JPS61207165A - Variable reluctance type resolver - Google Patents

Abstract

PURPOSE:To easily arrange a brushless rotor in a multipole and polyphase system increasing output voltage, by enabling rotor sections having a plurality of slots and tooth sections on the peripheral face of the magnetic unit rotor, to get out of position in the rotational direction by semi-slot and to abut on each other. CONSTITUTION:A magnetic unit rotor 1 is formed with ring-shaped rotor sections Ra, Rb, and on the outer peripheral face, slots 2 and tooth sections 3 respectively in same quantity are formed and butt together getting out of position in the rotational direction by semi-slot on the both side faces. A stator 4 is provided for a small space on the outer periphery of the rotor 1. The stator 4 is organized with a coil 5 wound up in a ring shape, a stator core 6, and a plurality of coils 7 wound up on them toroidally. For the stator core 6, outer teeth 10 are provided to form a fitting section combined with other devices. In this manner, when the rotor 1 is rotated by one tooth pitch, then a pole is rotated up to the adjacent same pole, and resolver electric signal per cycle for output of modulated amplitude is generated from the coil on the primary exciting side to the coil on the secondary output side.

Description

[Detailed Description of the Invention] [Industrial Application Field] This invention provides an excitation winding (minus side) and a detection winding (secondary side) both wound around a stator, and a rotor made of a magnetic material. The present invention relates to a variable reluctance resolver consisting of:

[Conventional technology]

Conventionally, electric machines similar to those of the present invention have long been available, such as synchronizers in which wires are wound on both the stator side and the rotor side, resolvers, and microsynchronizers in which the rotor is made of salient pole magnetic material. In recent years, these devices have become brushless, multi-pole, and highly accurate, and with the development of electronic technology, the processing circuits for the obtained signals have also progressed to LSI and digitalization, resulting in highly reliable rotational position detectors, Its advantages as a speed detector have been reconsidered, and it is being used in place of shaft encoders and analog tacho generators.

However, in reality, brushless technology requires a rotating transformer, and multipolarization naturally requires an increase in the number of slots and coils on both the stator and rotor sides, resulting in a significant increase in man-hours and high costs. I had no choice.

[Problem that the invention seeks to solve]

On the other hand, there is a high-precision resolver known as a vernier resolver or vernier synchro that is similar to the brushless variable reluctance type microsynchronizer. There was a problem in that the magnetic coupling induced was small, a sufficient transformation ratio could not be obtained, and only a small output voltage could be extracted. In addition, manufacturing requires high processing precision such as eliminating eccentricity, and since the winding is concentrated in each pole slot, it is not possible to distribute winding in any slot, and it is not possible to correct the accuracy by winding. There were also five problems in that they had to rely mostly on mechanical processing precision. Furthermore, because of the vernier structure, multi-polarization is easily possible, but multi-phase output is structurally difficult.

This invention was made to solve the above problems, and provides a variable reluctance resolver that has the advantages of a large output voltage, brushless, multi-pole and multi-phase construction, and easy manufacturing and processing. The purpose is to

[Means for solving problems]

The variable reluctance resolver according to the present invention includes:
The rotor is equipped with a rotor made of a magnetic material, and a stator that is located concentrically with the rotor with a slight air gap between it and the circumferential surface of the rotor. The rotor parts each having the same number of slots and teeth on the circumferential surface are configured to abut each other with a shift of half a slot in the direction of rotation, and the stator has a number of slots and teeth that are different from the number of slots and teeth of the rotor. A stator core whose slots and teeth are formed on the circumferential surface facing the slots and teeth of the rotor, a coil wound around the stator core concentrically with this stator core, and this coil. It is composed of a stator core and a plurality of coils wound in a toroidal manner in the slots of the stator core.

[For production]

In this generation 8A, when the rotor rotates by l tooth pitch, the pole rotates to the adjacent same pole, and the alternating current of frequency f input to the coil on the -th order excitation side has a carrier frequency of f and its amplitude is modulated. is obtained from the secondary output side coil as a resolver electric signal for 1 cycle.

〔Example〕

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a see-through perspective view of essential parts showing an embodiment of the present invention,
The rotor (1) is made of a magnetic material and includes an annular rotor portion (Ra, )e (Rb). Slots (2
) and tooth portions (3) are formed in the same number, and both side surfaces of each rotor portion (Ra) and (Rb) are in contact with each other while being shifted by a half slot in the rotational direction.

