JPS63174549A - Hybrid motor - Google Patents

Abstract

PURPOSE:To make an apparatus usable either as a continuously rotating motor or as a stepper motor by symmetrically arranging one-pole, one-coil armatures of the same width as that of a magnetic pole and of a narrower width. CONSTITUTION:In a three-phase eight-phase twelve-pole motor stator 1, narrow width armatures each occupying a 15 deg. central angle and wide width armatures each occupying a 45 deg. central angle are arranged in the order of narrow-wide- wide-narrow-narrow-wide from above in the left half of said stator and symmetrically to said order in the right half thereof. Then, the narrow-wide-wide-narrow armatures are dealt width as one group, and each group is made to correspond to one of phases A, B, C. In a rotor 5, a rotor yoke 6 is fitted with eight alternate N and S magnetic poles 7 each having an equal width. In each phase, a coil for two narrow width armatures and a wide width armature is wound with a reverse phase. Thus, this motor can be used both as a continuously rotating motor and as a stepper motor, if a conduction timing to each phase is controlled.

Description

[Detailed description of the invention] (Industrial application field) The present invention relates to a motor.

(Prior art) For example, when a motor needs to perform both continuous rotation and step rotation in order to move an object a considerable distance and then stop it at an accurate position. The following two methods are usually used.

In other words, (1) one is to continuously send pulse signals from the driver circuit to the stepping motor in order to continuously rotate the stepping motor, and control the number of pulses so that it rotates by a desired angle and then stops. , a method of feeding back the rotation angle to the driver circuit using a rotary encoder, etc., and (2) using a brushless morph, etc., which originally has a structure that rotates continuously, and attaching a rotary encoder, etc. to this, and rotating the desired angle and then stopping. There are two methods of rotating the brushless morph or the like like a stepping motor by switching the pattern of the current from the driver circuit into one for rotational driving and one for holding.

(Problem to be Solved by the Invention) However, in (1) above, in order to continuously rotate a motor that originally rotates in steps, the maximum self-starting frequency that the stepping motor inherently has is Alternatively, the rotation speed beyond the maximum response frequency cannot be obtained, and the operating speed is not only slower than that of a motor that normally rotates continuously, but also the torque ripple becomes large. This method has disadvantages in that the cost of the driver circuit for complex control increases, and that current is constantly passed alternately in forward and reverse directions during the hold state, which generates considerable vibration and heat.

(Means and Effects for Solving the Problems) In order to compensate for the drawbacks of the conventional stepping motors mentioned above with a continuous rotation motor, the present invention provides a vibrator that can easily perform stepping rotation or continuous rotation depending on the presence or absence of an input signal. The purpose of this motor is to provide a motor, in which one of the stator and rotor is composed of magnetic poles occupying approximately equal central angles, and the other is composed of magnetic poles occupying approximately equal central angles, and the other is composed of magnetic poles occupying approximately equal central angles, and the other is composed of magnetic poles occupying approximately equal central angles. One or more wide armatures occupying approximately the same width as the magnetic poles and one or more narrow armatures occupying a width narrower than the magnetic poles are disposed within the range of the central angle, and within the central angle , armatures of various widths are arranged in pairs symmetrically with respect to both forward and reverse rotational directions, and coils are wound so that only current of the same phase is energized to the armatures located within one central angle. The present invention provides a hybrid motor which is wired so that it can be used as a continuous rotation motor or a stepping motor by switching the signal current or current pattern.

(Example) The present invention will be described in detail below using examples shown in the drawings.

FIG. 1 is a conceptual front view of a 3-phase 8-pole 12-pole motor in which the present invention can be implemented, and a stator 1 is equipped with a large number of armatures each having a coil 2 wound thereon with one coil per ball. However, the width of each armature is, in the case of the embodiment, divided into three equal parts of the entire circumference of 360°, and within a range of a center angle of 120° from the top of the drawing to the left, there is a narrow width that occupies a center angle of 15°. Armature 3
, then a wide armature 4 that occupies a width with a central angle of 45°, then a wide armature 4, then a narrow armature 3, and so on for each of the wide and narrow armatures. They are arranged in pairs symmetrically in the forward and reverse rotation directions, and the winding direction of each adjacent coil is adjusted so that only the A-phase current is applied to the armature within the 120° range. It is constructed by winding it in the opposite direction. Each of the following central angles is 120
Similarly, in the range of .degree., the wiring is configured so that only the B-phase current and the C-phase current are passed.

Here, the width of each armature refers to the angle that each armature occupies in the vertical direction from the axis of rotation, and the angle that each armature occupies is measured from the center of the gap between each armature and the adjacent armature on one side of each armature. This refers to the center of the side gap. In addition, even if there are two iron cores, if they are wound with coils that carry current of the same phase in the same direction, they will act in the same way as one armature, so they will be treated as one armature here.

The rotor 5 is constructed by attaching magnetic poles 7 of equal width to a rotor cork 6. The meaning of uniform width is the same as above, and in this embodiment, the magnetic poles are composed of substantially uniform widths each occupying a central angle of 45°. It has already been mentioned that the width of this magnetic pole is approximately the same as the width of the wide armature.

The coils of each armature are wired to conduct currents of different phases, and for example, as shown in the drawing, the wire terminals of each phase are arranged in a range of 120°, which is the one central angle, from the top of the diagram to the left. In a given armature, only the coils that carry the human phase current are wound in opposite directions to the adjacent coils. That is, each of the four armatures to which the A-phase current is applied in the same time period generates a magnetic field of opposite polarity.

The ratio of the widths of the wide armature to the narrow armature and the wiring method are not limited to those described above, and the designer can freely design the magnetic field so that the magnetic field is generated at intervals that will provide the operation described below.

The motor configured as described above is rotated by applying a 3-Japanese current, but it is possible to operate the motor in the above three modes depending on the progression pattern of these phases and the on/off timing of the current of each phase. Since it is a motor that can operate, its modes will be explained in each section.

The above is the configuration of the present invention. Next, the operating principle of this motor will be explained.

Figure 2 Each figure shows the case where the 3-phase 8-pole 12-pole motor according to the present invention shown in Figure 1 is used in a bipolar 120° energized 3-phase brushless continuous rotation mode for convenience of illustration and explanation. FIG. 2 is an explanatory diagram comparing the position of the magnetic pole by linearly developing the entire circumference of the motor in a time range consisting of , and the polarity of the magnetic field generated from each armature in that time range. The word OFF on a square armature in the figure indicates that the current in the coil of that armature is off, and the symbols such as SB indicate that the first S originates from that armature in that time range. Let B indicate the phase of the current flowing through the armature. For example, SB is an armature through which B-phase current is passed, and the figure shows that an S-polarity magnetic field is generated in the time range of the figure.

That is, in the time range shown in Fig. 2 (1), all of the armature parts (total of 4 armatures) that are energized in phase A are off, and the current in phase B is energized. The first armature produces a north pole magnetic field, the second armature produces a south pole magnetic field, the third armature produces a north pole magnetic field, and the fourth armature produces a south pole magnetic field. This shows that in the same time range, the armature carrying C-phase current generates a magnetic field of S in the first, N in the second, S in the third, and N in the fourth. There is.

The lower part of each figure in Figure 2 shows the position of the rotor's magnetic poles and the polarity of each magnetic pole in each time range, and the numbers attached to the polarities of each magnetic pole are added for convenience of explanation. This is the number of each magnetic pole. In other words, Sl is one of the magnetic poles of S.
The second magnetic pole, S2, shall refer to the second magnetic pole of the S magnetic pole.

Based on the above premise, the operation of the motor of the present invention will be explained according to each drawing. In the time range shown in Fig. 2 (1), the A-phase current is off, so the A-phase armature does not generate a magnetic field. do not have. The currents in the B-phase and C-phase flow in opposite directions in this time range, so that the first armature of the B-phase and the first electron of the C-phase generate magnetic fields of opposite polarity.

In this time range, it is assumed that the magnetic poles of each polarity are facing each other, as shown in the bottom row of FIG. 2 (11).

Looking at the polarity of each armature and each magnetic pole in this time range in Figure 2 (1), the magnetic pole 82 in the lower part of the figure is NB of the armature.
The magnetic pole of N3 is attracted to the SB of the armature, and receives a repulsive force from the armature of NB, and the magnetic pole of N3 is attracted to the SB of the armature, and
It can be understood that the armature number 3 is repelled, and that a force is generated that causes each magnetic pole marked with an arrow in the drawing to rotate in the direction of the arrow. (Each magnetic pole without an arrow does not produce force in that time range.) Figure 2 (
2) is a drawing similar to FIG. 2 (11) in a time range in which the rotor, and hence the magnetic poles, have rotated by 15 degrees from the time range of FIG. 2(1).

In this time range, the drive circuit described later performs commutation by turning the power on and off and advancing the phase, so that the A-phase current is on and the C-phase current is off. Considering the force exerted by each magnetic pole in the same manner as above, N1 is repelled by NA and attracted to SA, Sl is repelled by SA and attracted to NA, and so on. It can be explained as above that both of them are subjected to a rotating force in the direction of the arrow in the figure.

In the time range shown in Figure 2 (3), the magnetic pole rotates 15 degrees, the B-phase current turns off, and at the same time commutation occurs in the C-phase current due to phase progression, changing the polarity of the armature of the same phase. The fact that is reversed from Fig. 2 (1) is due to the phase progression and on/off switching explained above, but even in this time range, each armature rotates in the direction of the arrow in the figure. I understand that.

Figure 2 (4) below is completely similar to the above, with the magnetic pole rotating 15 degrees from Figure 2 (3), the A-phase current being turned off, and commutation occurring in the B-phase. , There is no need to explain that a rotational force is generated in the direction of the arrow in the figure at that time.

When the rotor further rotates by 15 degrees in mechanical angle, the polarity of the A-phase armature becomes opposite to that shown in (2) of the same figure, except that the polarity of each magnetic pole changes as shown in (2) of the same figure. Since it has rotated 45 degrees in mechanical angle from the state shown in Figure 2 (2), (180 degrees in electrical angle)
) This is the opposite of (2) in the same figure. Therefore, A
It can be seen that a rotational force is generated in the direction of the arrow in FIG. 2 between the phase and B phase square armatures and each magnetic pole.

In this way, the motor of the present invention rotates continuously.

Next, FIG. 3 shows an example of the phase progression pattern of the position sensor signal and power supply current for continuously rotating the motor of the embodiment as described above.

Figure 3 (1) shows the positive signal current generated from the position sensor.
Negative/disconnection is shown as time or rotation angle progressing to the right. Figure 3 (2) shows the phase progression pattern and positive/negative/disconnection of the current according to the signal in Figure (1) in order for the motor of the example to rotate clockwise as shown in Figure 2. This is what is shown.

If we compare this drawing with Figure 2, Figure 3 (2)
The power supply current of the button changes the magnetic field of each armature and turns it on and off as shown in Figure 2, and as explained in the figure, this motor continuously rotates clockwise and rotates at the same position. It will be understood that if the power is applied in the pattern shown in FIG. 3 (3) using the sensor signal, the motor will rotate in the opposite direction to that shown in FIG.

Of course, the signal current from the Hall element causes the
The drive circuit is adjusted in a conventional manner so as to be able to pass the current in the pattern shown in FIG.

Next, the case where the motor of the present invention is used as a stepping motor will be explained.

FIG. 4(1) shows the exact same positional relationship between the armature and the magnetic poles as FIG. 2(1).

However, in the time range shown in Figure 4 (1), the A-phase current is also flowing, and the B-phase current and C-phase current are flowing in the same direction, so in this time range, ,
Each armature produces a magnetic field of polarity as shown.

In this positional relationship, looking at the force relationship generated between each magnetic pole in the same way as above, the magnetic pole of S2 is repelled by the armature of SB, and is attracted to the armature of NB, and the magnetic pole of SB is
All the magnetic poles marked with arrows in the figure are receiving a force to rotate in the direction of the arrow in the figure, such as being attracted by the armature of C and receiving a repulsive force from the armature of SC. (The armature does not produce any force) As you can see from the diagram, the force that tries to rotate the armature to the right balances the force that tries to rotate it to the left.

Furthermore, even if the rotor rotates to the left or right due to some external force from the state shown in the same figure, for example (1
) is slightly rotated to the left compared to (1) in the same figure, the magnetic pole in figure 32 and the armature of NB will almost overlap, that is, they will be 180 degrees apart in electrical angle. However, if we look at the magnetic poles of the SB and the armature of the NC, they are shifted by 90 degrees in electrical angle, so they are in a positional relationship that generates the strongest force. (The same applies to the relationship between the other magnetic poles marked with arrows in the same figure and each armature.) Therefore, even if the rotor rotates a little to the left or right, the rotor has a rotational force that tries to return to its original position. It can also be determined from the illustration that this occurs.

Next, if the commutation and on/off of the three-phase currents are advanced one step by an external signal, commutation will occur in the B-phase current, and the polarity of the magnetic field generated from each armature will change as shown in Figure 4 ( 2). In this time range, Figure 4 (1
) The magnetic pole at the position receives a force that rotates it to the right, causing it to rotate by 15°.
The fact that it rotates, stops at the position shown in FIG. 2 (2), and is held at that position can be fully understood from the illustration alone.

Next, FIG. 5 shows the relationship between the signal current and drive current for producing the magnetic pole patterns shown in FIG. 4. Similarly to Figure 3, the progression of time or rotation angle is taken to the right in the figure, the on/off of the clock signal is shown in Figure 3 (1), and the resulting pattern of the phase progression of the drive current is shown in Figure 3 (2). Shown in (3).

The position of the dotted line shown in (1) in the figure indicates the time range of Figure 4 (11).If you compare and contrast this figure with each figure of Figure 4, it will be seen that for the same reason as the previous explanation, Figure 5 ( If the driving current of the pattern 2) is applied, the rotation will step clockwise as shown in each figure in Fig. 4, and if the driving ionization pattern of Fig. 5 (3) is applied, the rotation will be in the opposite direction to that shown in Fig. 4. You can understand that the rotor rotates as follows.

Figure 6 shows the clock signal current for causing the motor of the embodiment to mix the rotation modes of step rotation and continuous rotation, and the positive, negative, and disconnection of the position sensor signal current and drive current in the time range. is shown as time or rotation angle progresses toward the right in the drawing, and the method of description is the same as before.

If we follow the drawings in the same way as we have already explained repeatedly, for example, if we consider the mutual relationship of each magnetic pole and the positional relationship of each magnetic pole at that point due to the power supply current of the pattern shown in FIG. By energizing the power supply pattern, the relationship becomes similar to the positional relationship in the same mode as shown in Figure 2, and the positional relationship and the polarity of each magnetic pole are repeated as shown in Figures 1 and 4. After all, this motor can rotate at high speed in continuous rotation mode or step rotation in stepping motor mode, and can be rotated at a high speed as a whole, and can be stopped after rotating by a desired rotation angle. I can see that.

As described above, the motor of the present invention can be operated in the continuous rotation mode shown in FIG. , the stepping motor mode shown in Figure 4 and the mixed mode explained in Figure 6, any mode of operation can be performed freely, using the same power supply, the same drive pulses, and the same position sensor signal current. It is possible to change the above three modes by using this.

Of course, switching the current button is not limited to using a position sensor and a switching element.
It goes without saying that the present invention can be carried out using any method, such as switching the power supply pattern by a connection switching device using a commutator and a brush.

(Effects of the Invention) As described above, the motor of the present invention has one ball and one ball in the armature.
A coil-wound armature combines a wide coil with the same width as the magnetic poles and an armature with a narrower width, and because this combination is arranged symmetrically, it is possible to rotate in both forward and reverse directions, and the drive power pattern Depending on the selection, it can be operated as a continuous rotation motor or a stepping motor, and it can also be operated in a mixed mode.Furthermore, parts that require a reducer etc. can be operated by low-speed or medium-speed rotation. This results in a motor that can be used for both purposes.

In addition, the motor itself can use a motor with a high morph constant, which has one pole and one coil winding.As a result, although the motor is small and lightweight, it can function as both a stepping motor and a continuous rotation motor, so it can be used as a power source for various robot devices. A very convenient motor can be obtained.

In other words, in robot machinery, etc., separate motors are required for each joint, hand working part, etc., but if a conventional heavy motor is used for the hand part, the motor itself will be damaged by other motors. This solves the problem of unavoidably increasing the size of the machine due to the load on parts such as joints, and furthermore, since one motor can function as both a stepping motor and a continuous rotation motor, for example, long After moving a distance, the pole (for operations such as setting an object at a precise position, continuous high-speed rotation and stepping rotation can be freely combined to perform operations with significantly higher work efficiency). It becomes a motor that can be used.

Furthermore, as mentioned above, one of the features of the motor of the present invention is that during hold, even if the motor is given some external force to rotate from side to side, it has the ability to return the rotor to its original position, that is, the holding force is excellent. It can be counted as.

[Brief explanation of the drawing]

FIG. 1 is a conceptual front view of a motor in which the present invention can be implemented. FIG. 2 is an explanatory diagram comparing the rotation angle of the rotor and the polarity of the magnetic field generated by the armature of each phase and the position of the magnetic pole in each time range when the motor of the embodiment is operated as a continuous rotation motor. , Fig. 3 shows the signal current and drive power supply pattern used to make the motor of the embodiment perform the operation shown in Fig. 2, and Fig. 4 shows Fig. 2 when the motor of the embodiment operates as a stepping motor. A similar explanatory diagram, FIG. 5 is an explanatory diagram similar to FIG. 3 in the case where the motor of the embodiment is operated as a stepping motor,
FIG. 6 is a drawing similar to FIG. 3 in the case where the motor of the embodiment is operated in a mixed mode.

Claims (1)

[Claims] One of the stator and rotor is composed of magnetic poles occupying approximately equal central angles, and the other is composed of magnetic poles occupying approximately equal central angles, and the other is composed of magnetic poles occupying a 360° entire circumference
One or more wide armatures occupying approximately the same width as the magnetic poles and one or more narrow armatures occupying a width narrower than the magnetic poles are disposed within one central angle that is equally divided, and
Within the central angle, armatures of various widths are arranged in pairs symmetrically with respect to both forward and reverse rotational directions, and only current of the same phase is energized to the armatures located within the one central angle. A hybrid motor is a hybrid motor with wires that are configured so that it can be used as either a continuous rotation motor or a stepping motor by winding a coil in this way and switching the signal current or current pattern.