WO2016189602A1 - Dispositif de détection d'angle de rotation - Google Patents

Dispositif de détection d'angle de rotation Download PDF

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Publication number
WO2016189602A1
WO2016189602A1 PCT/JP2015/064827 JP2015064827W WO2016189602A1 WO 2016189602 A1 WO2016189602 A1 WO 2016189602A1 JP 2015064827 W JP2015064827 W JP 2015064827W WO 2016189602 A1 WO2016189602 A1 WO 2016189602A1
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WO
WIPO (PCT)
Prior art keywords
motor shaft
rotation angle
magnetic
detection device
angle detection
Prior art date
Application number
PCT/JP2015/064827
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English (en)
Japanese (ja)
Inventor
佐土根　俊和
武史 武舎
田村　崇
Original Assignee
三菱電機株式会社
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 三菱電機株式会社 filed Critical 三菱電機株式会社
Priority to JP2016525117A priority Critical patent/JP5976261B1/ja
Priority to PCT/JP2015/064827 priority patent/WO2016189602A1/fr
Priority to CN201580073075.5A priority patent/CN107155386B/zh
Publication of WO2016189602A1 publication Critical patent/WO2016189602A1/fr

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection

Definitions

  • the present invention relates to a rotation angle detection device, and more particularly to improvement in sensitivity.
  • the detector used for detecting the rotational position of the servo motor is divided into an optical type and a magnetic type.
  • the angle of the shaft is detected by detecting a magnetic field from a magnet attached to the end surface of the servo motor shaft by a magnetic detection element.
  • Servo motor has a motor magnet for generating rotational torque, and a magnetic material such as structural carbon steel is used for the motor shaft to ensure magnetic field strength and reduce costs. Therefore, the magnetic field generated from the motor magnet passes through the motor shaft, leaks from the shaft end, and becomes a leakage magnetic flux and reaches the detection range of the magnetic detection element. Since the magnetic field due to the leakage magnetic flux is not the magnetic flux from the detector magnet that should be detected, it becomes a noise component and causes an error in angle detection. However, no countermeasure has been taken to remove noise components caused by the magnetic field from the motor magnet.
  • Patent Document 1 discloses a technique in which a magnet that generates a magnetic field to be detected is fixed via a holder in order to prevent the magnet from being broken or broken, and a magnetic detection element is provided facing the magnet. ing.
  • Patent Document 2 a permanent magnet that generates a magnetic field to be detected is attached to a side surface portion of a rotor core made of a magnetic material such as iron, and the rotor core is rotated by a Hall IC provided opposite to the rotor core.
  • a technique for detecting a corner is disclosed.
  • Patent Document 3 a rotating portion made of a magnetic material having a U-shaped cross section holding a magnet that generates a magnetic field to be detected is fixed to a rotating shaft, and rotation of the rotating shaft is provided to face the magnet.
  • a technique for detecting with a magnetic field detection unit is disclosed.
  • JP 2011-160636 A JP 2001-59702 A JP 2012-230083 A
  • the structure of the magnetic detection element is complicated, and the magnet for generating the magnetic field for detection revolves, and the deviation of the revolution center may cause a detection error. It was. Furthermore, no consideration is given to the leakage magnetic field of the motor magnet, and when the rotation angle detection device is arranged adjacent to each other, the adjacent magnetic detection element may be affected by the leakage magnetic field. There is a problem that the rotation angle detecting device cannot be arranged.
  • the present invention has been made in view of the above, and an object of the present invention is to obtain a rotation angle detection device that can avoid the influence of a leakage magnetic field from a motor magnet and avoid detection of noise components.
  • the present invention includes a motor shaft, a motor magnet arranged at a constant interval with respect to the motor shaft, a motor bracket that supports the motor shaft, A magnet for detector placed on the central axis of the motor shaft, a magnetic detecting element arranged opposite to the magnet for detector and detecting a change in the magnetic field of the detecting magnet accompanying rotation of the motor shaft, and a magnetically permeable guide A part.
  • the magnetically permeable guide portion is in contact with the motor shaft and surrounds a magnetic flux region connecting the detector magnet and the magnetic detection element.
  • FIG. 1 is a cross-sectional view schematically illustrating a rotation angle detection device according to a first embodiment of the present invention
  • FIG. 2 is a diagram illustrating the entire rotation angle detection device according to the first embodiment.
  • the rotation angle detection device 100 according to the first embodiment is attached to a servo motor for rotationally driving the wrist of an industrial robot and detects the rotation angle.
  • the rotation angle detection device 100 according to the first embodiment includes a motor shaft 10, a motor magnet 20 arranged at a constant interval with respect to the motor shaft 10, a motor bracket 30 that supports the motor shaft 10, and a motor.
  • a detector magnet 40 placed on the central axis of the shaft 10 and a magnetic detection element 50 arranged to face the detector magnet 40 are provided.
  • the magnetic guide portion 10G includes a magnetic permeability guide portion 10G that abuts the motor shaft 10 and surrounds a magnetic flux region RH that connects the detector magnet 40 and the magnetic detection element 50.
  • the permeable guide portion 10G surrounds the magnetic flux region RH connecting the detector magnet 40 and the magnetic detection element 50, and guides the leakage magnetic field to the outside.
  • the detector magnet 40 is fixed to the end surface of the motor shaft 10 with an adhesive.
  • the rotation angle detection device 100 is attached to a rotation shaft of a servo motor, and can slide through a hole 33 provided in the central portion of the bracket body 31 a of the motor bracket 30 via a bearing 32. It supports the motor shaft 10 disposed in the position and detects the rotation angle of the motor shaft 10.
  • a lower bracket body 31 b is also provided below the motor shaft 10.
  • the lower bracket body 31b is provided with a hole 33 at the center, and supports the lower portion of the motor shaft 10 so as to be slidable with respect to the motor shaft 10 through a bearing 32 inserted through the hole 33.
  • a cover 70 that covers the upper part of the magnetically permeable guide portion 10G is fixed to the upper bracket body 31a with screws 71.
  • the magnetically permeable guide portion 10G is constituted by an extension portion extended from the end surface 10T of the motor shaft 10.
  • the motor shaft 10 has a concave portion 10R and a wall portion 10W surrounding the concave portion 10R in an extended portion extending from the end surface 10T including the central axis O, and the detector magnet 40 is disposed in the concave portion 10R.
  • the magnetic detection element 50 is mounted on a control board 60 made of a wiring board installed on the top surface 10GU of the magnetic permeability guide portion 10G.
  • the control board 60 rotates with the rotation of the motor shaft 10, detects the magnetic field H M from detector magnet 40, by the detection circuit on the control board 60, for detecting the rotation angle.
  • the rotation angle detection device 100 of this embodiment since the extension portion extended from the end face 10T of the motor shaft 10 constitutes a magnetically permeable guide part 10G, as shown in FIG. 1, the leakage magnetic flux H i Efficiently spreads outside, is guided upward, and is led out through the control board 60. Therefore, leakage flux H i is on the central axis of the motor shaft 10, rather than to propagate to the magnetic detection element 50 placed in a region corresponding to the top surface 10 GU, it will be efficiently discharged to the outside.
  • the wall portion 10W by a sufficiently large cross-sectional area of the wall portion 10W, the leakage magnetic field H i from the motor magnets 20 can be guided to the top surface 10GU efficiently Torujisei guide portion 10G. Thereby, the magnetic path resistance for deriving the leakage magnetic field H i can be reduced, and the magnetic detection element 50 can be taken out as the magnetic flux H o without being affected by the leakage magnetic field i .
  • the wall portion 10W has a tapered cross section in which the concave portion 10R expands outward. This makes it possible to direct the leakage magnetic field H i to the top 10GU efficiently Torujisei guide portion 10G. Accordingly, the magnetic path resistance for deriving the leakage magnetic field H i can be reduced, and the magnetic detection element 50 can be efficiently extracted without detecting the leakage magnetic field H i .
  • the wall 10 ⁇ / b> W desirably has a tapered cross section in which the thickness of the wall 10 ⁇ / b> W extends outward.
  • the wall 10W has a tapered cross section that expands outward, but may be a constant thickness as long as the leakage magnetic field Hi is sufficient to propagate. .
  • the upper end of the motor shaft 10 is outwardly expanded so as to form a shape that is separated from the magnetic detection element 50 and is connected to a location in the same plane. arranged detector magnet 40 to the flat surface formed on the upper application, by the shape surrounded by the conical inner wall, the magnetic detection element 50 as a magnetic field H i leak magnetic field generated from the motor magnets 20 Can be prevented.
  • the detector magnet 40 is disposed on the upper end face of the motor shaft 10. An air layer is formed between the opposing magnetic detection elements 50. For this reason, out of the leakage magnetic field H i from the end surface of the motor shaft 10, the leakage magnetic field H iH that shifts in the lateral direction and returns downward is unlikely to enter the magnetic detection element 50, but the detector magnet 40 is placed. The vertical leakage magnetic field H iV penetrating the end face enters the magnetic detection element 50, which causes noise current.
  • the upper portion of the motor shaft 10 is shaped to form a recess 10R surrounded by a conical inner wall, the end surface 10T of the motor shaft 10 is extended outwardly, and the inside is expanded.
  • An extension portion having a shape surrounded by a hollow conical inner wall is defined as a magnetically permeable guide portion 10G.
  • the detector magnet 40 is formed on the central axis O of the motor shaft 10.
  • the rotation angle detection device 100 of the first embodiment it is possible to direct the leakage magnetic field H i from the motor magnets 20 to the top surface 10GU efficiently Torujisei guide portion 10G, the magnetic detection element 50, Without being affected by the leakage magnetic field H i , the magnetic flux H o can be taken out to the outside.
  • FIG. FIG. 3 is a cross-sectional view schematically showing the rotation angle detection device 100 according to the second embodiment of the present invention.
  • the rotation angle detection device 100 according to the second embodiment is attached to a servo motor for rotationally driving the wrist of an industrial robot and detects the rotation angle.
  • the rotation angle detection device 100 according to the second embodiment is provided with a magnetic flux path generation unit called a boss 80 in place of the magnetically permeable guide unit 10G configured by an extension of the motor shaft 10.
  • the boss 80 is formed of a cylindrical metal cylinder, is in contact with the side surface of the upper end portion of the motor shaft 10, and surrounds the magnetic flux region RH connecting the detector magnet 40 and the magnetic detection element 50. .
  • the other configurations are the same as those of the first embodiment, and the detector magnet 40 placed on the end surface 10T on the central axis of the motor shaft 10 and the magnetic detection element 50 arranged to face the detector magnet 40.
  • the details are the same as those of the rotation angle detection device 100 of the first embodiment shown in FIG. 2, but FIG. The same parts are denoted by the same reference numerals, and description thereof is omitted.
  • the leakage magnetic field H i from the motor magnet 20 efficiently used as a magnetic guide portion permeable boss 80 can be guided to the top surface 80U of the boss 80, the magnetic sensing element 50, leakage magnetic field H without being affected by the i, it can be taken out to the outside as the magnetic flux H o.
  • worn around the end surface 10T of the motor shaft 10 is implement
  • the fastening of the boss 80 and the motor shaft 10 can be selected from any of fastening methods such as press-fitting, a set screw method, and an adhesive method.
  • the boss 80 is fixed to the motor shaft 10 and the control board 60 on which the magnetic detection element 50 is mounted is not fixed to the boss 80. in, with a gap C 1. Leakage magnetic field from the gap C 1 is negligible.
  • FIG. FIG. 4 is a sectional view schematically showing the rotation angle detection device 100 according to the third embodiment of the present invention.
  • the rotation angle detection device 100 according to the third embodiment is attached to a servo motor for rotationally driving the wrist of an industrial robot and detects the rotation angle.
  • the rotation angle detection device 100 according to the third embodiment is a modification of the rotation angle detection device 100 according to the second embodiment, and the boss 80 is not fixed to the motor shaft 10 but slightly between the motor shaft 10. with a gap C 2.
  • the control board 60 on which the magnetic detection element 50 is mounted is fixed to the top surface 80U of the boss 80.
  • the other configuration is the same as that of the rotation angle detection device 100 of the second embodiment, and includes the detector magnet 40 placed on the end surface 10T including the central axis of the motor shaft 10 and orthogonal to the central axis, and the detector And a magnetic detection element 50 disposed opposite to the magnet 40. Details are the same as those of the rotation angle detection device 100 of the first embodiment shown in FIG. 2, but FIG. 4 shows a simplified configuration similar to FIG. The same parts are denoted by the same reference numerals, and description thereof is omitted.
  • the boss 80 since the boss 80 does not rotate, the load on the motor shaft 10 can be reduced. It becomes.
  • FIG. FIG. 5 is a cross-sectional view schematically showing a rotation angle detection device 100 according to the fourth embodiment of the present invention.
  • the rotation angle detection device 100 according to the fourth embodiment is attached to a servo motor for rotationally driving the wrist of an industrial robot and detects the rotation angle.
  • the rotation angle detection device 100 according to the fourth embodiment is a modification of the rotation angle detection device 100 according to the second embodiment, and the boss 80 is replaced by a cylindrical support portion 80a and a conical shape extending upward. It is comprised with the cone part 80b which consists of a cylindrical body.
  • the boss 80 is fixed to the motor shaft 10 by a cylindrical support portion 80a, spreads outward by a conical portion 80b which is a conical cylindrical body, and guides the leakage magnetic field H i outward.
  • the leakage magnetic field H i can be prevented from being detected by the magnetic detection element 50.
  • control board 60 on which the magnetic detection element 50 is mounted is not fixed to the boss 80, and the boss 80 is fixed to the motor shaft 10. Accordingly, the boss 80 is fixed to the motor shaft 10 while there is a slight gap C 1 between the control board 60 on which the magnetic detection element 50 is mounted and the boss 80.
  • the bosses 80 efficiently, it is possible to derive a leakage magnetic field H i to the outside.
  • the boss 80 of the rotation angle detection device 100 of the fourth embodiment is arranged with a slight gap C 2 between the boss 80 and the motor shaft as in the third embodiment, and the control board 60 May be fixed to the boss 80. Thereby, since the boss
  • FIG. FIG. 6 is a cross-sectional view schematically showing a rotation angle detection device 100 according to the fifth embodiment of the present invention.
  • the rotation angle detection device 100 according to the fifth embodiment is attached to a servo motor for rotationally driving the wrist of an industrial robot and detects the rotation angle.
  • the rotation angle detection device 100 according to the second embodiment is configured by a cylindrical metal tube as the boss 80, around the magnetic flux region RH that contacts the motor shaft 10 and connects the detector magnet 40 and the magnetic detection element 50.
  • the present embodiment is characterized in that a boss 80 having a bottom portion 80B and a cylindrical side wall portion 80S is used in place of the cylindrical metal tube.
  • the other configuration is the same as that of the second embodiment, and is opposed to the detector magnet 40 and the detector magnet 40 placed on the bottom 80B of the boss 80 by an extension of the central axis O of the motor shaft 10. And a magnetic detection element 50 arranged.
  • the same parts are denoted by the same reference numerals, and description thereof is omitted.
  • the bottom 80B is provided on the boss 80 used in the second embodiment, and the detector magnet 40 is attached to the bottom 80B.
  • the detector magnet 40 is fixed to the end surface 10T of the motor shaft 10 with an adhesive.
  • the detector magnet 40 is bonded and fixed to the boss 80, which is a small component.
  • the above configuration in addition to the effect of the rotation angle detection device 100 of the second embodiment, the above configuration has an effect that processing is easy. Since the center hole is provided in the motor shaft end face 10T, it is difficult to improve the position accuracy when the detector magnet 40 is bonded and fixed. For this reason, a process such as adding a planar process to the end surface 10T of the motor shaft 10 is required. According to the fifth embodiment, it is possible to easily ensure high reliability by bonding and fixing the detector magnet 40 to the boss 80 which is a separate part.
  • Embodiment 5 it is possible to easily ensure high reliability by adhering and fixing the detector magnet 40 to the boss 80 which is a separate part.
  • the detector magnet 40 may be attached to the boss 80 in advance by attaching the boss 80 to which the detector magnet 40 is fixed by adhesion to the motor shaft 10, and the boss may be placed on the end surface 10T of the motor shaft 10. . Therefore, the assembly process of the motor can be simplified and the cost can be reduced.
  • the leakage magnetic field H i from the motor magnet 20 efficiently used as a magnetic guide portion permeable boss 80 can be guided to the top surface 80U, magnetic sensing element 50, leakage magnetic field H i
  • the magnetic flux H o can be taken out to the outside without being affected by the above.
  • the boss 80 having a cylindrical cross section has been described.
  • a cylindrical support portion 80a and a conical shape extending upward instead of the cylindrical shape, a cylindrical support portion 80a and a conical shape extending upward.
  • the present invention can also be applied to a configuration including a conical portion 80b made of a cylindrical body.
  • FIG. FIG. 7 is a cross-sectional view schematically showing a rotation angle detection device according to Embodiment 6 of the present invention.
  • the rotation angle detection apparatus 100 according to the sixth embodiment is also attached to a servo motor for rotationally driving the wrist of an industrial robot and detects the rotation angle.
  • the rotation angle detection device 100 according to the sixth embodiment is a shielding thin film made of a bismuth layer having a low magnetic permeability on the inner wall surrounding the recess 10R of the magnetic permeability guide portion 10G formed by the extension portion of the motor shaft 10 according to the first embodiment. 12 is formed.
  • the configuration of the other parts is the same as that of the first embodiment, and the detector magnet 40 placed on the central axis of the motor shaft 10, and the magnetic detection element 50 arranged to face the detector magnet 40, Is provided.
  • the same parts are denoted by the same reference numerals, and description thereof is omitted.
  • a shielding film 12 more efficiently the leakage magnetic field H i from the motor magnet 20, can be guided to the top surface 10GU magnetically permeable guide part 10G is an extension of the motor shaft 10, magnetic detection element 50, without being affected by the leakage magnetic field H i, can be taken out as a flux H o.
  • the shielding thin film 12 is not limited to the bismuth layer, and a metal thin film having a lower magnetic permeability than air, such as copper, silver, lead, and bismuth, can be applied.
  • the shielding thin film 12 of the present embodiment can be applied to the configurations of the first to fifth embodiments.
  • FIG. FIG. 8 is a cross-sectional view schematically showing a rotation angle detection device according to the seventh embodiment of the present invention.
  • the rotation angle detection device 100 according to the seventh embodiment is also attached to a servo motor for rotationally driving the wrist of an industrial robot and detects the rotation angle.
  • the rotation angle detecting device 100 according to the seventh embodiment includes a magnetically permeable layer having a higher magnetic permeability along the longitudinal direction inside the magnetically permeable guide portion 10G configured by the extension portion of the motor shaft 10 according to the first embodiment.
  • a guide layer made of 16 is formed.
  • the permeable guide portion 10G is formed of a metal layered structure 11 in which a permeable layer 16 made of a supermalloy layer having a high magnetic permeability is sandwiched in layers.
  • the other parts are the same as in the first embodiment, and are opposed to the detector magnet 40 placed on the end surface 10T perpendicular to the center axis O on the center axis O of the motor shaft 10 and the detector magnet 40. And a magnetic detection element 50 arranged in the same manner.
  • the same parts are denoted by the same reference numerals, and description thereof is omitted.
  • the magnetically permeable layer 16, more efficiently the leakage magnetic field H i from the motor magnet 20, can be guided to the top surface 10GU magnetically permeable guide part 10G is an extension of the motor shaft 10, magnetic the detection element 50, without being affected by the leakage magnetic field H i, can be taken out as a flux H o.
  • the magnetically permeable layer 16 is not limited to the supermalloy layer, and a metal having a higher magnetic permeability than the peripheral layer, such as iron, silicon steel, soft iron, nickel, cobalt, and palladium, can be used.
  • the configuration of the magnetically permeable guide portion of the present embodiment can be applied to the configurations of the first to sixth embodiments.
  • FIG. 9 is a cross-sectional view schematically showing a rotation angle detection device according to the eighth embodiment of the present invention.
  • the rotation angle detection device 100 according to the eighth embodiment is also attached to a servo motor for rotationally driving the wrist of an industrial robot and detects the rotation angle.
  • the concave portion 10R is formed in the top surface 10U of the motor shaft 10
  • the detector magnet 40 is formed in the concave portion 10R
  • the magnetic detection is performed so as to cover the concave portion 10R.
  • a control board 60 on which the element 50 is mounted is mounted.
  • the configuration of the other part is the same as that of the first embodiment, and the detector magnet 40 placed on the surface perpendicular to the central axis O on the central axis O of the motor shaft 10 is opposed to the detector magnet 40. And a magnetic detection element 50 arranged in a row.
  • the leakage magnetic field H i from the motor magnet 20 can be prevented from entering the magnetic flux region RH to be measured, and can be guided to the top surface 10U of the motor shaft 10 more efficiently.
  • the detection element 50 without being affected by the leakage magnetic field H i, can be taken out as a flux H o.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)