There is a slight air gap around the outer circumference of the rotor (1).
) and a concentric stator (4) are provided. This stator (4) includes a coil (5) wound in a ring shape and a stator core (6) that surrounds the coil (5) in a concave cross section.
and a plurality of coils (7) wound in a toroidal shape using the stator core (6) and the coil (5) as cores. The same number of slots (8) and teeth (9) are formed on the inner peripheral surface of the stator core (6), and the coil (7) is wound around the slot (8). The number N of slots (8) or teeth (9) increases or decreases by n from the number of slots (2) or teeth (3) of the rotor (1). On the outer peripheral surface of the stator core (6),
External teeth αl are formed which serve as fitting portions when the resolver of the present invention is incorporated into other equipment.

In the resolver configured as above, the number of teeth is N
When the stator core (6) and the rotor (1) with the number of teeth N±n face each other, there is a tight magnetic coupling at n locations between the stator core (6) and the rotor (1). There is a place where it becomes , and an equal number of places where it becomes rough.

For convenience, the dense portion will be referred to as the (CL) pole and the coarse portion will be referred to as the (OP) pole. The rotor (1) has a rotor part (Ra) and a rotor part (Rh) that are shifted from each other by half a slot in the rotational direction.
), so the rotor part (Ra )
At a position where a (CL) pole is formed on the rotor portion (R1) side, an (OF) pole is formed on the rotor portion (R1) side.

Figure 1 is an explanatory diagram showing the positional relationship between the rotor (1) and the stator core (6), and in the case of Figure 2, the teeth (9) of the stator core (6) are The number N is 76, rotor (1
The number of teeth (3) of the rotor (1) is l times, and the number of teeth (3) of the rotor (1) is l.
3) is larger than the number of teeth (9) of the stator core (6).
There are many. Therefore, in the rotor part (Ra), (CL) poles are formed at λ locations with an angular interval of / t 00, and (OP) poles are formed at λ locations in total between both (CL) poles. ing. In the rotor part (Rb), (
A C (OF) pole corresponds to the OL) pole, and a (CL) pole corresponds to the (OP) pole of the rotor portion (Ra).

When the rotor (1) is rotated in such a state, while the rotor (1) moves for each tooth pitch, (OL)
Pole, (OP) pole rotates to the adjacent same pole. The direction of rotation is such that the number of teeth (3) of the rotor (1) is the same as that of the stator core (6
) rotor (1) if there are more n teeth than the number of teeth (9)
In the same direction, if there are fewer n pieces, the direction will be opposite to that of the rotor (1). In the case of Fig. 1, 1.7 J 00 When the rotor (1) is rotated clockwise by /tooth bitch 117' (/Ig part), all types will reach the same polarity next to each other, that is, tto'c"' 7) Rotates clockwise.Similarly, when the rotor (1) rotates counterclockwise, all types / t O' rotates counterclockwise.The stator (4) rotates clockwise.
) The magnetic path created by the coil (5) which is a constituent member will be explained. When the coil (6) is set to the -order excitation side, an alternating current of frequency f is applied to this coil (5)K. The magnetic path created at this time is represented by the teeth (3) and (91) in Figure 2.
On the 0 rotor section (Ra) side shown in Figure 3 with omitted
L, -OP, -CL, -OP, pole, rotor part (Rb
) side (OP, 2) (CL/) (OP/)-
A magnetic path loop (tl)v Cl)e C15)-Clda) is created, and a magnetic path loop (tl)v which goes around the coil (5) has a (Clyu) pole.
A loop is formed. Regarding the magnetic path loop (t7), C on the rotor part (Ra) side which is the near side in the axial direction in the figure.
The magnetic path that moves from the stator (4) to the rotor part (Ra) side at the L and pole passes through the rotor (1) and is connected to the rotor part (Rb) side (CL, ) pole to the stator (4) side and return to the beginning through the stator core (6).

At this time, no voltage was generated in the multiple coils that became the secondary output side (the coils (7-8) in the first figure, which were wound at the pole positions of the force, and were wound at the center between the poles). The maximum voltage of the excitation frequency f is generated in the coil (7-C).The generated voltage for each pole pitch is loop C1,), (sniff)e (',7)-
As shown in C14t), the phases are opposite to each other, so the connection of the plurality of coils (7) to the stator core (6) is such that the windings are reversed at each pole pitch. In addition, an intermediate voltage is induced in the coil group (C) wound between the coil (7-8) and the coil (C) depending on the degree of density of the poles.

