JP6390099B2 - Rotary pulse motor - Google Patents

Description

  The present invention relates to a rotary pulse motor suitable for use at high speed rotation.

  A stator (stator) having a magnetic flux generator and a rotor (rotor) are arranged on the same axis, and the stator and the rotor are opposed to each other with a gap in the radial direction, and the magnetic flux generated from the magnetic flux generator is used. In a rotary pulse motor that rotates a rotor, teeth and grooves are alternately formed at a predetermined pitch along the rotation direction on the surface of the rotor that is formed of a magnetic member and facing the stator. There is one in which a permanent magnet is inserted in each groove so that the polarities of the portions are alternately reversed. The stator is arranged at a predetermined pitch corresponding to the pitch of the teeth in the rotation direction of the rotor, and two rows of magnetic poles having a predetermined displacement in the rotation direction are opposed to the end surfaces of the teeth of the rotor. A plurality of iron cores formed in this manner are sequentially arranged along the axial direction of the rotor so as to have a phase difference in the rotational direction determined according to the number (for example, Patent Document 1, 2).

  In Patent Document 1, a coil is wound around the magnetic pole of each iron core, and in Patent Document 2, an annular coil is fitted between two rows of magnetic poles of each iron core. Thus, a coil is attached to each iron core. In the latter case, it is only necessary to fit one coil to each iron core, so that the mounting of the coil can be simplified.

  In the rotary pulse motors described in Patent Documents 1 and 2, when a current is passed through one of the iron core coils, the magnetic flux in one row of the stator iron core flows into the teeth on the S pole side of the rotor. After the magnetic flux flows into the adjacent N pole side tooth portion through the permanent magnet, it flows from the N pole side tooth portion to the magnetic pole of the other row of the stator core, and further, the inside of the iron core is axially directed. Thus, a magnetic flux loop that returns to the original magnetic pole is formed, so that the end face of each magnetic pole facing the rotor teeth can be utilized for torque generation in a wide area, and there is an advantage that a large torque can be obtained.

JP-A-4-344161 JP-A-4-344162

  The rotary pulse motors described in Patent Documents 1 and 2 have the advantage that a large torque can be obtained. However, when used at high speeds for direct drive motors, etc., the rotary type pulse motor is large in the permanent magnet inserted in the rotor groove. Centrifugal force acts. For this reason, when it is set as the inner rotor type which arrange | positions a rotor to the inner peripheral side, there exists a possibility that a permanent magnet may be scattered to the outer peripheral side by centrifugal force. Further, when the outer rotor type rotor is arranged on the outer peripheral side, if the magnetic member is a powder molded product of magnetic iron powder with low magnetic flux loss, the magnetic member of the brittle powder molded product acts on the permanent magnet. There is a risk of breakage due to centrifugal force, and in any case, a rotor that rotates at high speed may be damaged by centrifugal force.

  SUMMARY OF THE INVENTION An object of the present invention is to provide a rotary pulse motor that can obtain a large torque and does not cause the rotor to be damaged by centrifugal force even when used at a high speed.

  In order to solve the above-described problems, the present invention provides a stator fixed on one axis and having a magnetic flux generation unit, and is disposed rotatably on the same axis as the stator, and is spaced apart from the stator in the radial direction. In the rotary pulse motor, which is composed of a rotor facing the rotor and rotates the rotor by the magnetic flux generated from the magnetic flux generator, the stator has two rows of magnetic poles facing the rotor. A plurality of iron cores arranged in the axial direction and two rows of magnetic poles of each of the plurality of iron cores are inserted with a predetermined pitch in the rotation direction of the rotor and with a polarity in the rotation direction. A permanent magnet that alternately inverts the poles of the two rows of magnetic poles adjacent to each other, and an annular coil that is fitted between the two rows of magnetic poles of each of the plurality of iron cores. An end face of each magnetic pole in two rows of the plurality of iron cores, A plurality of tooth portions formed at a predetermined pitch corresponding to the insertion pitch of the permanent magnet along the rotation direction so as to face the tooth portions facing the end faces of the two magnetic poles in the two rows of the iron core When the polarities of the permanent magnets inserted into the iron core on which the two rows of magnetic poles are formed have the same direction, the permanent magnets have a phase difference of 180 ° in electrical direction in the rotation direction, and the polarities of the permanent magnets are reversed. In the case of the orientation, the tooth portions facing the end faces of the two rows of magnetic cores arranged in the axial direction in the same phase in the rotation direction are determined according to the number of the cores arranged. A configuration that sequentially has a phase difference in the rotation direction was adopted.