Abstract

La présente invention concerne un dispositif de détection d'angle de rotation pouvant empêcher les champs magnétiques de fuite provenant des aimants de moteur et éviter la détection de composants de bruit. L'invention concerne un arbre (10) de moteur, un aimant (20) de moteur placé à une distance prédéfinie de l'arbre (10) de moteur, un support (30) de moteur qui supporte l'arbre (10) de moteur, un aimant détecteur (40) monté sur l'axe central de l'arbre (10) de moteur, un élément (50) de détection de magnétisme disposé en regard de l'aimant détecteur (40) qui détecte des changements dans le champ magnétique de l'aimant détecteur (40) associés à la rotation de l'arbre (10) de moteur et une partie (10G) de guidage de perméabilité. La partie (10G) de guidage de perméabilité vient en butée contre l'arbre (10) de moteur et entoure la circonférence de la zone de flux magnétique qui relie l'aimant détecteur (40) et l'élément (50) de détection de magnétisme.
PCT/JP2015/064827 2015-05-22 2015-05-22 Dispositif de détection d'angle de rotation WO2016189602A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2016525117A JP5976261B1 (ja) 2015-05-22 2015-05-22 回転角検出装置
PCT/JP2015/064827 WO2016189602A1 (fr) 2015-05-22 2015-05-22 Dispositif de détection d'angle de rotation
CN201580073075.5A CN107155386B (zh) 2015-05-22 2015-05-22 旋转角检测装置

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2015/064827 WO2016189602A1 (fr) 2015-05-22 2015-05-22 Dispositif de détection d'angle de rotation

Publications (1)

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WO2016189602A1 true WO2016189602A1 (fr) 2016-12-01

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JP (1) JP5976261B1 (fr)
CN (1) CN107155386B (fr)
WO (1) WO2016189602A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2017034991A (ja) * 2015-08-05 2017-02-09 エルジー イノテック カンパニー リミテッド センサ組立体及びこれを含むモータ
CN111211645A (zh) * 2018-11-22 2020-05-29 罗伯特·博世有限公司 电动的驱动装置和制动致动器

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7027795B2 (ja) * 2017-10-19 2022-03-02 株式会社ジェイテクト モータ装置
CN114322905A (zh) * 2021-12-29 2022-04-12 盛视科技股份有限公司 一种磁场跟踪角度检测装置及方法

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JP2005192366A (ja) * 2003-12-26 2005-07-14 Mabuchi Motor Co Ltd 磁気式エンコーダ装置内蔵モータ
JP2006158059A (ja) * 2004-11-29 2006-06-15 Yaskawa Electric Corp 磁気エンコーダおよびこれを備えたモータ
JP2010190846A (ja) * 2009-02-20 2010-09-02 Koyo Electronics Ind Co Ltd 磁気式エンコーダ
JP2012005253A (ja) * 2010-06-17 2012-01-05 Asmo Co Ltd モータ

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KR101346477B1 (ko) * 2011-09-30 2014-01-10 미쓰비시덴키 가부시키가이샤 모터

Patent Citations (4)

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Publication number Priority date Publication date Assignee Title
JP2005192366A (ja) * 2003-12-26 2005-07-14 Mabuchi Motor Co Ltd 磁気式エンコーダ装置内蔵モータ
JP2006158059A (ja) * 2004-11-29 2006-06-15 Yaskawa Electric Corp 磁気エンコーダおよびこれを備えたモータ
JP2010190846A (ja) * 2009-02-20 2010-09-02 Koyo Electronics Ind Co Ltd 磁気式エンコーダ
JP2012005253A (ja) * 2010-06-17 2012-01-05 Asmo Co Ltd モータ

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2017034991A (ja) * 2015-08-05 2017-02-09 エルジー イノテック カンパニー リミテッド センサ組立体及びこれを含むモータ
JP7028548B2 (ja) 2015-08-05 2022-03-02 エルジー イノテック カンパニー リミテッド センサ組立体及びこれを含むモータ
CN111211645A (zh) * 2018-11-22 2020-05-29 罗伯特·博世有限公司 电动的驱动装置和制动致动器

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JP5976261B1 (ja) 2016-08-23
CN107155386A (zh) 2017-09-12
CN107155386B (zh) 2019-04-12
JPWO2016189602A1 (ja) 2017-06-22

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