WO2021149420A1 - Mécanisme électrique doté de deux degrés de liberté - Google Patents

Mécanisme électrique doté de deux degrés de liberté Download PDF

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Publication number
WO2021149420A1
WO2021149420A1 PCT/JP2020/047259 JP2020047259W WO2021149420A1 WO 2021149420 A1 WO2021149420 A1 WO 2021149420A1 JP 2020047259 W JP2020047259 W JP 2020047259W WO 2021149420 A1 WO2021149420 A1 WO 2021149420A1
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WIPO (PCT)
Prior art keywords
rotor
drive shaft
magnetic poles
pole
stator
Prior art date
Application number
PCT/JP2020/047259
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English (en)
Japanese (ja)
Inventor
禎之 八田
康孝 藤本
Original Assignee
国立大学法人横浜国立大学
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Priority to JP2021573010A priority Critical patent/JPWO2021149420A1/ja
Publication of WO2021149420A1 publication Critical patent/WO2021149420A1/fr

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    • 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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K16/00—Machines with more than one rotor or stator
    • H02K16/04—Machines with one rotor and two stators
    • 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
    • H02K21/14—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets with magnets rotating within the armatures
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K33/00—Motors with reciprocating, oscillating or vibrating magnet, armature or coil system
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
    • H02K41/02—Linear motors; Sectional motors
    • H02K41/03—Synchronous motors; Motors moving step by step; Reluctance motors

Definitions

  • the present invention relates to a two-degree-of-freedom motor.
  • Patent Document 1 discloses a two-degree-of-freedom motor (motor).
  • An object of the present invention is to provide a two-degree-of-freedom motor capable of achieving low loss and high output.
  • An annular first stator forming a rotating magnetic field
  • an annular second stator forming a rotating magnetic field
  • a plurality of first magnetic poles magnetized to the first polarity
  • a second magnetic pole different from the first polarity. It includes a plurality of magnetically magnetized second magnetic poles and is provided with an annular gap with respect to the inner peripheral surface of the first stator, and is rotated by a rotating magnetic field formed by the first stator.
  • the plurality of first magnetic poles of the first rotor have at least a drive shaft that is supported so as to be linearly movable and rotatably movable, and the plurality of first magnetic poles of the first rotor are inclined in the axial direction toward the circumferential direction.
  • the plurality of second magnetic poles of the first rotor are arranged side by side with a distance from each other, and the plurality of second magnetic poles of the first rotor are spaced apart from each other along the direction in which the plurality of first magnetic poles of the first rotor are arranged.
  • a two-degree-of-freedom electric motor arranged along a second direction, and the plurality of second magnetic poles of the drive shaft are arranged along the first direction and the second direction.
  • the two-degree-of-freedom motor in which the first direction is the inclination direction and the second direction is the axial direction.
  • the plurality of first magnetic poles of the drive shaft are arranged side by side at intervals along the inclination direction, and the plurality of second magnetic poles of the drive shaft are arranged side by side.
  • the plurality of first magnetic poles of the drive shaft are arranged at intervals along the direction in which the plurality of first magnetic poles are arranged, and are arranged so as not to overlap the plurality of first magnetic poles of the drive shaft in the circumferential direction. Electric motor.
  • a two-degree-of-freedom motor further comprising an annular second rotor that is rotationally moved by a rotating magnetic field formed by the second stator.
  • the first direction is the first inclination direction which is inclined in the first axial direction toward the first circumferential direction
  • the second direction is the opposite direction of the first circumferential direction. It is a second tilting direction that tilts in the first axial direction toward a certain second circumferential direction
  • the plurality of first magnetic poles of the first rotor are arranged at intervals along the first tilting direction.
  • the plurality of second magnetic poles of the first rotor are arranged at intervals along the first inclination direction, and do not overlap with the plurality of first magnetic poles of the first rotor in the circumferential direction.
  • the plurality of first magnetic poles of the second rotor are arranged at intervals along the second tilt direction, and the plurality of second magnetic poles of the second rotor are arranged in the second rotor direction.
  • a two-degree-of-freedom electric motor arranged so as to be spaced apart from each other along the second inclination direction and not to overlap with the plurality of first magnetic poles of the two rotors in the circumferential direction.
