JPS60102856A - Ac servomotor - Google Patents

Ac servomotor

Info

Publication number
JPS60102856A
JPS60102856A JP58206902A JP20690283A JPS60102856A JP S60102856 A JPS60102856 A JP S60102856A JP 58206902 A JP58206902 A JP 58206902A JP 20690283 A JP20690283 A JP 20690283A JP S60102856 A JPS60102856 A JP S60102856A
Authority
JP
Japan
Prior art keywords
stator
rotor
discs
disk
disks
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP58206902A
Other languages
Japanese (ja)
Inventor
Noboru Iwamatsu
岩松　登
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fanuc Corp
Original Assignee
Fanuc Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fanuc Corp filed Critical Fanuc Corp
Priority to JP58206902A priority Critical patent/JPS60102856A/en
Publication of JPS60102856A publication Critical patent/JPS60102856A/en
Pending legal-status Critical Current

Links

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K1/00—Details of the magnetic circuit
    • H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
    • H02K1/22—Rotating parts of the magnetic circuit
    • H02K1/27—Rotor cores with permanent magnets
    • H02K1/2793—Rotors axially facing stators
    • H02K1/2795—Rotors axially facing stators the rotor consisting of two or more circumferentially positioned magnets
    • H02K1/2796—Rotors axially facing stators the rotor consisting of two or more circumferentially positioned magnets where both axial sides of the rotor face a stator
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K1/00—Details of the magnetic circuit
    • H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
    • H02K1/22—Rotating parts of the magnetic circuit
    • H02K1/27—Rotor cores with permanent magnets
    • H02K1/2793—Rotors axially facing stators
    • H02K1/2795—Rotors axially facing stators the rotor consisting of two or more circumferentially positioned magnets
    • H02K1/2798—Rotors axially facing stators the rotor consisting of two or more circumferentially positioned magnets where both axial sides of the stator face a rotor
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K21/00—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets
    • H02K21/12—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets
    • H02K21/24—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets with magnets axially facing the armatures, e.g. hub-type cycle dynamos

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Permanent Magnet Type Synchronous Machine (AREA)

Abstract

PURPOSE:To uniforming preparing torque characteristic and to smoothen the rotation of an AC servomotor by holding a magnetic flux density distribution in an air gap between stator disc and rotor discs in a sinusoidal wave shape. CONSTITUTION:An AC servomotor 1 has a plurality of rotor discs 9 in which permanent magnets are radially arranged and a plurality of ring-shaped stator discs 14 having a winding. The discs 9 and 13 are alternately disposed, the discs 13 are secured to a stator housing 2, and the discs 9 are secured to a rotor shaft 6. The permanent magnets in the disc 9 have the prescribed thickness in the rotor axial direction, and the radial shape is selected so that the magnetic flux density distribution in an air gap between the discs 13 and 9 becomes a sinusoidal wave shape.

Description

【発明の詳細な説明】 発明の技術分野と先行技箱 本発明は、交流サーボし一タに関し、特に、大トルク交
流力−ボモ・−夕に適用して有効な交流サーボモータに
関Ｊる。[Detailed Description of the Invention] Technical Field of the Invention and Prior Art Box The present invention relates to an AC servo motor, and particularly to an AC servo motor that is effective when applied to large torque AC power. .

従来の一般的な交流サーボモータは、ステータハウジン
グ内にほぼ円柱状のロータを回転可能に設けると共に、
該ロータの周囲に（Ｊぼ円筒状のステータを配置した構
造となっている。このような従来４１４造の交流゛す°
−ボＬ−夕で大トルクを得るためには、ロータの外径を
大きくしたり、軸方向に長くしたりする必要がある。そ
の結果、ロータの工Ｍ及び慣性モーメントが非常に大き
くなるという欠点があった。A conventional general AC servo motor has a substantially cylindrical rotor rotatably provided within a stator housing, and
It has a structure in which a cylindrical stator is arranged around the rotor.
- In order to obtain a large torque in the rotor, it is necessary to increase the outer diameter of the rotor or increase its length in the axial direction. As a result, there was a drawback that the rotor's mechanical strength and moment of inertia became extremely large.