  The phase difference of the tooth portion determined according to the number of the plurality of iron cores is an electrical angle, respectively, 90 ° (= 360 ° / 4) when the number is 2 or 4, and the number is 3 In this case, the angle is 120 ° (= 360 ° / 3), and when the number is 5, the angle is 72 ° (= 360 ° / 5). Further, when the number is six, the combination of three is preferably set to 120 ° as two sets. In addition, although it is not practically used with a larger number than this, for example, when the number is a multiple of 3, 120 ° is preferable when it is a multiple of 5.

  By adopting the above configuration, when a current is passed through one of the iron core coils, the magnetic flux flowing from the N pole magnetic poles in one row of the stator core into the teeth facing the rotor The inside is guided in the axial direction, and flows into the S pole magnetic pole of the other row from the tooth portion facing the magnetic pole of the other row of the stator core, and is adjacent to the N pole via the permanent magnet of the other row. Then, a magnetic flux loop is formed in which the inside of the iron core is guided in the axial direction to return to the original magnetic pole, and torque is generated over a wide area at the end face of each magnetic pole facing the rotor teeth. For this purpose, a large torque is obtained and a permanent magnet is not inserted into the rotor so that the rotor is not damaged by a centrifugal force even when used at a high speed.

  The tooth portions facing the end faces of the magnetic poles of the two rows of the rotor are cut out in the axial direction where the magnetic poles of the two rows do not exist, so that the flow from the magnetic poles of one row flows into the rotor tooth portions. And a part of the magnetic flux flowing into the magnetic pole of the other row from the teeth of the rotor is prevented from flowing in the axial direction through the axial end face of the magnetic pole, thereby obtaining a larger torque. it can. This is because the magnetic flux that flows in the axial direction from the magnetic pole of the stator core to the rotor or from the rotor to the magnetic pole of the stator core does not contribute to the generation of torque.

  By making the permanent magnets inserted into the magnetic poles of the two rows of the iron cores separate from each other, the permanent magnets can be easily inserted into the individual iron cores, and the assemblability of the iron cores can be improved.

  By making the polarities of the separate permanent magnets opposite to each other, repulsion due to the magnetic force between the plurality of iron cores arranged in the axial direction can be eliminated, and the assemblability of the stator can be improved.

  In each of the rotary pulse motors described above, the stator can be disposed on the outer peripheral side of the rotor.

  When the stator is disposed on the outer peripheral side of the rotor, the outer peripheral side of the stator is covered with a cylindrical casing, and the casing is axially associated with a plurality of iron cores arranged in the axial direction. By dividing, after assembling a plurality of iron cores to each divided part of the divided casing, the divided parts assembled with each iron core are combined to facilitate assembly of the stator to the casing. it can.