  • each of the plurality of first magnetic poles and the plurality of second magnetic poles of the drive shaft has an end portion along the first tilt direction and an end portion along the second tilt direction.
  • a two-degree-of-freedom motor that has a shape.
  • the plurality of first magnetic poles of the drive shaft are arranged at intervals in the axial direction, and the plurality of second magnetic poles of the drive shaft are shafts.
  • Two-degree-of-freedom motors that are spaced apart from each other in the direction.
  • each of the plurality of first magnetic poles and the plurality of second magnetic poles of the drive shaft has a shape having an end portion along the circumferential direction and an end portion along the axial direction.
  • a two-degree-of-freedom motor in which the ends are alternately arranged so as to be adjacent to each other in the circumferential direction and the axial direction.
  • FIG. 3 is a cross-sectional view taken along the line III-III cut surface of FIG. It is a perspective view which shows the 1st rotor of 1st Embodiment. It is a figure which shows the magnet arrangement of the drive shaft of 1st Embodiment, and is the development plan view of the outer peripheral surface of the drive shaft. It is a figure which shows the magnet arrangement of the drive shaft of 1st Embodiment, and is the development plan view of the outer peripheral surface of the drive shaft.
  • FIG. 1 is a perspective view showing a two-degree-of-freedom motor according to the first embodiment.
  • FIG. 2 is a front view showing a two-degree-of-freedom motor according to the first embodiment.
  • FIG. 3 is a cross-sectional view taken along the line III-III cut surface of FIG.
  • FIG. 4 is a perspective view showing the first rotor of the first embodiment.
  • the two-degree-of-freedom motor 100 is a so-called radial gap type motor, and has a first stator 10, a second stator 20, a drive shaft 30, and a first rotor 40, as shown in FIGS. 1 to 3.
  • the two-degree-of-freedom motor 100 is a motor capable of independently generating a thrust in the Z-axis direction and a rotational force in the ⁇ direction.
  • the Z-axis direction is the direction in which the drive shaft 30 extends.
  • the direction from the first stator 10 side to the second stator 20 side is the + Z direction
  • the opposite direction is the ⁇ Z direction.
  • the circumferential direction of the drive shaft 30 is set to the ⁇ direction.
  • the clockwise direction is the + ⁇ direction
  • the opposite direction is the ⁇ direction.
  • the first stator 10 is annular and forms a rotating magnetic field. Specifically, in the first stator 10, a plurality of armatures (not shown) composed of a coil and an iron core around which the coil is wound are arranged at intervals in the ⁇ direction, and the phases are sequentially arranged on the plurality of armatures. It is a structure that forms a rotating magnetic field by supplying a staggered current. The rotating magnetic field allows the first stator 10 to rotationally move the first rotor 40.
  • the second stator 20 is annular and forms a rotating magnetic field.
  • a plurality of armatures (not shown) composed of a coil and an iron core around which the coil is wound are arranged at intervals in the ⁇ direction, and the phases are sequentially arranged on the plurality of armatures. It is a structure that forms a rotating magnetic field by supplying a staggered current.
  • the second stator 20 can drive the drive shaft 30 by the rotating magnetic field.
  • the first stator 10 and the second stator 20 are provided at different positions in the Z-axis direction. Further, the first stator 10 and the second stator 20 can be controlled independently.
  • the first rotor 40 is an annular rotating body. Further, the first rotor 40 has an annular gap with respect to the outer peripheral surface of the drive shaft 30 and the inner peripheral surface of the first stator 10, and is rotatably supported. The first rotor 40 may be rotatably supported by a bearing (not shown) incorporated in the first stator 10.
  • the north pole region including a plurality of north pole magnets 41 (first magnetic poles) magnetized on the north pole (first polarity) and the south pole (second polarity) are magnetized. It includes an S pole region including a plurality of S pole magnets 42 (second magnetic poles).
  • the portion corresponding to the north pole region of the outer peripheral surface is the south pole region
  • the portion corresponding to the south pole region of the outer peripheral surface is the north pole region. That is, the inner peripheral surface of the N-pole magnet 41 is the S pole, and the inner peripheral surface of the S-pole magnet 42 is the N pole.
  • the N-pole magnet 41 and the S-pole magnet 42 are preferably permanent magnets.
  • the N-pole magnet 31 and the S-pole magnet 32, which will be described later, may also be permanent magnets.