そこで、上記欠点を改善するために、永久磁石を放射状
に配列したロータ・ディスクと巻線を備えたリング状ス
テータ・ディスクとを交互に配置して低重ケで慣性モー
メントが小さく、かつ、大ぎなトルクが得られる交流サ
ーボモータが開発された（特願昭５８−１７２１０６号
参照）。本発明は、このような低重量、小慣性モーメン
ト、人１ヘルクの交流サーボモータの改良に関する。Therefore, in order to improve the above-mentioned drawbacks, a rotor disk in which permanent magnets are arranged radially and a ring-shaped stator disk in which windings are arranged are arranged alternately. An AC servo motor capable of producing a large torque was developed (see Japanese Patent Application No. 172106/1983). The present invention relates to an improvement of such a low weight, small moment of inertia, and one-person-heritable AC servo motor.

発明の目的 本発明は、永久磁石を配列した１］−タ・ディスクと巻
線を備えたステータ・ディスクを交Ｈに配置して（１へ
成した上記交流リーボ上−夕にＪ３いて、その回転動作
を均一にづ−ること４１」的としている。OBJECTS OF THE INVENTION The present invention is based on the invention, in which a stator disk having permanent magnets arranged thereon and a stator disk having windings is arranged in an alternating current H (1). The objective is to make the rotational movement uniform.

発明の（１４成 本発明は、それぞれ平板状の複数個の永久磁石をディス
ク基板内に放射状に配列しく構成した複数個のロータ・
−ｊ゛イスク、？ｉ、線’ａ’　１１ｉｉ°１えたリン
ク状ステータ・ディスクとをＬｌいに向さ合ゎＵて軸線
方向に交互に配置し、１１１■記スｊ−タ・ディスクを
ステータハウシングに固定りるど共に、前記ロータ・デ
ィスクを前記ステータハウジンクに回転用１１ヒに支持
されたロータ軸に固定しノｃなる交流サーボ−し＝夕に
Ｊ３いて、十記ノ１く久磁イ１（１１、Ｌｌ−９軸方向
に一定のｊ５みを有し、半ｉＹｈ向は窃化さけて上記ロ
ータ・ディスクと十１；ｃスラータ・ディスク間の空隙
に正弦波形状のＩＩｔ＆東分イ１１を牛しるような形状
にしたことを特徴どりる間流す−ボ七−りである。The present invention provides a plurality of rotors each having a plurality of flat permanent magnets arranged radially within a disk substrate.
−j゛Isuku,? i, Line 'a' 11ii° 1 Align the linked stator disks with the 11ii degrees and arrange them alternately in the axial direction, and fix the stator disks marked in 111■ to the stator housing. In both cases, the rotor disk is fixed to the rotor shaft supported by the rotor shaft for rotation in the stator housing. , has a constant j5 in the Ll-9 axial direction, and the semi-iYh direction has a sinusoidal IIt & east part I11 in the gap between the rotor disk and the c slurry disk. It is characterized by the fact that it has a sign-like shape.

発明の実施例 以下、図面を参照して、本発明の詳細な説明する。Examples of the invention Hereinafter, the present invention will be described in detail with reference to the drawings.

第１図、第２図（ｊ、本発明の一実施例を示すものであ
る。交流サーボモータ１はステータハウジング２を備え
ており、ステータハウジング２は、はぼ円筒状のセンタ
ハウジング３と該センタハウジング３の両端に固定され
るサイドハウジング４゜５とからなっている。センタハ
ウジング３の軸線方向に治って延びるロータ軸６はベア
リング８゜８によってサイドハウジング４，５に回転可
能に支持されている。Figures 1 and 2 (j) show an embodiment of the present invention. The AC servo motor 1 is equipped with a stator housing 2, and the stator housing 2 has a cylindrical center housing 3 and a center housing 3. It consists of side housings 4.5 fixed to both ends of the center housing 3. A rotor shaft 6 extending in the axial direction of the center housing 3 is rotatably supported by the side housings 4 and 5 by bearings 8.8. ing.

符号９はロータ・ディスクを示している７、ロータ・デ
ィスク９は、第２図に示す１二うに、ディスク基板１０
と、該ディスク基板１０内に放射状に等角度■１隔で配
列された複数個の平板状の永久磁Ｅｉ１１とを備えてい
る。ディスク基板１０はプラスデック、アルミニウム等
によって作られる。平板状の永久磁？Ｅｉ１１の両端面
は、ロータ・ディスク９の両端面に露出していて両極を
構成している。Reference numeral 9 indicates a rotor disk 7, and the rotor disk 9 is connected to a disk substrate 10 as shown in FIG.
and a plurality of flat permanent magnets Ei11 arranged radially within the disk substrate 10 at equal angular intervals. The disk substrate 10 is made of plastic deck, aluminum, or the like. Flat permanent magnetism? Both end faces of Ei 11 are exposed to both end faces of rotor disk 9 and constitute both poles.

そして、上記永久磁石１１は、モータの軸方向は一定の
１９さどし、半仔ブノ向の磁イｉ’！’Ｉの幅を変化さ
せて、後述リ−るステータ・ｉ’−ｒスフ１３と該ロー
タ・ディスク９間の空隙１こ牛じる１１（ｋ朱分布が正
弦波形分布になるような形状、はぼ楕円形状にしである
。ディスク基板′１０は中心に１１−９軸６が嵌合する
中火穴１２を右しており、中央穴１２の周縁の肉ｊＩ／
はぞの外周の肉Ｊ’７及び永久磁石１１の肉厚よりも大
きくなっている。The permanent magnet 11 has a constant 19 position in the axial direction of the motor, and a magnetic field in the direction of the half-baked cylinder i'! By changing the width of I, the gap 11 between the stator i'-r spacer 13 and the rotor disk 9, which will be described later, is shaped so that the red distribution becomes a sine wave distribution, The disk board '10 has a medium fire hole 12 in the center into which the 11-9 shaft 6 fits, and the circumferential wall of the center hole 12 is
It is larger than the thickness of the outer periphery of the groove J'7 and the thickness of the permanent magnet 11.

符（づ１３はリング状のステータ・ノ゛イスクを示・　
している。ステータ・ディスクｉ　３　＋Ｊ１、リング
プレー１〜基扱と該リングプレー１・基板の内外径のま
４つりに巻回された５線１４とからなっている。そして
、リングプレー１〜基板は磁性４Ａ別で作られている。The symbol (13) indicates a ring-shaped stator noise.
are doing. It consists of a stator disk i 3 +J1, a ring play 1 to a base, and five wires 14 wound around the inner and outer diameters of the ring play 1 and the base plate. The ring play 1 to the board are made of magnetic 4A separately.

枚数は１２１に限定されないが、ここで゛は、７枚のロ
ータ・デ、ｒスク９ど、６枚のロータ・ディスク１３と
がｉｌ＋ｌ＋線方向に沿って交！Ｊ−に配置されてｄ３
す、ロータ・ディスク９の永久磁石面はステータ・ディ
スク１３の巻線に向さ含っ−（いる４、スノーータ・デ
ィスク１３はセンタハウジング３に固定されており、ロ
ータ・ディスク９　Ｌ、１０−タ軸６に回転不能に取付
（プられている。Although the number of disks is not limited to 121, here, `` is 7 rotor disks, r disks 9, etc., and 6 rotor disks 13 intersecting along the il+l+ line direction! placed in J- and d3
The permanent magnet surface of the rotor disk 9 faces the windings of the stator disk 13. It is attached (pushed) to the shaft 6 so that it cannot rotate.

一般に、交流サーボモータの出力ｉ〜ルクはステータの
総電流、線長さ、磁束密度及びロータ径に比例するが、
上記構成の交流り一−ボモータにおいては、ロータ・デ
ィスク９のまわりにステータを配置する必要がないので
、大径のロータ・ディスクを用いることかできる。した
がって、出力１〜ルクを増大さゼることかできる。また
、ロータ・ディスク９とステータ・ディスク１３とが軸
方向に交互に配置されているので、従来構造の同一長さ
のロータに比してロータ・ディスクつとステータ・ディ
スク１３との対向表面積を増大さゼることができる。し
たがって、ステータの総電流及び線長さを増大させるこ
とができ、出力１〜ルクを増大させることかできる。一
方、同一長さのロータに比してロータ・ディスク９の総
車吊を小ざくすることができるから、ロータの慣性モー
メントを小さくすることができる。したかって、小型の
被駆動体に対して実用上の支障なく用いることができる
。Generally, the output i~lux of an AC servo motor is proportional to the total stator current, wire length, magnetic flux density, and rotor diameter.
In the AC rotor motor having the above configuration, there is no need to arrange a stator around the rotor disk 9, so a large diameter rotor disk can be used. Therefore, it is possible to increase the output power by 1~1. In addition, since the rotor disks 9 and stator disks 13 are arranged alternately in the axial direction, the opposing surface area between the rotor disks 9 and the stator disks 13 is increased compared to a rotor of the same length in the conventional structure. It can be folded. Therefore, the total current and line length of the stator can be increased, and the output power can be increased. On the other hand, since the total suspension of the rotor disk 9 can be reduced compared to rotors of the same length, the moment of inertia of the rotor can be reduced. Therefore, it can be used for small driven objects without any practical problems.

ざらに、本発明の交流サーボ［−夕のような同期モータ
にｄ′３い−Ｃは、均一のトルク特性を得る等の制ｔａ
ｌｌ性から、ステータとローフどの間の磁束密度分布が
空間的に正弦波形状になることが重要であるが、本発明
は、永久磁ｆ’ｉ　’ｌ−ｌの形状を１１〜夕軸の半径
方向に対して変化さけ、（］−タ・ディスク９とステー
タ・ディスク１３間の望隙に正弦波形状の磁束分イ［を
生じるようにしたので、１〜ルク特性が一定となり、均
一な回転動作を１」う。Roughly speaking, the AC servo of the present invention is suitable for a synchronous motor such as
It is important for the magnetic flux density distribution between the stator and the loaf to have a spatially sinusoidal shape due to the Since a sine wave-shaped magnetic flux is generated in the gap between the stator disk 9 and the stator disk 13 without changing in the radial direction, the 1 to 1 torque characteristics are constant and a uniform Perform a rotational motion of 1".

発明の効果 本発明は、永久磁石を敢ｑ・１状に配列した［１−タ・
ディスクと、巻線を協えたリング状のスフーータ・ディ
スクとを交Ｕに配置ｊｉｉシー（なる反流サーボし一タ
にＪ−３いて、上記永久）８（コを１」−り軸方向に一
定のｊ）２みとし、半径方向に対しく匠の形状を変え、
ステーク・ディスクとＬ】−タ・うｒスク間の空隙にお
りる（４に未畜庶分布を正弦波形状に保持Ｊるｊ、うに
したから、トルク特性は均一となり、滑らかな回転動作
を１−ｊうことができる。（さらに、永久１ａ石の厚み
（両極１７１方向でロータ幀刀向ンが一定で、幅（ロー
タ軸方向）を変化さけるたりであるから、その製作が容
易である。Effects of the Invention The present invention provides permanent magnets arranged in a 1-ta shape.
Place the disc and the ring-shaped suhuta disc with the windings in the cross direction. Assuming a constant j)2, change the shape of the craft in the radial direction,
It enters the gap between the stake/disc and the L/U disc (4) The stock distribution is maintained in a sine wave shape, so the torque characteristics are uniform and smooth rotational movement is achieved. 1-j. (Furthermore, since the thickness of the permanent 1a stone (the direction of the rotor blade is constant in both poles 171 direction) and the width (direction of the rotor axis) is avoided, it is easy to manufacture. .