  In the rotary pulse motor according to the present invention, the stator has two rows of magnetic poles facing the rotor, and includes a plurality of iron cores arranged in the axial direction and two rows of magnetic poles of each of the plurality of iron cores. , A permanent magnet that is inserted in the rotational direction at a predetermined pitch in the rotational direction of the rotor, and alternately reverses the poles of two adjacent magnetic poles on both sides thereof, and two rows of each of the plurality of iron cores An annular coil fitted between the magnetic poles, and the rotor is formed of a magnetic member, and the permanent magnets are arranged along the rotation direction so as to face the end faces of the magnetic poles in two rows of the plurality of iron cores. A plurality of tooth portions formed at a predetermined pitch corresponding to the insertion pitch of the cores, and the tooth portions facing the end faces of the two magnetic poles in the two rows of the iron core are inserted into the iron core on which the two rows of magnetic poles are formed. If the permanent magnets have the same polarity, the permanent magnet has a phase difference of 180 ° in electrical direction in the rotation direction. When the polarities of the cores are reversed, the tooth portions facing the end faces of the two magnetic poles of each of the plurality of cores arranged in the axial direction are determined according to the number of the cores arranged. Since the configuration in which the phase difference in the rotation direction is sequentially adopted is adopted, a large torque can be obtained, and the rotor is not damaged by the centrifugal force even when used at high speed rotation. Further, since this rotary pulse motor has an annular coil fitted between two rows of magnetic poles of each iron core, the mounting of the coil can be simplified.

1 is a longitudinal side view showing a rotary pulse motor according to a first embodiment. (A), (b), (c) is sectional drawing along the IIa-IIa line | wire, IIb-IIb line | wire, and IIc-IIc line | wire which respectively removed the casing of FIG. The perspective view which shows the circumferential direction part of each iron core of FIG. (A), (b) is a perspective view which shows the modification of FIG. 3, respectively. Sectional drawing explaining the flow of the magnetic flux generated from one iron core of the stator of FIG. Longitudinal side view showing a rotary pulse motor of a second embodiment (A), (b), (c) is sectional drawing which followed the VIIa-VIIa line, the VIIb-VIIb line, and the VIIc-VIIc line respectively except the casing of FIG. The perspective view which shows the circumferential direction part of each iron core of FIG. Sectional drawing explaining the flow of the magnetic flux generated from one iron core of the stator of FIG. (A) is a longitudinal side view for explaining a procedure for assembling one iron core to a unit obtained by dividing the casing of FIG. 1 or FIG. 6, and (b) is a front view of (a). Longitudinal side view for explaining the procedure for uniting the unit assembled with the iron core of FIG.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. 1 to 5 show a first embodiment. As shown in FIG. 1, the rotary pulse motor is of an inner rotor type in which a stator 1 and a rotor 11 are coaxially arranged, and the rotor 11 is arranged on the inner peripheral side of the stator 1, The stator 1 and the rotor 11 are opposed to each other with a gap in the radial direction, and the outer peripheral side of the cylindrical stator 1 is covered with a cylindrical casing 21. The casing 21 is formed of a unit 21a that is divided into three in the axial direction.

  As shown in FIGS. 1 and 2 (a), 2 (b), and 2 (c), the stator 1 is assembled to each of the three iron cores 2a, 2b, and 2c that are assembled to the casing 21 and arranged in the axial direction. Two rows of magnetic poles 3 a and 3 b facing the rotor 11 are formed. Each iron core 2a, 2b, 2c is polarized in the rotational direction at a predetermined pitch p in the rotational direction of the rotor 11 so that the poles of the two magnetic poles 3a, 3b adjacent in the circumferential direction are alternately inverted. An oriented permanent magnet 4 is inserted, and an annular coil 5 is fitted between the two magnetic poles 3a, 3b. Each iron core 2a, 2b, 2c is formed by powder molding of magnetic iron powder.

  As shown in FIG. 3, each of the iron cores 2a, 2b, 2c is fitted with the coil 5 on both sides where the magnetic poles 3a, 3b in two rows are formed in order to facilitate the fitting of the coil 5. The center portion is divided into three in the axial direction. Each permanent magnet 4 is a separate rectangular plate-like body that is separated from each other so as to be inserted only into both side portions where the two rows of magnetic poles 3a and 3b are formed. In this embodiment, the polarities of the N pole and the S pole of each permanent magnet 4 inserted on both sides of each iron core 2a, 2b, 2c are the same direction, and two rows of magnetic poles 3a adjacent in the axial direction, 3b has the same polarity.

  4 (a) and 4 (b) show modifications of FIG. 4A, the iron cores 2a, 2b, and 2c are divided into three parts on both sides and a central part as in FIG. 3, and each permanent magnet 4 is inserted into both sides and the whole central part. 4 (b), the iron cores 2a, 2b, 2c are divided into two at the center in the axial direction, and the two magnetic poles 3a are arranged in the same manner as in FIG. Each of the permanent magnets 4 having a rectangular plate shape with the same polarity is inserted only in both sides where 3b is formed. In addition, although each permanent magnet 4 shown in FIG. 3 and FIG. 4 (a), (b) is inserted so that it may penetrate from the inner peripheral side to the outer peripheral side of each iron core 2a, 2b, 2c, Each permanent magnet 4 may be inserted only in the inner peripheral side part of each iron core 2a, 2b, 2c where each magnetic pole 3a, 3b is formed. Each plate-like permanent magnet 4 can also be divided into a plurality of pieces in the plate surface or in the plate thickness direction. When dividing in the plate thickness direction, a magnetic material is interposed between the plurality of permanent magnets. Also good.

  As shown in FIGS. 1 and 2 (a), 2 (b), and 2 (c), the rotor 11 has three iron cores on a cylindrical magnetic member that is externally fitted to a rotary shaft 12 that serves as an output shaft. The tooth portions 13a and 13b facing the end faces of the two magnetic poles 3a and 3b in two rows 2a, 2b and 2c are formed at a pitch 2p which is twice the pitch corresponding to the insertion pitch p of the permanent magnet 4 along the rotation direction. ing. The magnetic member of the rotor 11 is also formed by powder molding of magnetic iron powder.

  The tooth portions 13a and 13b are notched at right angles at axial portions where the magnetic poles 3a and 3b of the iron cores 2a, 2b and 2c do not exist. A space between the teeth 13a and 13b where the magnetic poles 3a and 3b are not present may be cut out in a V shape or an arc shape.

  The two rows of teeth 13a, 13b facing the end faces of the two rows of magnetic poles 3a, 3b have a phase difference of 180 ° in electrical direction in the rotational direction (the iron cores 2b, 2c are not shown). ). In addition, with respect to each of the iron cores 2a, 2b, and 2c arranged in the axial direction, each of the tooth portions 13a and 13b in two rows has a phase difference of 120 ° sequentially in terms of electrical angle in the rotation direction (iron cores 2b and 2c). (The space is not shown).

  FIG. 5 shows the flow of the magnetic flux φ generated when a current in one direction is passed through the coil 5 of the iron core 2a of the stator 1. The magnetic flux φ flowing from the N-pole magnetic pole 3a in one row of the iron core 2a into the tooth portion 13a facing the rotor 11 is guided in the axial direction inside the magnetic member of the rotor 11, and the other tooth portion 13b. Flows into the opposite S pole magnetic pole 3b of the other row and flows into the adjacent N pole magnetic pole 3b via the permanent magnet 4 in the other row, and is further guided in the axial direction inside the iron core 2a. Returning to the N pole magnetic pole 3a of the original one row. At this time, as shown in FIGS. 2 (a) and 2 (b), one tooth portion 13a faces the N pole magnetic pole 3a in one row of the iron core 2a and has a phase difference of 180 ° in electrical angle. Torque that rotates the rotor 11 is generated so that the other tooth portion 13b having the sq. Face the S pole magnetic pole 3b in the other row. Therefore, a large torque can be obtained by utilizing the end surfaces of the magnetic poles 3a and 3b facing the tooth portions 13a and 13b of the rotor 11 in a wide area for generating torque. When a current in the reverse direction is passed through the coil 5 of the iron core 2a, a magnetic flux in the direction opposite to the magnetic flux φ in FIG. 5 is generated, and one tooth portion 13a is the S pole magnetic pole 3a in one row of the iron core 2a. And a torque for rotating the rotor 11 is generated so that the other tooth portion 13b faces the N pole magnetic pole 3b in the other row.

  Further, since the tooth portions 13a and 13b are notched in the axial direction portions where the magnetic poles 3a and 3b do not exist, a part of the magnetic flux φ is axially rotated from the axial end surface of the magnetic pole 3a in one row. 11, or from the rotor 11 in the axial direction to the axial end face of the magnetic pole 3 b of the other row, and most of the magnetic flux φ can be effectively used for torque generation. A larger torque can be obtained.