  • each of the plurality of N-pole magnets 41 and S-pole magnets 42 included in the first rotor 40 has an arc shape. Further, as shown in FIG. 4, the width of one N-pole magnet 41 and one S-pole magnet 42 in the ⁇ direction is 45 °, and eight of these magnets are arranged to form one circumference of the first rotor 40. It was decided to. Note that FIG. 4 shows a configuration in which an N-pole magnet 41 and an S-pole magnet 42 that are adjacent to each other in the circumferential direction are connected to each other, but the present invention is not limited to this, and they may be separated from each other. In this case, the N-pole magnet 41 and the S-pole magnet 42 may be supported by a non-magnetized tubular housing or the like.
  • the north pole region and the south pole region of the first rotor 40 are provided so as to face the outer peripheral surface of the drive shaft 30 and the inner peripheral surface of the first stator 10, respectively. That is, the north pole region and the south pole region of the outer peripheral surface of the first rotor 40 are magnetically affected by the first stator 10, and the north pole region and the south pole region of the inner peripheral surface of the first rotor 40 are driven. It is provided so as to magnetically affect the shaft 30. The details of the magnet arrangement in the first rotor 40 will be described later.
  • the first rotor 40 rotates relative to the first stator 10 by the same drive system as the so-called SPM (Surface Permanent Magnet Motor) motor. That is, the position of the magnetic flux formed by the phase change of the three-phase current supplied to the armature of the first stator 10 of the first rotor 40 changes, and the first rotor 40 rotates and moves with the change of the position of the magnetic flux.
  • SPM Surface Permanent Magnet Motor
  • the drive shaft 30 is arranged with an annular gap with respect to the inner peripheral surfaces of the first stator 10 and the second stator 20. Further, on the outer peripheral surface of the drive shaft 30, an N-pole region including a plurality of N-pole magnets 31 magnetized on the N-pole and an S-pole region including an S-pole magnet 32 magnetized on the S pole are provided. ing. Further, as shown in FIG. 1, the width of one N-pole magnet 31 and one S-pole magnet 32 in the ⁇ direction is 90 °, and four of these magnets are arranged to form one circumference of the drive shaft 30. I decided. The details of the magnet arrangement on the drive shaft 30 will be described later.
  • the N-pole region on the outer peripheral surface of the drive shaft 30 receives a repulsive force from the N-pole region on the inner peripheral surface of the first rotor 40 and a force attracted to the S-pole region on the inner peripheral surface of the first rotor 40. Further, the S pole region on the outer peripheral surface of the drive shaft 30 receives a force attracted to the N pole region on the inner peripheral surface of the first rotor 40, and also receives a repulsive force from the S pole region on the inner peripheral surface of the first rotor 40. receive.
  • FIGS. 5 and 6 are views showing the magnet arrangement of the drive shaft of the first embodiment, and are developed plan views of the outer peripheral surface of the drive shaft.
  • the N-pole magnet 31 is shown by narrow diagonal lines
  • the S-pole magnet 32 is shown by hatching consisting of a plurality of wide diagonal lines
  • the unmagnetized portion (hereinafter, non-magnetized portion) is shown.
  • the magnetized part) is shown in white.
  • the drive shaft 30 has an N-pole region extending along the right inclination direction (first direction) and an S-pole region extending along the N-pole region on the outer peripheral surface thereof.
  • the north pole region and the south pole region are arranged alternately.
  • the rightward tilting direction is defined as a direction that tilts in the + Z direction toward the + ⁇ direction (first circumferential direction).
  • the left tilt direction described later is defined as a direction that tilts in the + Z direction toward the ⁇ direction (second circumferential direction).
  • the inclination angle in the right inclination direction with respect to the ⁇ direction is ⁇ .
  • the N-pole region is a band-shaped region including the N-pole magnet 31 and the non-magnetized portion 33.
  • the S pole region is a band-shaped region including the S pole magnet 32 and the non-magnetized portion 34.
  • the N-pole magnets 31 are arranged side by side at intervals along the right-inclining direction. Further, in the N-pole region, the non-magnetized portions 33 are arranged side by side at intervals from each other along the right-inclining direction. As described above, in the N-pole region, the N-pole magnet 31 and the non-magnetized portion 33 are alternately arranged side by side.