【図面の簡単な説明】[Brief explanation of the drawing]

第１図は、本発明の一実施例を示づ交流サーボモータの
縦断面図、第２図は、一部断面正面図である。 １・・・交流サーボモータ、２川ステータハウシング、
６・・・ロータ軸、９・・牝−タ・ディスク、１０・・
・ディスク基板、１１・・・永久磁石、１３・・・ステ
ータ・ディスク、１４・・巻線。 特許出願人 ファナック　株式会社 第１図 ３　９ 第２図FIG. 1 is a longitudinal sectional view of an AC servo motor showing an embodiment of the present invention, and FIG. 2 is a partially sectional front view. 1...AC servo motor, two-way stator housing,
6... Rotor shaft, 9... Female disk, 10...
- Disk substrate, 11... Permanent magnet, 13... Stator disk, 14... Winding wire. Patent applicant FANUC Co., Ltd. Figure 1 3 9 Figure 2

Claims (1)

【特許請求の範囲】[Claims] それぞれ平板状の複数個の永久磁石をディスク基板内に
放射状に配列してＢ、Ｈ成した複数個のロータ・ディス
クと、巻線を備えＩこリング状ステータ・ディスクとを
互いに向き合わけてｌｌ’ｌｌｌ　ＫＡ力方向交互に配
置し、前記ステータ・ディスクをステータハウジングに
固定するとＪ（に、前記Ｌ１−タ・ディスクを前記ステ
ータハウジングに回転用能に支１、°」されたロータ軸
に固定してなる間流サーボモータにおいて、上記永久１
ａで１は、１］−り’Ｉ’ｌｌｌ　ｉｊ向に一定のＩＱ
みを有し、半（イ方向は変化さμて上記ロータ・ディス
クと上記ステータ・−７−ｒスク間の空隙に正弦波形状
の磁束分布を生じるよう４ｇ形状にしたことを特徴とり
る交流サーボモータ。A plurality of rotor disks each having a plurality of flat plate-shaped permanent magnets arranged radially within a disk substrate to form B and H configurations, and a ring-shaped stator disk equipped with windings are arranged facing each other. When the stator disks are arranged alternately in the force direction and the stator disks are fixed to the stator housing, the L1-tor disks are fixed to the rotor shaft which is rotatably supported in the stator housing. In the intercurrent servo motor made of
1 at a is a constant IQ in the direction of 1]-ri'I'llll ij
The alternating current is characterized in that it has a 4g shape, with a half (a) direction changing so as to produce a sinusoidal magnetic flux distribution in the gap between the rotor disk and the stator disk. Servomotor.
JP58206902A 1983-11-05 1983-11-05 Ac servomotor Pending JPS60102856A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP58206902A JPS60102856A (en) 1983-11-05 1983-11-05 Ac servomotor

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP58206902A JPS60102856A (en) 1983-11-05 1983-11-05 Ac servomotor

Publications (1)

Publication Number Publication Date
JPS60102856A true JPS60102856A (en) 1985-06-07

Family

ID=16530954

Family Applications (1)

Application Number Title Priority Date Filing Date
JP58206902A Pending JPS60102856A (en) 1983-11-05 1983-11-05 Ac servomotor

Country Status (1)

Country Link
JP (1) JPS60102856A (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2606951A1 (en) * 1986-11-13 1988-05-20 Alsthom Cgee Motor with magnets
US4748361A (en) * 1985-12-05 1988-05-31 Mitsubishi Kinzoku Kabushiki Kaisha Permanent magnet electric motor
DE19701797A1 (en) * 1996-01-18 1997-07-24 Yuyu Co Coreless and brushless double-rotor type DC motor with stator group mfg method

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4748361A (en) * 1985-12-05 1988-05-31 Mitsubishi Kinzoku Kabushiki Kaisha Permanent magnet electric motor
FR2606951A1 (en) * 1986-11-13 1988-05-20 Alsthom Cgee Motor with magnets
DE19701797A1 (en) * 1996-01-18 1997-07-24 Yuyu Co Coreless and brushless double-rotor type DC motor with stator group mfg method

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