  Although illustration is omitted, the flow of the magnetic flux φ generated when a current is passed through the coils 5 of the other iron cores 2b, 2c is the same, and when a current is passed through the coils 5 of the iron cores 2a, 2b, 2c sequentially, The tooth portions 13a and 13b that face the magnetic poles 3a and 3b of the iron cores 2a, 2b, and 2c and have a phase difference of 120 ° in electrical angle are sequentially arranged in one row of the iron cores 2a, 2b, and 2c. The rotor 11 rotates by 120 ° in electrical angle so as to face the N-pole magnetic pole 3a and the S-pole magnetic pole 3b in the other row.

  In this embodiment, the rotor 11 can be rotated at a high speed with a large torque by passing a three-phase alternating current through the three coils 5 of the iron cores 2a, 2b, and 2c. A sensor for detecting the rotation of the rotor 11 may be provided and used as a servo motor. Further, since the permanent magnet 4 is not inserted into the rotor 11, there is no fear that the rotor 11 will be damaged even if it is used at a high speed.

  6 to 9 show a second embodiment. This rotary pulse motor is also of an inner rotor type. As shown in FIGS. 6 to 8, the polarities of the N pole and S pole of each permanent magnet 4 inserted in each iron core 2a, 2b, 2c are 2 The magnetic poles 3a and 3b in the rows are opposite to each other, and the two rows of magnetic poles 3a and 3b adjacent in the axial direction are different from each other, and the two magnetic poles 2a and 2b facing the two rows are opposite to each other. The difference is that the teeth 13a, 13b in the row are in phase with each other. The other parts are the same as those of the first embodiment, and for each iron core 2a, 2b, 2c arranged in the axial direction, each tooth portion 13a, 13b in two rows is electrically connected in the rotational direction. It has a phase difference of 120 ° sequentially at the corners. The casing 21 is formed of a unit 21a that is divided into three in the axial direction.

  FIG. 9 shows the flow of the magnetic flux φ generated when a current in one direction flows through the coil 5 of the iron core 2a of the stator 1. As in the first embodiment, the magnetic flux φ flowing into the tooth portion 13a of the rotor 11 from the N-pole magnetic pole 3a in one row of the iron core 2a is axially directed inside the magnetic member of the rotor 11. After being guided to flow into the S pole magnetic pole 3b in the other row from the other tooth portion 13b and into the adjacent N pole magnetic pole 3b through the permanent magnet 4 in the other row, the inside of the iron core 2a is further increased. Is guided in the axial direction to return to the N pole magnetic pole 3a of the original one row. At this time, as shown in FIGS. 7 (a) and 7 (b), one tooth portion 13a faces the N pole magnetic pole 3a in one row of the iron core 2a, and the other tooth in the same phase as this. Torque that rotates the rotor 11 is generated so that the portion 13b faces the magnetic pole 3b of the S pole in the other row adjacent to the magnetic pole 3a in the axial direction. When a current in the reverse direction is passed through the coil 5 of the iron core 2a, a magnetic flux in the direction opposite to the magnetic flux φ in FIG. 5 is generated, and one tooth portion 13a is the S pole magnetic pole 3a in one row of the iron core 2a. And a torque for rotating the rotor 11 is generated so that the other tooth portion 13b faces the N pole magnetic pole 3b in the other row.

  Although illustration is omitted, the flow of the magnetic flux φ generated when a current is passed through the coils 5 of the other iron cores 2b, 2c is the same, and when a current is passed through the coils 5 of the iron cores 2a, 2b, 2c sequentially, As in the first embodiment, each tooth portion 13a, 13b having a phase difference of 120 ° in electrical angle with respect to each iron core 2a, 2b, 2c is sequentially connected to one of the iron cores 2a, 2b, 2c. The rotor 11 rotates by an electrical angle of 120 ° so as to face the N pole magnetic pole 3a in this row and the S pole magnetic pole 3b in the other row. Also in this embodiment, the rotor 11 can be rotated at a high speed with a large torque by flowing a three-phase alternating current through the three coils 5 of the iron cores 2a, 2b, and 2c.

  As shown in FIGS. 1 and 6, the casing 21 of each embodiment is divided into three units 21 a in the axial direction so as to correspond to the iron cores 2 a, 2 b, and 2 c. Below, based on FIG. 10 and FIG. 11, the procedure for assembling the unit 21a in which each iron core 2a, 2b, 2c is assembled by assembling one iron core 2a of the stator 1 to one divided unit 21a will be described. To do.

  First, as shown in FIGS. 10A and 10B, the centering member 31 is attached to one unit 21a. The centering member 31 is attached by pressing the flange portion 31a on one end side against an annular ridge 22 provided on one end side of the inner peripheral surface of the unit 21a. After that, one iron core 2 a on which the permanent magnet 4 and the coil 5 are mounted is guided by the centering member 31, inserted into the unit 21 a, and pressed against the annular ridge 22. The iron core 2a may be inserted into the unit 21a by sequentially guiding the magnetic pole 3b, the coil 5, and the magnetic pole 3a with the centering member 31 and inserting them in sequence. Next, the annular ring 23 is fitted into the unit 21a from the opposite side to the annular ridge 22 to fix the iron core 2a in the axial direction, and the iron core 2a and the annular ring 23 are fastened to the annular ridge 22 with bolts 24. The circumferential position is positioned and fixed with respect to the unit 21a. Finally, the centering member 31 is extracted, and the assembly of one iron core 2a to the unit 21a is completed.

  Although illustration is omitted, the other iron cores 2b and 2c are assembled to each unit 21a in the same procedure. As will be described later, the unit 21a is provided with a bolt hole 25 for combining the three units 21a and an oval pin hole 26 for aligning the circumferential position between the units 21a. . A cable hole 27 through which the coil 5 cable passes is also provided.

  Next, as shown in FIG. 11, the three cylindrical units 21 a assembled with the iron cores 2 a, 2 b, 2 c are overlapped in the axial direction, and the circumferential positions of the pins 28 are inserted into the pin holes 26. And the bolts 29 inserted through the bolt holes 25 of the respective units 21a are tightened with the nuts 30 to unite the three units 21a. On the inner peripheral side of each of the iron cores 2a, 2b, 2c assembled in the unit 21a combined in this way, the rotor 11 is incorporated with a gap in the radial direction.

  By dividing the casing 21 in this way, the stator 1 can be easily assembled to the casing 21 and the circumferential positions between the arranged iron cores 2a, 2b, 2c can be accurately matched. In particular, in the case of the first embodiment shown in FIG. 1, when the stator 1 is assembled to the integral casing 21, the magnetic poles 3a and 3b of the iron cores 2a, 2b, and 2c adjacent in the axial direction have the same polarity. Therefore, they repel each other by magnetic force and it is difficult to assemble them. By assembling the iron cores 2a, 2b, 2c for each unit 21a thus divided, the stator 1 can be easily assembled. And it can be assembled with high accuracy.

  In each embodiment described above, the number of iron cores arranged in the axial direction is three, but the number of iron cores arranged may be two or more, and the number of iron cores arranged is two according to the number. The phase difference in the rotation direction of each tooth portion of the rotor facing the magnetic poles in the row can be determined.

  In each of the above-described embodiments, the rotor is of the inner rotor type arranged on the inner peripheral side, and the outer peripheral side of the stator is covered with the casing. However, the rotary pulse motor according to the present invention has the rotor on the outer peripheral side. It can also be of the outer rotor type to be arranged. The casing can be omitted.

  In each of the embodiments described above, the stator iron core and the rotor magnetic member are formed by powder molding of magnetic iron powder, but the iron core can also be formed by laminating magnetic steel plates, etc. It can also be formed.