  • S pole magnets 32 are arranged side by side at intervals along the right inclination direction. Further, in the S pole region, the non-magnetized portions 34 are arranged side by side at intervals from each other along the right inclination direction. In this way, in the S pole region, the S pole magnet 32 and the non-magnetized portion 34 are arranged alternately side by side.
  • the N-pole magnet 31 included in the N-pole region of the drive shaft 30 and the non-magnetized portion 34 included in the S-pole region of the drive shaft 30 are arranged alternately in the Z-axis direction.
  • the S-pole magnet 32 included in the S-pole region of the drive shaft 30 and the non-magnetized portion 33 included in the N-pole region of the drive shaft 30 are arranged alternately in the Z-axis direction.
  • the drive shaft 30 has an N-pole region extending along the Z-axis direction (a second direction intersecting the first direction) and an S-pole region extending along the Z-axis direction. It can also be regarded as a configuration that includes.
  • the N-pole region extending along the Z-axis direction is a region including the N-pole magnet 31 and the non-magnetized portion 34.
  • the S pole region extending along the Z-axis direction is a region including the S pole magnet 32 and the non-magnetized portion 33.
  • the planar shapes of the N-pole magnet 31, the S-pole magnet 32, and the non-magnetized portions 33, 34 in the developed plan view are respectively extended in the Z-axis direction and tilted to the right. It was a parallelogram including a side (end) extending in the direction.
  • FIG. 7 is a view showing the magnet arrangement of the first rotor of the first embodiment, and is a developed plan view of the outer peripheral surface of the first rotor.
  • the first rotor 40 has a magnetic pole arrangement similar to that shown in FIG. 7 even when viewed from the inner peripheral surface side.
  • the N-pole magnet 41 is shown by a plurality of narrow diagonal lines
  • the S-pole magnet 42 is shown by a plurality of wide diagonal lines
  • the non-magnetized portion 43 is white. Shown without.
  • the magnet arrangement of the first rotor 40 is substantially the same as the magnet arrangement of the drive shaft 30. That is, in the first rotor 40, the plurality of N-pole magnets 41 are arranged so as to be arranged at intervals along the right-inclining direction and at intervals along the Z-axis direction. Further, the plurality of S pole magnets 42 are also arranged so as to be arranged at intervals along the right-inclining direction and at intervals along the Z-axis direction. Further, the N-pole magnet 41 is arranged so as not to overlap with the S-pole magnet 42 in the ⁇ direction.
  • the shapes of the N-pole magnet 41 and the S-pole magnet 42 of the first rotor 40 are almost the same as those of the N-pole magnet 31 and the S-pole magnet 32 of the drive shaft 30.
  • the drive shaft 30 rotates relative to the second stator 20 in the same drive system as the so-called SPM (Surface Permanent Magnet Motor) motor. That is, when a rotating magnetic field is formed by passing an electric current through the second stator 20, a force in the ⁇ direction acts on the drive shaft 30. As a result, the drive shaft 30 rotates and moves in the ⁇ direction. By changing the direction of the current flowing through the second stator 20, the drive shaft 30 can be rotationally moved in either the + ⁇ direction or the ⁇ direction.
  • SPM Surface Permanent Magnet Motor
  • the drive shaft 30 can be rotationally moved by driving the second stator 20 without driving the first stator 10. That is, the rotational force in the ⁇ direction can be generated independently.
  • FIG. 8 is a diagram showing the magnetic force acting on the drive shaft 30 as the first rotor 40 rotates and moves.
  • a rotational force in the ⁇ direction acts on the first rotor 40.
  • the rotational movement of the first rotor 40 in the ⁇ direction causes a phase difference in the ⁇ direction between the magnet arrangement of the first rotor 40 and the magnet arrangement of the drive shaft 30.
  • a magnetic force is generated on the drive shaft 30.
  • a magnetic force F is generated on the drive shaft 30 in a direction orthogonal to the right tilting direction, as shown in FIG.
  • the magnetic force F is the resultant force of the thrust F ⁇ cos ⁇ acting in the + Z direction and the rotational force F ⁇ sin ⁇ acting in the ⁇ direction.
  • the magnetic force F is generated according to the phase difference ⁇ mr1 shown in the equation (1).
  • ⁇ r1 and ⁇ m indicate the rotation angles of the first rotor 40 and the drive shaft 30 in the ