 20-pole inner rotor type and outer rotor type hybrid stepping motor, the number of magnetic poles of the stator is formed to 20 and the number of pole teeth (Z) of the rotor is set.
Should be formed so as to satisfy the relationship of the following formula (5) , and the stator should be excited so that the magnetic poles shifted by 180 ° from each other become the same pole. Z = 3n ± 1 (2) Z = 6n ± 4 (・) 3) Z = 10n ± 4 (4) Z = 20n ± 8 5) However, in the above formulas (2) to (5), n is n ≧ 1
Is a positive integer. The stator described above is formed by laminating a predetermined number of magnetic material plates having pole teeth formed by alternating magnetic poles formed in parallel.
Further, it is desirable that the magnetic material plates formed in the same shape as the magnetic material plate are rotated by the magnetic pole forming pitch, a predetermined number of layers are laminated, each laminated body is fixed, and windings are wound. Forming pitch (τS) and rotor pole tooth forming pitch (τ
It is preferable that R) and R are formed so as to satisfy the relationship of the following formula (6). 0.75τR ≦ τS ≦ 1.25τR (6)

[0014]

In the above-mentioned structure, the function as a multi-phase stepping motor is exerted without increasing the number of magnetic poles of the stator. Therefore, a small and highly accurate stepping motor with high resolution can be obtained.

[0015]

Embodiments of the present invention will be described in detail with reference to the drawings. In the configuration diagram of each embodiment, FIG.
1, the same components as those shown in FIG. 32 are denoted by the same reference numerals, and detailed description thereof will be omitted. Embodiment 1 FIG. 1 is a vertical sectional front view of a 6-phase 6-pole motor (inner rotor type hybrid stepping motor) formed according to the present invention, and FIG. 2 is a sectional view taken along line XX ′ of FIG. In FIGS. 1 and 2, reference numeral 1 denotes a cylindrical casing, and the casing 1 is integrally connected to the casing 1 by a stator core 2 that constitutes a stator S ₁ inside. In the stator S ₁ , six magnetic poles 3-1 to 3-6 corresponding to the structural characteristics of the motor are formed in the inward direction of the yoke 2 in a centripetal form (reverse radial form) at equal intervals. As will be described later in detail, stator windings 4-1 to 4-6 for passing a pulse current and sequentially magnetizing the magnetic poles in a predetermined direction are wound around each magnetic pole. In Fig. 2, each winding is symbolized and described, and the reference symbol x and the reference symbol shown in each winding indicate the reference of the winding direction,
For example, it is stated that it is the reference in the winding direction that a current flows from the code x to the code. Further, at the tip of each magnetic pole, a number of pole teeth 3a ₁ corresponding to the structural characteristics of this motor are formed at equal intervals. The spacing angle between the magnetic pole and the pole tooth is proportional to the pitch on the circumferential surface on a predetermined radius. In the case of a circular motor, the dimensional interval changes depending on the position of the radius to be measured, but the angle does not change. Therefore, hereinafter, the display of the magnetic pole interval and the like will be performed by angle, and the interval will be referred to as pitch.

At both ends of the casing 1, end covers 5,
6 are connected together. Bearings 7a and 7b are fitted in the central portions of the end covers 5 and 6, respectively, and a pair of bearings 7a and 7b are fitted.
A rotary shaft 8 is rotatably supported by a and 7b. The rotating shaft 8 is provided with a stator S at a position facing half of the stator.
The first unit rotor R with a predetermined gap from the inner surface of ₁
A ₁ is coupled to the second half of the stator S ₁ with a predetermined gap between the inner surface of the stator S ₁ and the other half of the second stator.
The unit rotor RB _{1 of the above} is coupled. A ring-shaped non-magnetic body 11 having a predetermined width is interposed between the first unit rotor RA ₁ and the second unit rotor RB ₁ . The first unit rotor RA ₁ and the second unit rotor RB ₁ have the same structure, and the two rotor magnetic poles 10A ₁ and 10B ₁ are magnetized in the axial direction of the rotary shaft 8, respectively. The magnet 9 is sandwiched and fixed. The pole teeth 10 are formed in a predetermined shape and pitch corresponding to the shape and pitch of each pole tooth 3a ₁ formed on each magnetic pole of the stator on the outer circumference of each of the rotor magnetic poles 10A ₁ and 10B _1.
a ₁ is formed. As described later, half of the first pitch pole teeth 10a ₁ of the rotor poles 10A ₁ and the pole teeth 10a ₁ of the second rotor magnetic pole 10B ₁ to form a pole teeth 10a ₁
The first unit rotor RA ₁ and the second unit rotor RB ₁ are coupled by being displaced by a deviation of 1/4 of the pitch of the pole teeth 10a ₁ .

Next, an example of a method of manufacturing the stator will be described with reference to FIG. The stator has a magnetic pole P _{1 -A} of the same shape having pole teeth 3a ₁ at the tip and a magnetic pole P _{1 -B of the} same shape having no pole teeth at the tip inside an annular stator core 2. A magnetic material plate (often referred to as a stator iron plate hereinafter) SP _{1 in} which three each, and a total of six are alternately formed, is laminated so that a predetermined number of pole teeth overlap each other, and one side of the stator S ₁ is formed. Make up half. Therefore, the interval angle .theta.S ₁ the pole P _1-A and the magnetic pole P _1-B adjacent to each other are formed on 360 ° / 6, i.e. 60 °. Then, the pitch of the magnetic poles for the above construction,
That is, the stator iron plates SP ₁ formed by rotating by 60 ° and being deviated to have the same shape as described above are laminated with the same number or almost the same number as the above so that the pole teeth overlap, and the remaining one side of the stator S ₁ Make up half. As described above, since the stator S ₁ is formed so as to face the two unit rotors formed by sandwiching the non-magnetic body 11, each unit rotor surely faces one half of the stator. If it can be configured like this, it is not necessary to make the same number for each half. Each of the stator iron plates may be manufactured by punching using a press, and the rotor magnetic poles forming each rotor may be formed by punching a predetermined number of magnetic material plates and then stacking them by a predetermined number.

The structure of the magnetic poles of the stator formed by the above method will be described with reference to FIG. FIG. 4A shows _one of the predetermined magnetic poles 3-1, 3-3, and 3-5 forming the stator S ₁ , for example, 3-1 and FIG. 4B shows the same. One of the magnetic poles 3-2, 3-4, 3-6 adjacent to one of the magnetic poles 3-1, 3-3, 3-5 shown in FIG. Shows. Since the stator S ₁ is formed as described above, each magnetic pole of the stator S ₁ shown in FIG. 4 (A) has a half P _{1 -A} with a predetermined number of pole teeth 3a ₁ and a pole tooth. It is formed by the half P _1-B without. On the other hand, the magnetic pole shown in FIG. 7B has a predetermined number of pole teeth 3a ₁ on the side opposite to the magnetic pole shown in FIG. 7A, and the other half has no pole teeth.

FIG. 5 is an enlarged view showing the positional relationship of the pole teeth of the rotor. Under the conditions shown in FIG. 5, the permanent magnet 9
The magnetizing direction, the first first rotor unit RA ₁ of the pole teeth 10a ₁ of the rotor poles 10A ₁ second rotor unit R
A first N-pole and the teeth 10a ₁ of the rotor poles 10A ₁ B _1, the first rotor unit RA ₁ second rotor magnetic pole 10B ₁
Of the pole teeth 10a ₁ of the pole teeth 10a ₁ and second rotor magnetic pole 10B ₁ of the second rotor unit RB ₁ is magnetized to the S pole.
The pole teeth 10a ₁ provided on each magnetic pole have the same pitch,
If this pitch is τ R ₁ , the first rotor magnetic pole 10A ₁
Pole tooth 10a ₁ and the second rotor pole 10B ₁ pole tooth 10a
Offset angle between _{1 1} both the first rotor unit RA ₁ and the second rotor unit RB .tau.R _1/2, a first rotor unit RA
₁ of the first first rotor pole 10A ₁ pole tooth 10a of the pole teeth 10a ₁ and second rotor unit RB ₁ of the rotor poles 10A ₁
Deviation angle between _1, and the first unit second rotor RA ₁ of the pole teeth 10a ₁ of the rotor magnetic poles 10B ₁ second rotor unit RB
Deviation angle between the pole teeth 10a ₁ of the _first second rotor magnetic pole 10B ₁ are both formed in .tau.R _1/4.

Each of FIGS. 6, 7, and 8 is an exploded view of the mutual relationship shown in the equation (6) of the pole teeth of each of the stator and the rotor which constitute the present motor. That is, FIG. 6 shows the formation pitch τ S ₁ of the stator pole teeth and the formation pitch τ of the rotor pole teeth.
In the case where R ₁ is under the condition shown by the following formula (7), FIG. 7 shows the forming pitch τ S ₁ of the stator pole teeth and the forming pitch τ R ₁ of the rotor pole teeth by the following formula (8). In the case of the condition, and FIG. 8 shows the formation pitch τS of the pole teeth of the stator.
₁ shows the case where ₁ and the formation pitch τR ₁ of the rotor pole teeth are under the condition represented by the equation (9). _{τR 1 = τS 1 ·················· (7} ) 0.75τR 1 ≦ τS 1 <τR 1 ··········· (8) _{τR 1 <τS 1 ≦ 1.25τR 1} ··········· (9) 6, 7, in each of FIGS. 8, 3a _1-1 stator S ₁
Of the magnetic poles 3-1, 3-3, and 3-5 forming a magnetic pole, 3b _1-1 is a pole tooth non-existing portion, and 3a _1-2 is a magnetic pole adjacent to the above magnetic pole. one predetermined pole tooth missing portion of the 3-2,3-4,3-6, 3b _1-2 show respectively the pole tooth absence unit.

In FIG. 6 showing a state in conditions described above (7), 10A _1-1 the first rotor unit RA _1-1
And the first rotor magnetic pole of each of the second unit rotors RB _1-1 , 10B _1-1 is the second rotor of each of the first unit rotor RA _1-1 and the second unit rotor RB _1-1 . Of the rotor magnetic poles, N is the pole tooth magnetized to the N pole by the permanent magnet 9, S
Shows the pole teeth magnetized to the S pole. .theta.S ₁ pitch of the magnetic poles of the stator, .tau.S ₁ represents people each pitch of the pole teeth of the stator, .tau.R _1-1 indicates the pitch of the pole teeth of the rotor. Also, α _1-1 is the state in which the positions of the pole teeth of the predetermined magnetic pole of the stator and the pole teeth of the rotor are aligned, and the angle between the pole teeth of the adjacent stator magnetic pole and the pole teeth of the rotor is Shows. Accordingly, the pitch θS ₁ of the magnetic poles of the stator of the 6-phase 6-pole motor shown in this embodiment is 360 ° / 6, and in the case of the condition expressed by the following formula (10) as expressed by the formula (2): , Α _1-1 becomes τ R _1-1 / 12. Z _1-1 = 3n ± 1 (10) However, Z _1-1 is the number of pole teeth of each rotor magnetic pole, and is n equal to 1? It is an integer greater than 1.

Further, in FIG. 7 showing the condition under the condition of the equation (8), 10A _1-2 is the first of the first unit rotor RA _1-2 and the second unit rotor RB _1-2 . Rotor poles,
10B _1-2 denotes the second rotor magnetic poles of the first unit rotor RA _1-2 and the second unit rotor RB _1-2 , respectively, and N
Indicates a pole tooth magnetized to the N pole by the permanent magnet 9, and S indicates a pole tooth magnetized to the S pole. The stator 6 and .theta.S ₁ Since the same conditions pitch of the magnetic poles of the stator, .tau.S ₁ represents people each pitch of the pole teeth of the stator, .tau.R _1-2 indicates the pitch of the pole teeth of the rotor. In addition, α _1-2 is the state where the pole teeth of the predetermined magnetic pole of the stator and the pole teeth of the rotor match,
The interval angle between the pole teeth of the magnetic poles of the adjacent stator and the pole teeth of the rotor is shown. Accordingly, the pitch θS ₁ of the magnetic poles of the stator of the 6-phase 6-pole motor shown in this embodiment is 360 ° / 6, and in the case of the condition expressed by the following formula (11) as expressed by the formula (2): , Α _1-2 becomes τ R _1-2 / 12. Z _1-2 = 3n ± 1 (11) where Z _1-2 is the number of pole teeth of each rotor magnetic pole, and is n equal to 1? It is an integer greater than 1.

Further, in FIG. 8 showing the state under the condition of the equation (9), 10A _1-3 is the first unit rotor RA _1-3 and the second unit rotor RB _{1-3 respectively} . Rotor poles,
10B _1-3 indicates the second rotor magnetic poles of the first unit rotor RA _1-3 and the second unit rotor RB _1-3 , respectively, and N
Indicates a pole tooth magnetized to the N pole by the permanent magnet 9, and S indicates a pole tooth magnetized to the S pole. The stator 6 and .theta.S ₁ Since the same conditions pitch of the magnetic poles of the stator, .tau.S ₁ represents people each pitch of the pole teeth of the stator, .tau.R _1-3 indicates the pitch of the pole teeth of the rotor. Also, α _1-3 is the state where the pole teeth of the predetermined magnetic pole of the stator and the pole teeth of the rotor match,
The interval angle between the pole teeth of the magnetic poles of the adjacent stator and the pole teeth of the rotor is shown. Therefore, the pitch θS ₁ of the magnetic poles of the stator of the 6-phase 6-pole motor shown in this embodiment is 360 ° / 6, and in the case of the condition expressed by the following formula (12) as expressed by the formula (2): , Α _1-3 becomes τ R _1-3 / 12. Z _1-3 = 3n ± 1 (12) However, Z _1-3 is the number of pole teeth of each rotor magnetic pole, and is n equal to 1? It is an integer greater than 1.

FIG. 9 shows the relationship between the number of pole teeth (indicated by Z) of each rotor magnetic pole and the step angle of this motor in the motor of this embodiment under the condition that n is changed from 1. Is shown.

FIG. 10 shows the connection state of the monofilar windings in this embodiment. In the figure, A, A '
Is a lead wire of the winding wire 4-1 and D and D'are B of the winding wire 4-2.
B'denotes each lead wire of the winding 4-3. Further, E and E'are the lead wires of the winding 4-4, C and C'are F and F of the winding 4-5.
F'denotes each lead wire of the winding 4-6, and a driving pulse output circuit is connected to each of these terminals.

Next, the driving operation of the motor having the above-described structure will be described with reference to FIGS. In FIG. 11, the horizontal axis represents the flow of operation steps (sequence) in step 1
To step 15 are shown, and illustrations after step 16 are omitted. Each of the above-mentioned leader lines is written in the vertical direction, and the timing of supplying the pulse current corresponding to each step is shown by a quadrangle on the horizontal axis indicating each leader line. For example, the quadrangle above the horizontal line indicating each leader line is drawn from the leader line A to the leader line A ′, and the quadrangle below the horizontal line indicating each leader line is drawn from the leader line A ′. It shows that a current is applied to the line A. That is, by sequentially applying a pulse current to each lead wire, the motor rotates step by step.

FIG. 12 shows the pitch τ of the pole teeth of the stator, which is the condition described in the equation (7) of the motor based on the above embodiment.
The positional relationship between the stator and the rotor when S ₁ and the pole tooth pitch τ R ₁ of the rotor are equal is shown in an expanded manner. In the lateral direction, the magnetic poles 3 of the stator are sequentially arranged from left to right. -1, 3-
2, 3-3, 3-4, 3-5, 3-6 and 3-1 are shown again. In the vertical direction of the figure, steps 1 to 4 are described corresponding to the steps shown in FIG. 11, and illustration of step 5 and subsequent steps is omitted. In each step, FIG. 6 is shown in an enlarged view of the entire magnetic poles of the stator, and from the top, one half of each magnetic pole, the first unit rotor R
A ₁ first rotor magnetic pole 10 A ₁ , first unit rotor RA
The second rotor magnetic pole 10B _1, other halves of the respective magnetic poles of _1,
The first rotor pole 10A ₁ of the second rotor unit RB _1, and shows information about the second rotor magnetic pole 10B ₁ of the second rotor unit RB _1. Further, N is a pole tooth magnetized to the N pole, and S is an S pole.
The pole teeth magnetized to the poles are shown respectively, and a mark is marked on a predetermined pole tooth of the rotor in order to show the rotation state of the motor.

Now, as shown in FIG. 11, in step 1, when a current is passed from the lead wire A to the lead wire A ', the magnetic pole 3-1 of the stator is excited to the S pole. Therefore,
The pole teeth of the N-pole is the magnetic pole proximate the first rotor pole 10A ₁ of the first rotor unit RA ₁ is sucked. Step 1
In, the relational position between the stator pole teeth and the rotor pole teeth is as follows. That is, the interval angle alpha _2-1 with pole teeth of the N pole of the rotor close to the pole teeth of the magnetic pole 3-2 adjacent to the magnetic pole 3-1 of the stator .tau.R _1/12, the stator poles 3
The spacing angle alpha _3-1 with pole teeth of the S pole of the rotor close to the pole teeth of the magnetic pole 3-3 adjacent to 2 2τR _1/12, pole 3-4 adjacent to the magnetic pole 3-3 of the stator rotor spacing angle alpha _4-1 with pole teeth of the S pole of the rotor close to the pole teeth of the adjacent pole teeth of the magnetic pole 3-5 adjacent to 3τR _1/12, the magnetic pole 3-4 of the stator interval interval alpha _5-1 between the pole teeth of the N pole of 4τR _1/1
2. The spacing angle α _6-1 between the pole teeth of the magnetic pole 3-6 adjacent to the magnetic pole 3-5 of the stator and the pole teeth of the N pole of the adjacent rotor is 5τ.
R _1/12, the interval angle alpha _7-1 with pole teeth of the S pole of the S pole of the rotor close to the pole teeth of the magnetic pole 3-1 of the stator 6τR _1/1
It is 2. After step 2, illustrations other than the magnetic pole 3-1 excited in step 1 and the magnetic pole excited are omitted.

In step 2, when a current is passed from the lead wire D to the lead wire D ', the magnetic pole 3-2 of the stator is excited to the S pole. Accordingly, the second rotor unit RB ₁ first
The N pole teeth, which are the adjacent magnetic poles of the rotor magnetic pole 10A ₁ are attracted. The spacing angle α _1-0-2 between the first rotor magnetic pole 10A ₁ of the first unit rotor RA ₁ that was attracted to the stator magnetic pole 3-1 in step 1 and the stator magnetic pole 3-1. Is τ
Become R _1/12. The .tau.R _1/12 is the step angle.

In step 3, when a current is passed from the lead wire B'to the lead wire B, the magnetic pole 3-3 of the stator is excited to the N pole. Therefore, the second of the first unit rotor RA ₁
The pole tooth which is the S pole of the rotor magnetic pole 10B ₁ is attracted.
Motor, since the further one step angle rotation, the first rotor pole 10A ₁ pole 3 of the stator of the first rotor unit RA ₁ that has been sucked to the pole 3-1 of the stator in Step 1
Spacing angle alpha _1-0-3 with -1 becomes 2τR _1/12.

In step 4, when a current is passed from the lead wire E'to the lead wire E, the magnetic pole 3-4 of the stator is excited to the N pole. Therefore, the second unit rotor RB ₁
The pole tooth which is the S pole of the rotor magnetic pole 10B ₁ is attracted.
Motor, since the further one step angle rotation, the first rotor pole 10A ₁ pole 3 of the stator of the first rotor unit RA ₁ that has been sucked to the pole 3-1 of the stator in Step 1
Spacing angle alpha _1-0-4 with -1 becomes 3τR _1/12.

[0032] Thereafter, in the same manner as described above, the motor by repeating circulating the steps shown in FIG. 11, continues to rotate by .tau.R _1/12 is the step angle.

Embodiment 2 Next, Embodiment 2 in which the present invention is applied to a 6-phase 12-pole motor (inner rotor type hybrid stepping motor) will be described with reference to Embodiment 1 with reference to FIGS. In each drawing, the same reference numerals are used for the element functions corresponding to those described in the first embodiment, and detailed description thereof will be omitted. 13 is a vertical sectional front view of a 6-phase 12-pole motor, and FIG. 14 is a sectional view taken along line XX 'of FIG. 13 and 14, S ₂ is a stator in which pole teeth are alternately formed with a width of ½ or approximately ½ in the rotation axis direction of magnetic poles, which will be described later, as in the first embodiment. The stator S ₂ has twelve magnetic poles 3A _{1 to} 3 inwardly of the stator core 2.
A ₁₂ are formed centripetally at equal angular intervals, and the magnetic poles alternately intersect the pole tooth formation positions. That is, for the magnetic poles 3A ₁ , 3A ₃ , 3A ₅ , 3A ₇ , 3A ₉ , 3A ₁₁ ,
The pole teeth are provided on the same side, and the magnetic poles 3A ₂ , 3A ₄ , 3A ₆ , 3
The _{A 8, 3A 10, 3A 12} , is provided with teeth on the opposite to the magnetic pole. Stator windings 4A _{1 to} 4A ₁₂ are wound around each of the magnetic poles. The pole teeth 3a ₂ are formed at the tip of each magnetic pole at a substantially equal angular interval corresponding to the structural characteristics of the motor.

A first unit rotor RA ₂ is coupled to the rotary shaft 8 with a predetermined gap between the rotary shaft 8 and the inner surface of the stator S ₂ , and is opposed to the other half of the stator S ₂ . The second unit rotor RB ₂ is coupled to the inner surface of the stator S _{2 at} a position with a predetermined gap. The first unit rotor RA ₂ and the second
A non-magnetic body 11 formed in an annular shape having a predetermined width is interposed between the unit rotor RB ₂ and the unit rotor RB ₂ . The first unit rotor RA ₂ and the second unit rotor RB ₂ have the same structure, and the two rotor magnetic poles 10A ₂ and 10B ₂ are respectively provided with the rotating shaft 8
The permanent magnet 9 magnetized in the axial direction is sandwiched and fixed. The two rotor poles 10A _2, 10B ₂ respectively outer periphery of, and forms a pole teeth 10a ₂ with a predetermined shape and pitch to correspond to the shape and pitch of the pole teeth 3a ₂ formed on the magnetic poles of the stator There is. Positional relationship between the pole teeth 10a ₂ is Example 1 Similarly, and as will be described later, the first pole teeth 10a ₂ of the rotor poles 10A ₂ second rotor magnetic pole 10B ₂ of the pole teeth 10a ₂
Is coupled to the pole teeth 10a ₂ by ½ of the pitch at which the pole teeth 10a ₂ are formed, and the first unit rotor RA ₂ and the second unit rotor RB ₂ are arranged at the pitch at which the pole teeth 10a ₂ are formed. Are displaced by ¼ and are combined.

Next, an example of a method of manufacturing the stator will be described with reference to FIGS. As shown in FIG. 15, the stator is provided inside the annular stator core 2 with pole teeth 3a _{2 at the} tip.
6 magnetic poles P _{2 -A} having the same shape and 6 magnetic poles P _{2 -B} having the same shape with no pole teeth at the tip are alternately arranged, for a total of 12
A predetermined number of stator iron plates SP ₂ formed in centripetal form are laminated so that the pole teeth overlap each other to form one half of the stator S ₂ . Therefore, the angular spacing .theta.S ₂ of the pole P _2-A and the pole P _2-B adjacent to each other are formed on 360 ° / 12, i.e. 30 °. Then, the pitch of the magnetic poles for the above construction,
That is, the stator iron plates SP ₂ which are rotated by 30 ° and are deviated to have the same shape as the above are laminated with the same number or almost the same number as the above so that the pole teeth overlap each other, and the remaining one side of the stator S ₂ Make up half. Since the stator S ₂ is formed so as to face the two unit rotors formed by sandwiching the non-magnetic body 11 as in the first embodiment, each unit rotor surely faces one half of the stator. If it can be configured to do so, it is not necessary to have the same number for each half. Each of the stator iron plates may be manufactured by a punching process using a press, and the rotor magnetic poles that form each rotor may be formed by punching a predetermined number of magnetic material plates and then stacking them by a predetermined number.

The structure of the magnetic poles of the stator formed by the above method is shown in FIG. That is, in the same figure (A), the predetermined magnetic poles 3A ₁ , 3A ₃ , 3 forming the stator S ₂ are shown.
One of the magnetic poles A ₅ , 3A ₇ , 3A ₉ , and 3A ₁₁ , for example, 3A ₁ is shown, and FIG. 2B shows a magnetic pole 3A adjacent to one of the magnetic poles shown in FIG. ₂ , 3A ₄ , 3A ₆ , 3A ₈ , 3A
_{One of 10} 3A ₁₂ is shown, for example 3A ₂ . Since the stator S ₂ is formed as described above,
Each magnetic pole of the stator S ₂ shown in (A) has a predetermined number of pole teeth 3a ₂
Is formed by a half P _2-A with a tooth and a half P _2-B without a pole tooth. On the other hand, the magnetic pole shown in FIG. 16 (B) has a predetermined number of pole teeth 3a on the side opposite to the magnetic pole shown in FIG. 16 (A).
₂ with no pole teeth in the other half.

FIG. 17 is an enlarged view showing the relationship of the pole teeth of each rotor magnetic pole forming the rotor. In the figure, the first unit rotor RA _{2 is changed} depending on the magnetization direction of the permanent magnet 9.
The first rotor pole 10A teeth 10a _{2 2} and the second first rotor unit RB ₂ of the rotor magnetic poles of 10A ₂ pole teeth 10a of the ₂
The N pole and the first rotor unit RA ₂ in the second second pole teeth 10a of the rotor magnetic pole 10B ₂ of the rotor magnetic poles 10B ₂ of the pole teeth 10a ₂ and the second rotor unit RB _{2 2} is magnetized to the S pole. Also, the pole teeth 10a ₂ provided on the magnetic poles of each rotor
Of When .tau.R ₂ pitch, and the pole teeth 10a ₂ of the first rotor pole 10A ₂ second rotor magnetic pole 10B ₂ of the pole teeth 10a ₂
Spacing angle .tau.R _2/2, the first first rotor unit RA ₂ between pole teeth 10a ₂ of the rotor poles 10A ₂ of the second rotor unit RB ₂ first rotor poles 10A ₂ with Angle with the pole tooth 10a ₂ of the _second unit rotor RA ₂ and the pole tooth 10a ₂ of the second rotor magnetic pole 10B ₂ of the first unit rotor RA ₂ and the second rotor magnetic pole 10B of the second unit rotor RB ₂ . spacing angle between the pole teeth 10a ₂ of ₂ are both formed on .tau.R _2/4.

Each of the pole tooth configurations of the stator and the rotor having the above-described structure corresponds to this embodiment with respect to the expressions (7), (8) and (9) shown in the first embodiment. code .tau.R ₁ to .tau.R _2, following which was converted code .tau.S ₁ to .tau.S ₂ (13) equation (14)
Under the respective conditions of the equation and the equation (15), FIG. 6, FIG. 7, and FIG.
The relationship between the pole teeth formed on the magnetic poles of the stator and the pole teeth formed on the rotor magnetic poles is shown with reference to FIG. _{τR 2 = τS 2 ················· (13} ) 0.75τR 2 ≦ τS 2 <τR 2 ········· (14) τR 2 < τS ₂ ≦ 1.25τR ₂・ ・ ・ ・ ・ ・ ・ ・ (15)

That is, the mutual positional relationship between the pole teeth of the stator and the rotor is the same as the situation described with reference to FIG. 6, FIG. 7, and FIG. 7 and FIG. 8 are assigned to the pole tooth existing portions 3a _1-1 , 3a _1-2 of the predetermined magnetic poles of the stator 3a _2-1 3a _2-2 , and the pole tooth nonexistent portion 3b. _1-1 , 3b _1-2 to 3b _2-1 , 3b respectively
_2-2 , the magnetic pole pitch of the stator θS ₁ = 360 ° / 6 is set to θ
S ₂ = 360 ° / 12, the pitch τS ₁ of the pole teeth of the stator to τS ₂ , and the first unit rotors RA _1-1 , RA _1-2 , RA _1-3.
To RA _2-1 , RA _2-2 and RA _{2-3 respectively} , the second unit rotor RB ₁ to RB ₂ and the first rotor magnetic poles 10A _1-1,10 .
A _1-2 and 10A _1-3 are respectively rotor magnetic poles 10A of this embodiment.
_2-1 and 10A _2-2 and 10A _2-3 (not shown) are provided with τR _1-1 , τR _1-2 and τR _1-3 pitches of rotor pole teeth, respectively.
R _2-1 , τ R _2-2 , τ R _2-3 (not shown), with the pole teeth of the predetermined magnetic pole of the stator and the pole teeth of the rotor aligned, the poles of the adjacent stator Replace the spacing angles α _1-1 , α _1-2 , α _1-3 between the teeth and the pole teeth of the rotor with α _2-1 , α _2-2 , α _2-3 (not shown), respectively. It can be used as it is.

In the 6-phase 12-pole motor shown in this embodiment, when the pitch relationship between the stator pole teeth and the rotor pole teeth is expressed by the equation (13), the number of pole teeth of the rotor magnetic poles is When the condition expressed by the following expression (16) is satisfied as shown by the expression (3), when the pole teeth of this magnetic pole and the pole teeth of the rotor are aligned with each other at a predetermined magnetic pole of the stator, , The interval angle α _2-1 between the pole teeth of the adjacent stator poles and the pole teeth of the rotor
Becomes τ R _2-1 / 12. Z _2-1 = 6n ± 4 (16) However, Z _2-1 is the number of pole teeth of each rotor magnetic pole, and is n equal to 1? It is an integer greater than 1.

When the pitch relationship between the pole teeth of the stator and the pole teeth of the rotor is expressed by the equation (14), the number of pole teeth of the rotor magnetic pole is expressed by the following equation (3). When the condition expressed by the equation (17) is satisfied, when the pole teeth of this magnetic pole and the pole teeth of the rotor are matched with each other at a predetermined magnetic pole of the stator, the pole teeth of the adjacent stator poles The spacing angle α _{2-2 from the} rotor pole teeth is τ R _2-2 / 12. Z _2-2 = 6n ± 4 (17) However, Z _2-2 is the number of pole teeth of each rotor magnetic pole, and is n equal to 1? It is an integer greater than 1.

When the pitch relationship between the pole teeth of the stator and the pole teeth of the rotor is expressed by the equation (15), the number of pole teeth of the rotor magnetic pole is expressed by the following equation (3). When the condition expressed by the equation (18) is satisfied, when the pole teeth of this magnetic pole and the pole teeth of the rotor are matched with each other at a predetermined magnetic pole of the stator, the pole teeth of the adjacent stator magnetic poles are The spacing angle α _2-3 between the rotor and the pole teeth is τ R _2-3 / 12. Z _2-3 = 6n ± 4 (18) However, Z _2-3 is the number of pole teeth of each rotor magnetic pole, and is n equal to 1? It is an integer greater than 1.

FIG. 18 shows the relation between the number of pole teeth (denoted by Z) of each rotor magnetic pole and the step angle of this motor in the motor of this embodiment under the condition that n is changed from 1. Is shown.

FIG. 19 shows the connection state of the monofilar windings in this embodiment. In the figure, A, A '
Are windings 4A ₁ and 4A ₇ , D and D'are windings 4A ₂ and 4A ₈ , B and B'are windings 4A ₃ and 4A ₉ , E and E ′ Is the winding 4A ₅ and the winding 4A ₁₁ , C, C ′
Is a lead wire of a circuit in which winding 4A ₄ and winding 4A ₁₀ are connected in series, and F and F ′ are lead wires of a circuit in which winding 4A ₆ and winding 4A ₁₂ are connected in series. The circuits are connected.

The driving of the motor having the above-described structure is performed in the first embodiment.
The same sequence as the sequence shown in FIG. 11 is executed. Therefore, the operation is performed in the above-described paragraph number (003
3) to (0044), the stator magnetic poles are added by 6 poles, and the rotor magnetic pole positions are similarly described by describing the rotor magnetic pole positions in correspondence with the stator magnetic pole positions.
For each sequentially supplies a pulse current to each lead wire in accordance with the sequence shown in FIG. 11, τR _1/1 is the step angle
Step by 2 and continue rotating.

Embodiment 3: Next, an embodiment in which the present invention is applied to a 10-phase 10-pole motor (inner rotor type hybrid stepping motor) will be described with reference to FIGS. 20 to 25. It will be described with reference to FIG. Therefore, in the first and second embodiments, a 6-phase 6-pole motor or a 6-phase 12-phase motor is used.
The description of the structure and operation, which is a matter that can be easily understood by easily converting the description of the pole motor into a 10-phase 10-pole motor, will be omitted. Example 2
As described above, the element functions corresponding to the element functions shown in the first embodiment are described by changing the suffix of the reference numerals, and the detailed description will be omitted. Regarding the operation, for example, referring to FIGS. 6, 7, and 8 in which magnetic poles are expanded for the function of applying a driving current to each winding, understand the difference in step angle corresponding to the pitch of magnetic poles and pole teeth. Just do it.

An example of a method of manufacturing a stator applied to a 10-phase 10-pole motor will be described with reference to FIG. The stator inside the annular stator core 2, and a pole P _3-B of the same shape without the teeth on the pole P _3-A and the tip portion of the same shape provided with pole teeth 3a ₃ to the distal end Alternately, five stator iron plates SP _3, which are formed in centripetal form, are alternately laminated, so that a predetermined number of the stator iron plates SP ₃ are laminated so that the pole teeth overlap each other to form one half of the stator S ₃ . Therefore, the interval angle .theta.S ₃ the pole P _3-A and the pole P _3-B adjacent to each other are formed on 360 ° / 10, i.e. 36 °. Then, for the above construction, the pitch of the magnetic poles, ie 3
The stator iron plates SP ₃ formed in the same shape as the above by being rotated by 6 ° are laminated so that the same number or almost the same number of pole teeth as the above overlap, and the remaining half of the stator S ₃ on one side is formed. . The stator S ₃ is made of the non-magnetic material 11 as in the above embodiments.
Since it is formed so as to face two unit rotors formed by sandwiching it, if each unit rotor can surely be configured so as to face one half of the stator, it is necessary to make the same number of each half. There is no. Each of the stator iron plates may be formed by punching using a press, and the rotor magnetic poles that form each rotor may be formed by punching a predetermined number of magnetic material plates and then stacking a predetermined number of them.

The structure of the magnetic poles of the stator formed by the above method is configured as shown in FIG. That is, the magnetic poles of the stator S ₃ shown in FIG. 21 (A) are half P _3-A with a predetermined number of pole teeth 3a ₃ and half P _3-A without pole teeth.
It is formed by _3-B and. On the other hand, the magnetic pole shown in FIG. 7B shows a magnetic pole adjacent to the magnetic pole shown in FIG. 9A, and a predetermined number of pole teeth 3a are provided on the side opposite to the magnetic pole shown in FIG. ₃ with the other half without polar teeth.

Although not shown in the figure, the structure of the rotor has the same structure as that of the above-mentioned embodiment. For example, in the structure of the rotor shown in FIG. 1 for explaining the first embodiment, the first unit rotor RA ₁ is RA ₃ , the second unit rotor RB ₁ is RB ₃ ,
Two rotor magnetic poles are 10A ₁ to 10A ₃ and 10B ₁ to 1
It may be replaced with 0B ₃ . That is, Example 1 and Example 2
Similarly, the first unit rotor RA ₃ and the second unit rotor RB ₃
Are coupled with a non-magnetic body 11 having a predetermined width interposed therebetween, and the first unit rotor RA ₃ and the second unit rotor RB ₃ each have two rotor magnetic poles 10A ₃ and 10B _{3 respectively.} The permanent magnet 9 magnetized in the axial direction is sandwiched and fixed. The pole teeth of people each rotor pole husband, as shown in FIG. 22, the first pole teeth 10a ₃ of the rotor poles 10A ₃ and the second rotor magnetic pole 10B ₃
Pole tooth 10a ₃ of 1 is the pitch 1 at which the pole tooth 10a ₃ is formed.
It is coupled with a deviation of / 2. Further, the first unit rotor RA ₃ and the second unit rotor RB ₃ are coupled while being displaced by ¼ of the pitch forming the pole teeth 10a ₃ .

The structure of each pole tooth of the stator and the rotor having the above-described structure corresponds to this embodiment with respect to the expressions (7), (8) and (9) shown in the first embodiment. code .tau.R ₁ to .tau.R _3, following which was converted code .tau.S ₁ to .tau.S ₃ (19) equation (20)
6 and 7 under the conditions of the equation and the equation (21) respectively.
The relationship between the pole teeth formed on the magnetic poles of the stator and the pole teeth formed on the rotor magnetic poles is shown with reference to FIG. τR ₃ = τS ₃ (19) 0.75 τR ₃ ≦ τS ₃ <τR ₃・ ・ ・ ・ ・ ・ ・ ・ ・ ・ (20) τR ₃ <ΤS ₃ ≦ 1.25τR ₃・ ・ ・ ・ ・ ・ ・ ・ ・ ・ (21)

That is, the mutual positional relationship between the respective pole teeth of the stator and the rotor is the same as the situation described in the first embodiment with reference to FIGS. 7, each code shown in FIG. 8, the pole teeth missing portion 3a _1-1 of predetermined magnetic pole of the stator, the 3a _1-2 respectively 3a _3-1, the 3a _3-2, the pole teeth absence portion 3b _1-1 , 3b _{1-2 respectively} 3b _3-1 , 3b
_{In 3-2} , set the magnetic pole pitch of the stator θS ₁ = 360 ° / 6 to θ.
S ₃ = 360 ° / 10, the pitch τS ₁ of the pole teeth of the stator to τS ₃ , and the first unit rotors RA _1-1 , RA _1-2 , RA _1-3.
To RA _3-1 , RA _3-2 and RA _{3-3 respectively} , the second unit rotor RB ₁ to RB ₃ and the first rotor magnetic poles 10A _1-1,10 .
A _1-2 , 10A _1-3 , 10A _3-1 , 10A _3-2 , 10A respectively
_3-3 , the pitch of rotor pole teeth τR _1-1 , τR _1-2 , τR
_1-3 with τR _3-1 , τR _3-2 , and τR _{3-3 respectively} , with the pole teeth of the predetermined magnetic pole of the stator and the pole teeth of the rotor being aligned,
Angle α between the pole teeth of the adjacent stator and the pole teeth of the rotor
_It can be used as it is by substituting _1-1 , α _1-2 , and α _1-3 with α _3-1 , α _3-2 , and α _3-3 , respectively.

In the 10-phase 10-pole motor shown in this embodiment, when the pitch relationship between the stator pole teeth and the rotor pole teeth is represented by the equation (19), the number of pole teeth of the rotor magnetic pole is When the condition expressed by the following formula (22) is satisfied as shown by the formula (4), when the pole teeth of this magnetic pole and the pole teeth of the rotor are aligned with each other at a predetermined magnetic pole of the stator, The interval angle α _3-1 between the pole teeth of the magnetic poles of the adjacent stator and the pole teeth of the rotor is τR _3-1 / 20. Z _3-1 = 10n ± 4 (22) However, Z _3-1 is the number of pole teeth of each rotor magnetic pole, and n is equal to 1 or 1 Is an integer greater than.

When the pitch relationship between the pole teeth of the stator and the pole teeth of the rotor is expressed by the equation (20), the number of pole teeth of the rotor magnetic poles is expressed by the following equation (4). If the condition represented by the equation (23) is satisfied, when the pole teeth of this magnetic pole and the pole teeth of the rotor are matched with each other at a predetermined magnetic pole of the stator, the pole teeth of the adjacent stator poles The spacing angle α _{3-2 from the} rotor's pole teeth is τ R _3-2 / 20. Z _3-2 = 10n ± 4 (23) However, Z _3-2 is the number of pole teeth of each rotor magnetic pole, and n is equal to 1 or 1 Is an integer greater than.

When the pitch relationship between the stator pole teeth and the rotor pole teeth is expressed by the equation (21), the number of pole teeth of the rotor magnetic pole is expressed by the following equation (4). When the condition expressed by the equation (24) is satisfied, when the pole teeth of this magnetic pole and the pole teeth of the rotor are aligned at a predetermined magnetic pole of the stator, the pole teeth of the adjacent stator magnetic poles are The spacing angle α _{3-3 from the} rotor pole teeth is τ R _3-3 / 20. Z _3-3 = 10n ± 4 (24) where Z _3-3 is the number of pole teeth of each rotor magnetic pole, and n is equal to 1 or 1 Is an integer greater than.

In FIG. 23, in the motor of this embodiment, the relationship between the number of pole teeth (denoted as Z) of each rotor magnetic pole and the step angle of this motor under the condition that n is changed from 1 described above. An example is shown.

FIG. 24 shows the connection state of the monofilar windings in this embodiment. In FIG. 24, A,
A'is the winding 4B ₁ and F, F'is the winding 4B ₂ B, B '.
Is for winding 4B ₃ , G, G'is for winding 4B ₄ , C, C'is for winding 4B ₅ , H, H'is for winding 4B ₆ , D, D'is winding 4
B ₇ , I and I'are windings 4B ₈ and E and E'are windings 4B ₉
, J and J ′ are lead wires of the winding 4B ₁₀ , and a driving pulse output circuit is connected to each of these terminals.

The driving of the motor having the above-described structure is carried out in the first embodiment.
Similar to the sequence shown in FIG. 11 (hereinafter referred to as the flow) in the second embodiment, it is executed by the flow shown in FIG. In the figure, the horizontal axis indicates the flow of operation steps (sequence) from step 1 to step 22, and illustration of step 23 and subsequent steps is omitted. Each of the above-mentioned leader lines is shown in the vertical direction, and the timing of supplying the pulse current corresponding to each step is shown by a quadrangle on the horizontal axis indicating each leader line. The quadrangle shown above the horizontal line showing each leader line is similar to the description of FIG. 11, for example, a current is made to flow from the leader line A to the leader line A ′, and the quadrangle shown below the horizontal line showing each leader line is It shows that an electric current is passed from the leader line A ′ to the leader line A. Therefore, as shown in FIG. 25, by sequentially applying a pulse current to each lead wire, this motor advances and rotates by the above step angle. That is, the operation is performed by converting the magnetic poles of the stator into 10 poles by referring to the developed view shown in FIG. 12 in the description of the first embodiment and the explanation of the paragraph numbers (0046) to (0056) described above, and The position of the magnetic pole is also shown by describing it in correspondence with the position of the magnetic pole of the stator. According to the flow shown in FIG. 25, the step angle τR ₃ / The rotation is continued by 20 and the pole teeth are rotated by one pitch with 20 pulses.

Embodiment 4 Next, an embodiment in which the present invention is applied to a 10-phase 20-pole motor (inner rotor type hybrid stepping motor) will be described with reference to FIGS.
A description will be given with reference to the above-described first embodiment, second embodiment, and third embodiment. Therefore, the contents described in the first to third embodiments regarding the 6-phase 6-pole motor, the 6-phase 12-pole motor, and the 10-phase 10-pole motor are converted into the 10-phase 20-pole motor, which is a matter that can be easily understood. Regarding the operation, as in the third embodiment, the illustration and description thereof will be omitted. For each figure,
As described in the second or third embodiment, the same components as the components described above are denoted by the same reference numerals or the suffixes are changed, and the description thereof will be omitted.

An example of the manufacturing method of the stator applied to the 10-phase 20-pole motor will be described with reference to FIG. The stator has a magnetic pole P _4-A of the same shape having pole teeth 3a ₄ at its tip and a magnetic pole P _{4-B of the} same shape having no pole teeth at its tip inside an annular stator core 2. Alternately, a predetermined number of stator iron plates SP _4, which are formed in centripetal form, each having 10 pieces in total, and 20 pieces in total, are laminated so that the pole teeth overlap each other to form one half of the stator S ₄ . Thus, angular interval .theta.S ₄ of the pole P _4-A and pole P _4-B adjacent to each other are formed on 360 ° / 20, i.e. 18 °. Next, for the above construction, the pitch of the magnetic poles, ie 1
The stator iron plates SP ₄ formed in the same shape as described above by being rotated by 8 ° are laminated so that the same number or almost the same number of pole teeth as those described above are laminated to form the other half of the stator S _4. . Since it is formed so as to face two unit rotors formed by sandwiching the non-magnetic body 11, if each unit rotor can be configured to surely face one half of the stator,
It is not necessary to have the same number for each half. Each stator iron plate may be punched by a press,
The rotor magnetic poles forming each rotor may be formed by punching a predetermined number of magnetic material plates by a press and then stacking a predetermined number of them.

The structure of the magnetic poles of the stator is constructed as shown in FIG. That is, the stator S ₄ shown in FIG.
Is formed by a half P _4-A having a predetermined number of pole teeth 3a ₄ and a half P _4-B having no pole teeth. on the other hand,
The magnetic pole shown in FIG. 27B shows a magnetic pole adjacent to the magnetic pole shown in FIG. 27A, and is provided with a predetermined number of pole teeth 3a ₄ on the side opposite to the magnetic pole shown in FIG. , The other half does not have polar teeth.

Although not shown in the figure, the structure of the rotor has the same structure as that of the above-mentioned embodiment. For example, in the structure of the rotor shown in FIG. 1 for explaining the first embodiment, the first unit rotor RA ₁ is RA ₄ , the second unit rotor RB ₁ is RB ₄ ,
Two rotor magnetic poles are 10A ₁ to 10A ₄ and 10B ₁ to 1
It may be replaced with 0B ₄ . That is, the first unit rotor RA ₄
And the second unit rotor RB ₄ are coupled with the non-magnetic body 11 having a predetermined width interposed therebetween, and the first unit rotor RA ₄ and the second unit rotor RB ₄ each have two rotor magnetic poles. 10A ₄ , 10B
₄ are fixed by sandwiching a permanent magnet 9 magnetized in the axial direction of the rotary shaft. The pole teeth of people each rotor pole husband same respective embodiments described above, as shown in FIG. 28, the pole teeth 10a ₄ of the pole teeth 10a ₄ of the first rotor pole 10A ₄ second rotor magnetic pole 10B ₄ Is 1/2 of the pitch at which the pole teeth 10a ₄ are formed
It is offset and combined. In addition, the first unit rotor R
The A ₄ and the second unit rotor RB ₄ are coupled with each other by being displaced by ¼ of the pitch forming the pole teeth 10a ₄ .

The structure of the pole teeth of the stator and the rotor having the above-described structure corresponds to this embodiment with respect to the expressions (7), (8) and (9) shown in the first embodiment. code .tau.R ₁ to .tau.R _4, following which was converted code .tau.S ₁ to .tau.S ₄ (25) equation (26)
6 and 7 under the conditions of the equation and the equation (27) respectively.
The relationship between the pole teeth formed on the magnetic poles of the stator and the pole teeth formed on the rotor magnetic poles is shown with reference to FIG. _{τR 4 = τS 4 ················· (25} ) 0.75τR 4 ≦ τS 4 <τR 4 ·········· (26) τR 4 <ΤS ₄ ≦ 1.25τR ₄・ ・ ・ ・ ・ ・ ・ ・ ・ ・ (27)

That is, the mutual positional relationship between the respective pole teeth of the stator and the rotor is the same as the situation described with reference to FIG. 6, FIG. 7, and FIG. 7, each code shown in FIG. 8, the pole teeth missing portion 3a _1-1 of predetermined magnetic pole of the stator, the 3a _1-2 respectively 3a _4-1, the 3a _4-2, the pole teeth absence portion 3b _1-1 , 3b _{1-2 respectively} 3b _4-1 , 3b
_{In 4-2} , set the magnetic pole pitch of the stator θS ₁ = 360 ° / 6 to θ.
S ₄ = 360 ° / 20, the pitch τS ₁ of the pole teeth of the stator to τS ₄ , and the first unit rotors RA _1-1 , RA _1-2 , RA _1-3.
To RA _4-1 , RA _4-2 and RA _{4-3 respectively} , the second unit rotor RB ₁ to RB ₄ and the first rotor magnetic poles 10A _{1-1 to} 10A.
A _1-2 , 10A _1-3 , 10A _4-1 , 10A _4-2 , 10A respectively
_4-3 , the pitch of rotor pole teeth τR _1-1 , τR _1-2 , τR
_1-3 with τR _4-1 , τR _4-2 , and τR _4-3 , respectively, with the pole teeth of the predetermined magnetic pole of the stator and the pole teeth of the rotor aligned,
The spacing angle α _1-1 , α _1-2 , α _1-3 between the pole teeth of the adjacent stator magnetic pole and the pole teeth of the rotor is changed to α _4-1 , α _4-2 , α _4-3 , They can be used as they are by replacing them.

In the 10-phase 20-pole motor shown in this embodiment, when the pitch relationship between the pole teeth of the stator and the pole teeth of the rotor is represented by the equation (25), the number of pole teeth of the rotor magnetic pole is When the condition expressed by the following expression (28) is satisfied as shown by the expression (5), when the pole teeth of this magnetic pole and the pole teeth of the rotor are aligned with each other at a predetermined magnetic pole of the stator, The interval angle α _4-1 between the pole teeth of the magnetic poles of the adjacent stator and the pole teeth of the rotor is τR _4-1 / 20. Z _4-1 = 20n ± 8 (28) However, Z _4-1 is the number of pole teeth of each rotor magnetic pole, and n is equal to 1 or 1 Is an integer greater than.

When the pitch relationship between the pole teeth of the stator and the pole teeth of the rotor is expressed by the equation (26), the number of pole teeth of the rotor magnetic poles is expressed by the following equation (5). When the condition represented by the equation (29) is satisfied, when the pole teeth of this magnetic pole and the pole teeth of the rotor are aligned with each other at a predetermined magnetic pole of the stator, the pole teeth of the adjacent stator pole The spacing angle α _{4-2 from the} rotor pole teeth is τ R _4-2 / 20. Z _4-2 = 20n ± 8 (29) However, Z _4-2 is the number of pole teeth of each rotor magnetic pole, and n is equal to 1 or 1 Is an integer greater than.

When the relationship between the pitch of the stator pole teeth and the pitch of the rotor pole teeth is expressed by the equation (27), the number of pole teeth of the rotor magnetic poles is expressed by the following equation (5). If the condition expressed by the equation (30) is satisfied, when the pole teeth of this magnetic pole and the pole teeth of the rotor are matched at a predetermined magnetic pole of the stator, the pole teeth of the adjacent stator pole The spacing angle α _{4-3 from the} rotor pole teeth is τ R _4-3 / 20. Z _4-3 = 20n ± 8 ・ ・ ・ ・ ・ ・ ・ ・ (30) where Z _4-3 is the number of pole teeth of each rotor magnetic pole, and n is equal to 1 or 1 Is also a large integer.

In FIG. 29, in the motor of this embodiment, the relationship between the number of pole teeth (denoted by Z) of each rotor magnetic pole and the step angle of this motor under the condition that n is changed from 1 described above. An example is shown.

FIG. 30 shows the connection state of the monofilar windings in this embodiment. In the figure, A, A '
Is winding 4C ₁ and winding 4C ₁₁ , F and F'are winding 4C ₂ and winding 4C ₁₂ , B and B'are winding 4C ₃ and winding 4C ₁₃ ,
G and G'are windings 4C ₄ and 4C ₁₄ , C and C'are windings 4C ₅ and 4C ₁₅ , and H and H'are windings 4C ₆ and 4C.
₁₆ , windings 4C ₇ and 4C ₁₇ for D and D'are I and I '
Is a winding 4C ₈ and a winding 4C ₁₈ , E and E'are winding 4C ₉ and a winding 4C ₁₉ , and J and J'is a winding 4C ₁₀ and a winding 4C _20. A line, and a pulse output circuit for driving is connected to each of these terminals.

The driving of the motor having the above-described configuration is executed by the flow shown in FIG. 25, similarly to the flow shown in FIG. 25 in the third embodiment. That is, as shown in FIG. 25, by sequentially applying a pulse current to each lead wire, this motor advances and rotates by the above step angle. Therefore, the operation is performed by converting the magnetic poles of the stator to 20 poles by referring to the developed view shown in FIG. 12 in the description of the first embodiment and the explanation of the paragraph numbers (0058) to (0068) described above. The position of the magnetic pole is also shown by describing the position of the magnetic pole of the stator in correspondence with the position of the magnetic pole of the stator. According to the flow shown in FIG. 25, the step angle τR ₄ / The rotation is continued by 20 and the pole teeth are rotated by one pitch with 20 pulses.

Example 5: Examples 1 to 4 described above
In the above, the examples in which the technical idea of the present invention is applied to the inner rotor type hybrid stepping motor are explained, but the same technical idea can be applied to the outer rotor type hybrid stepping motor. That is, although detailed description of the fifth embodiment is omitted, the inner rotor hybrid stepping motors described in the first to fourth embodiments are centripetally centered from the inner surface of the annular magnetic body toward the center of the circle. Each of the magnetic poles around which a winding for excitation is wound alternates with a stator lacking half the pole teeth of the thickness on the left and right in the axial direction, and the pole teeth of this stator facing each other, with a permanent magnet sandwiched between them. Two unit rotors formed by two unit magnetic poles formed by displacing the teeth by 1/2 the pitch forming the pole teeth, and each pole tooth position being 1/4 deviation of the pitch forming the pole teeth. The cylindrical rotor formed by
A stator in which the windings for excitation are respectively wound radially from the surface of the cylindrical magnetic body at equal pitches, and the magnetic poles are alternately omitted from the pole teeth of half the thickness on the left and right in the axial direction, and the pole teeth of this stator. Two unit rotors formed of two unit magnetic poles facing each other with the permanent magnets sandwiched between them and the pole teeth of each pole being deviated by 1/2 of the pitch forming the pole teeth, each pole tooth position May be an annular rotor formed by displacing ¼ of the pitch forming the pole teeth. In the structure shown in the fifth embodiment, the first embodiment
As shown in each of the fourth to fourth embodiments, the magnetic pole and the number of phases can be set to operate depending on the application and the required characteristics.

The above-mentioned embodiment shows an example for realizing the technical idea of the present invention, and the application of the motor, the rotation speed corresponding to the application, the desired torque, the power supply condition suitable for the situation, etc. Of course, it may be applied and modified appropriately correspondingly.

[0072]

Since the inner rotor type or outer rotor type hybrid stepping motors according to the present invention are configured as described above, they have the following excellent effects. In the conventional case, whether it is the inner rotor type or the outer rotor type, a large number of stator magnetic poles corresponding to the number of phases are required to obtain a multi-phase hybrid type stepping motor. It has become possible to reduce the number of magnetic poles more than anything. For example, a 6-phase stepping motor required 24 stator magnetic poles, but now it can be realized with 6 to 12 stator magnetic poles. Further, the 10-phase stepping motor required 40 stator magnetic poles, but it can be realized with 10 to 20 stator magnetic poles. Since the number of stator magnetic poles was reduced in this way, the size of the multi-phase stepping motor was reduced, and the number of windings was reduced and the machining cost of the windings was significantly reduced. As a result, a multi-phase stepping motor can be manufactured at a low price. With the practical application of such a multi-phase stepping motor, it is possible to obtain a smaller step angle than the commercially available 2-phase to 5-phase stepping motors without reducing the pitch of the rotor pole teeth and providing a large number of them. Became. Since a minute step angle is obtained, the resolution of the stepping motor is improved. Accurate rotation control has been realized by improving the resolution, and it has become possible to apply stepping motors to rotation systems that had to rely on servomotors.

[Brief description of drawings]

FIG. 1 is a vertical sectional front view of a 6-phase 6-pole inner rotor type hybrid stepping motor that is Embodiment 1 of the present invention.

FIG. 2 is a sectional view taken along line XX ′ of FIG.

FIG. 3 is a plan view illustrating the shape of a magnetic material plate (stator iron plate) forming the stator according to the first embodiment.

4 is a perspective view illustrating a shape of a magnetic pole tip portion of a stator formed of the magnetic plate shown in FIG. 3, and FIG.
Is a perspective view of a predetermined magnetic pole, and FIG. 4B is a perspective view of a magnetic pole adjacent to the magnetic pole shown in FIG.

FIG. 5 is an enlarged schematic side view of a rotor tip end portion showing an enlarged relationship between pole teeth provided on two unit magnetic poles forming the rotor according to the first embodiment.

FIG. 6 shows the relationship between the stator pole teeth and the rotor pole teeth when the stator pole tooth pitch (spacing angle) is the same as the rotor pole tooth pitch (spacing angle) in the first embodiment. It is a development explanatory view of the pole teeth of a stator and a rotor explaining a physical relationship.

FIG. 7 is a graph showing the pitch (spacing angle) of the pole teeth of the rotor in the first embodiment, which is smaller than the pitch (spacing angle) of the pole teeth of the rotor; 0.
FIG. 9 is a development explanatory diagram of the stator and rotor pole teeth, which illustrates the positional relationship between the stator pole teeth and the rotor pole teeth when equal to or greater than 75 times.

FIG. 8 is a graph showing the pitch (spacing angle) of the pole teeth of the rotor, which is larger than the pitch (spacing angle) of the pole teeth of the rotor, in Example 1. 1.
It is a development explanatory view of the pole teeth of a stator and a rotor explaining the physical relationship of the pole teeth of a stator and the pole teeth of a rotor when it is smaller than 25 times.

FIG. 9 is a chart showing the relationship between the number of pole teeth of the rotor and the step angle in the stepping motor of the first embodiment.

FIG. 10 is a connection diagram illustrating a connection state of monofilar windings according to the first embodiment.

FIG. 11 is an excitation sequence diagram in the case of one-phase excitation in bipolar drive of Examples 1 and 2.

FIG. 12 is a diagram showing the stator poles of the stator according to the first embodiment when the pitch (spacing angle) of the stator and the pole teeth of the rotor (spacing angle) are equal; It is a development explanatory view of a pole tooth part of a stator and a rotor explaining a physical relationship between a pole tooth and a pole tooth of a rotor.

FIG. 13 is a vertical sectional front view of a 6-phase 12-pole inner rotor type hybrid stepping motor that is Embodiment 2 of the present invention.

14 is a sectional view taken along line XX ′ in FIG.

FIG. 15 is a plan view illustrating the shape of a magnetic material plate (stator iron plate) forming the stator according to the second embodiment.

16 is a perspective view illustrating a shape of a magnetic pole tip portion of a stator formed by the magnetic plate shown in FIG.
16A is a perspective view of a predetermined magnetic pole, and FIG.
It is a perspective view of the magnetic pole adjacent to the magnetic pole shown in (A).

FIG. 17 is an enlarged schematic side view of the rotor tip end portion showing the relationship of the pole teeth provided on the two unit magnetic poles forming the rotor of the second embodiment in an enlarged manner.

FIG. 18 is a chart showing the relationship between the number of pole teeth of the rotor and the step angle in the stepping motor according to the second embodiment.

FIG. 19 is a connection diagram illustrating a connection state of monofilar windings according to a second embodiment.

FIG. 20 is a plan view illustrating the shape of a magnetic material plate (stator iron plate) forming the stator of the 10-phase 10-pole inner rotor hybrid stepping motor that is Embodiment 3 of the present invention.

21 is a perspective view for explaining the shape of the magnetic pole tip portion of the stator formed by the magnetic plate shown in FIG.
21A is a perspective view of a predetermined magnetic pole, and FIG.
It is a perspective view of the magnetic pole adjacent to the magnetic pole shown in (A).

FIG. 22 is an enlarged schematic side view of the rotor tip portion, which shows the relationship between the pole teeth provided on the two unit magnetic poles forming the rotor of Example 3 in an enlarged manner.

FIG. 23 is a chart showing the relationship between the number of pole teeth of the rotor and the step angle in the stepping motor according to the third embodiment.

FIG. 24 is a connection diagram illustrating a connection state of monofilar windings according to a third embodiment.

FIG. 25 is an excitation sequence diagram in the case of one-phase excitation in bipolar drive of Examples 3 and 4.

FIG. 26 is a plan view illustrating the shape of a magnetic material plate (stator iron plate) forming the stator of the 10-phase 20-pole inner rotor hybrid stepping motor that is Embodiment 4 of the present invention.

27 is a perspective view for explaining the shape of the magnetic pole tip portion of the stator formed by the magnetic plate shown in FIG.
FIG. 27A is a perspective view of a predetermined magnetic pole, and FIG.
It is a perspective view of the magnetic pole adjacent to the magnetic pole shown in (A).

FIG. 28 is an enlarged schematic side view of the rotor tip portion showing the positional relationship of the pole teeth provided on the two unit magnetic poles forming the rotor of Example 4 in an enlarged manner.

FIG. 29 is a chart showing the relationship between the number of pole teeth of the rotor and the step angle in the stepping motor according to the fourth embodiment.

FIG. 30 is a connection diagram illustrating a connection state of monofilar windings according to a fourth embodiment.

FIG. 31 is a vertical cross-sectional front view of a conventional inner rotor hybrid stepping motor.

32 is a sectional view taken along line XX ′ of FIG.

FIG. 33 is a connection diagram of an inner rotor type 6-phase stepping motor having a conventional structure in monofilar winding.

[Fig. 34] Fig. 34 is an excitation sequence diagram in the case of one-phase excitation in monofilament winding of an inner rotor type six-phase stepping motor having a conventional structure.

FIG. 35 is a connection diagram of an inner rotor type 10-phase stepping motor having a conventional structure in monofilar winding.

FIG. 36 is an excitation sequence diagram in the case of one-phase excitation in a monofilament winding of an inner rotor type 10-phase stepping motor having a conventional structure.

[Explanation of symbols]

2: stator core 31 through 3-6,3A ₁ to 3A _12: pole 3a ₁ to 3a of the stator _4: stator pole teeth 3a _1-1 to a _1-6: pole teeth presence of the stator Portions 3b _{1-1 to} 3b _1-6 : pole tooth non-existing portions 4-1 to 4-6 of the stator, 4A _{1 to} 4A ₁₂ , 4B _{1 to} 4
B ₁₀ , 4C _{1 to} 4C ₂₀ : Stator winding 8: Rotating shaft 9: Permanent magnets 10A _{1 to} 10A ₄ , 10B _{1 to} 10B ₄ : Rotor magnetic poles 10a _{1 to} 10a ₄ : Rotor pole teeth 11: Non Magnetic bodies P _1-A , P _2-A , P _3-A , P _4-A : Pole tooth existing portions P _1-B , P _2-B , P _3-B , P _{4-B of the} stator magnetic pole: Non-existent portions of stator pole pole teeth RA _{1 to} RA ₄ , RB _{1 to} RB ₄ : unit rotors S _{1 to} S ₄ : stators SP _{1 to} SP ₄ : magnetic material plate (stator iron plate)

Claims (8)

(57) [Claims] 1. A fixed structure in which a plurality of predetermined pole teeth are formed at the tip end of the annular magnetic body around the circle center in a centripetal (reverse radial) pattern at equal pitches. An inner rotor hybrid stepping motor having a child and a rotor rotatably supported by a bearing having pole teeth magnetized by a permanent magnet magnetized in the axial direction corresponding to the pole teeth of the stator, Each of the stators is provided with a number of pole teeth corresponding to the number of pole teeth of the stator such that adjacent stators lack pole teeth of half the thickness on the left and right in the axial direction, and a predetermined gap is provided between the stator and the outer surface of the stator. The pole teeth of the first rotor magnetic pole formed concentrically and radially with the first rotor magnetic pole.
The rotor magnetic pole and the second rotor magnetic pole formed in the same shape are displaced from each other by ½ rotation of the pole tooth forming pitch, and the first unit rotor fixed through a permanent magnet is the stator. Corresponding to the half width of the second unit rotor having the same shape as the first unit rotor.
The unit rotor of (1) is displaced by a quarter of the pole tooth forming pitch with respect to the first unit rotor via a non-magnetic material, and is made to correspond to the other half width of the stator. Inner rotor type hybrid stepping motor characterized by. 2. A stator in which windings for excitation are respectively wound radially at equal pitches from a cylindrical surface of a cylindrical magnetic body, and a plurality of predetermined pole teeth are formed at a tip portion, and the stator. In an outer rotor type hybrid stepping motor having rotors rotatably supported by bearings, having pole teeth magnetized by permanent magnets magnetized in the axial direction corresponding to the pole teeth, the stators are adjacent to each other. The number of pole teeth corresponding to the number of pole teeth of the stator is concentric with each other by alternately omitting half the pole teeth of the axial left and right thickness and providing a predetermined gap with the outer surface of the stator. The first rotor magnetic pole formed in this way and the second rotor magnetic pole formed in the same shape as the first rotor magnetic pole are mutually displaced by 1/2 rotation of the pole tooth forming pitch to form a permanent magnet. The first unit rotor fixed via the half-width of the stator A second unit rotor having the same shape as that of the first unit rotor is displaced from the first unit rotor by a quarter rotation of a pole tooth formation pitch with respect to the first unit rotor, and the stator is An outer rotor type hybrid stepping motor characterized by being configured to correspond to the width of the other half. 3. The inner rotor type hybrid stepping motor according to claim 1 or the outer rotor type hybrid stepping motor according to claim 2, wherein the number of magnetic poles of the stator is 6 and the rotor poles are formed. The number of teeth (Z) is 6 phases formed so as to satisfy the relation of the following formula.
6-pole inner rotor type or outer rotor type hybrid stepping motor. Z = 3n ± 1, where n ≧ 1 is a positive integer 4. The inner rotor type hybrid stepping motor according to claim 1 or the outer rotor type hybrid stepping motor according to claim 2, wherein the number of magnetic poles of the stator is 12 and the rotor poles are The number of teeth (Z) is formed so as to satisfy the relationship of the following equation, and the stator is so constructed that the magnetic poles that are displaced by 180 ° from each other are excited so that they have the same pole. Rotor type or outer rotor type hybrid type stepping motor. Z = 6n ± 4, where n ≧ 1 is a positive integer 5. The inner rotor type hybrid stepping motor according to claim 1 or the outer rotor type hybrid stepping motor according to claim 2, wherein the number of magnetic poles of the stator is 10 and the rotor pole is formed. The number of teeth (Z) is formed so as to satisfy the relation of the following formula 1
Inner rotor type or outer rotor type hybrid stepping motor with 0 phase and 10 poles. Z = 10n ± 4, where n ≧ 1 is a positive integer 6. The inner rotor type hybrid stepping motor according to claim 1 or the outer rotor type hybrid stepping motor according to claim 2, wherein the number of magnetic poles of the stator is 20 and a rotor pole is formed. The number of teeth (Z) is formed so as to satisfy the relation of the following expression, and the stator is configured so that the magnetic poles which are 180 ° apart from each other are excited so as to have the same pole. Rotor type or outer rotor type hybrid type stepping motor. Z = 20n ± 8, where n ≧ 1 is a positive integer 7. The inner rotor type hybrid stepping motor or the outer rotor type hybrid stepping motor according to claim 1, wherein magnetic poles formed concentrically and in parallel are alternately arranged, and the tips of the magnetic poles are alternately arranged. A predetermined number of magnetic material plates having pole teeth formed on the portion are laminated, and further, magnetic material plates formed in the same shape as the magnetic material plate are rotationally displaced at a magnetic pole forming pitch to be laminated by a predetermined number to form each laminated body. An inner rotor type or outer rotor type hybrid type stepping motor which is fixed and wound to form a stator. 8. The inner rotor type or outer rotor type hybrid stepping motor according to claim 1, wherein a pole tooth forming pitch (τ) of the stator is formed.
S) and the rotor pole tooth formation pitch (τR) are formed so as to satisfy the relationship of the following expression: an inner rotor type or outer rotor type hybrid stepping motor. 0.75τR ≦ τS ≦ 1.25τR