In this state, each coil on the secondary output side (the force is A resolver electric signal corresponding to one cycle is obtained with a frequency of 1 and a modulated imaging width.In other words, a sine phase is formed in the coil (Cu S), a con phase is formed in the coil (Cu C),
Multiphase output can be obtained in combination with other coils (7).

In addition, since the resolver electric signal for 1 cycle is generated by the rotation of the rotor (1) for 1 tooth pitch, each phase becomes as multipolar as the number of teeth (3) of the rotor (1). .

In addition, in order to obtain a highly accurate resolver signal, as much as possible,
It is desirable that the l-cycle waveform is a sine wave, and each phase coil does not need to be wound with concentrated salient poles at six poles like existing vernier resolvers, but needless to say, it can be wound in a distributed manner like other multi-pole resolvers.

In addition, in the above embodiment, an inner rotor type was explained in which the rotor (1) was located inside the stator (4), but depending on robot joints or other purposes, the relative relationship between the rotor and stator In many cases, it is sufficient to detect rotational movement such that the rotor is outside the stator.
- type may also be used. At this time, the coil on the stator side can be wound directly from the outside, and the manufacturing work can be made easier than that of the above embodiment.

Furthermore, just as a conventional resolver is used in a phase modulation method by switching the primary excitation side and the secondary output side, the resolver of this invention also has the primary and secondary sides connected by a transformer. Contrary to the description, the sine phase and cosine phase may be used as the primary side, and the ring-wound coil (5) side may be used as the secondary output side.

Furthermore, it is also possible to construct a multi-speed resolver by arranging a plurality of resolvers according to the present invention, each having a different number of rotor teeth and a different number of poles, arranged in the axial direction or concentrically. .

〔Effect of the invention〕

As explained above, according to the present invention, the stator core and rotor can be easily manufactured using well-known technology, and the cork wound around the stator in a ring shape is also simple, which is not found in other resolvers. In addition, there is no need to manually insert many different types of coils into the slots of the stator, and the multiple coils are wound in a toroidal manner. As it is automatically wound by a wire machine, any manufacturing process is simple, easy and inexpensive.

In addition, the structure is such that the entire circumference of the air gap between the stator and rotor can always be magnetically coupled, and the structure is such that the entire alternating magnetic field generated on the excitation side is fully coupled with the distributed coil on the secondary side, so the resulting voltage It is also large and strong against nozzles.

Furthermore, since the number of poles can be increased by the number of teeth of the rotor, it is possible to have a sufficiently large number of poles as required.

Furthermore, not only simple sine phase and CO5 phase but also multiphase outputs can be easily obtained from a plurality of coils wound toroidally in the slots of the stator.

Furthermore, distributed winding for each phase is easily possible, which not only increases the output but also facilitates precision correction using the windings.

Furthermore, since one output winding is divided and integrated on the circumference, eccentricity caused by rotor installation and machining, unbalance of stator core material, machining error in tooth pitch, etc. are averaged out. , can be suppressed and the accuracy of the resolver can be improved.

[Brief explanation of drawings]

Figures 1 to 3 show an embodiment of the present invention.
The figure is a transparent perspective view of the main parts, the first figure is an explanatory diagram showing the positional relationship of the teeth of the stator core and the rotor, the third figure is an explanatory diagram showing the magnetic path in Figure 2, and the reference figure is FIG. 3 is an explanatory diagram showing the arrangement of coils wound around slots of a stator core. (1)...rotor, (2)...slot, (3)...
... tooth section, (4) ... stator, (5) ... coil,
(6)...Stator core, (force...coil, (8)-
...Slot, (9)...Tooth part, (Ra)...Rotor part, (Rb)...Rotor part, (OL)...Dense magnetic coupling part, (OP)...・Magnetic coupling rough part, C1)
...magnetic path loop 0 In each figure, the same reference numerals indicate the same or corresponding parts. Figure 1 2nd cause

Claims (1)

[Claims] The rotor includes a rotor made of a magnetic material, and a stator that is located concentrically with the rotor and is provided with a slight air gap between it and the circumferential surface of the rotor. Rotor parts each having the same number of slots and teeth on their surfaces are configured to abut each other with a shift of half a slot in the rotational direction, and the stator is different from the slots and teeth of the rotor. A stator core having a number of slots and teeth formed on the circumferential surface facing the slots and teeth of the rotor, a coil wound around the stator core concentrically with this stator core, and A variable reluctance resolver comprising a coil and a plurality of coils wound toroidally around the slots of the stator core with the stator core as the winding core.