DESCRIPTION OF SYMBOLS 1 Stator 2a, 2b, 2c Iron core 3a, 3b Magnetic pole 4 Permanent magnet 5 Coil 11 Rotor 12 Rotating shaft 13a, 13b Tooth part 21 Casing 21a Unit 22 Annular protrusion 23 Annular ring 24 Bolt 25 Bolt hole 26 Pin hole 27 Cable Hole 28 Pin 29 Bolt 30 Nut 31 Centering member 31a Flange

Claims (5)

A stator fixed on one axis and having a magnetic flux generator;
The stator is arranged coaxially and rotatably, and consists of a rotor facing the stator with a gap in the radial direction,
In the rotary pulse motor that rotates the rotor by the magnetic flux generated from the magnetic flux generator,
The stator is
A plurality of iron cores having two rows of magnetic poles facing the rotor and arranged in an axial direction;
The magnetic poles of the two rows of each of the plurality of iron cores are inserted with a predetermined pitch in the rotation direction of the rotor with the polarity in the rotation direction, and the poles of the two rows of magnetic poles adjacent on both sides thereof are alternately inverted. With permanent magnets,
An annular coil fitted between two rows of magnetic poles of each of the plurality of iron cores,
The polarities of the permanent magnets inserted in the iron core on which the two rows of magnetic poles are formed are in the same direction,
The rotor is formed of a magnetic member,
A plurality of teeth formed at a predetermined pitch corresponding to the insertion pitch of the permanent magnet along the rotational direction so as to face the end faces of the magnetic poles in two rows of the plurality of iron cores;
The tooth portions opposed to the end faces of the two magnetic poles in the two rows of the iron core have a phase difference of 180 ° in electrical direction in the rotation direction,
The tooth portions facing the end faces of two rows of magnetic poles of each of the plurality of iron cores arranged in the axial direction sequentially have a phase difference in the rotational direction determined according to the number of the iron cores arranged,
A rotary pulse motor characterized in that a permanent magnet inserted into each of the two magnetic poles of the iron core is integrally formed. A stator fixed on one axis and having a magnetic flux generator;
The stator is arranged coaxially and rotatably, and consists of a rotor facing the stator with a gap in the radial direction,
In the rotary pulse motor that rotates the rotor by the magnetic flux generated from the magnetic flux generator,
The stator is
A plurality of iron cores having two rows of magnetic poles facing the rotor and arranged in an axial direction;
The magnetic poles of the two rows of each of the plurality of iron cores are inserted with a predetermined pitch in the rotation direction of the rotor with the polarity in the rotation direction, and the poles of the two rows of magnetic poles adjacent on both sides thereof are alternately inverted. With permanent magnets,
An annular coil fitted between two rows of magnetic poles of each of the plurality of iron cores,
The polarity of the permanent magnet inserted into the iron core on which the two rows of magnetic poles are formed is reverse,
The rotor is formed of a magnetic member,
A plurality of teeth formed at a predetermined pitch corresponding to the insertion pitch of the permanent magnet along the rotational direction so as to face the end faces of the magnetic poles in two rows of the plurality of iron cores;
The tooth portions facing the end faces of the two magnetic poles in the two rows of the iron core are in phase in the rotational direction,
The tooth portions facing the end faces of two rows of magnetic poles of each of the plurality of iron cores arranged in the axial direction sequentially have a phase difference in the rotational direction determined according to the number of the iron cores arranged,
A rotary pulse motor, wherein a tooth portion facing the end face of each magnetic pole of the two rows of the rotor is cut out in an axial direction where the magnetic poles of the two rows do not exist. The axial end surfaces in the direction, rotary pulse motor according to claim 1 or 2 end surfaces flush is in the axial direction of the magnetic poles of the teeth. Rotary pulse motor according to any one of claims 1 to 3 was placed the stator on the outer circumferential side of the rotor. The rotary pulse motor according to claim 4 , wherein the outer peripheral side of the stator is covered with a cylindrical casing, and the casing is divided in the axial direction so as to correspond to the plurality of cores arranged in the axial direction.

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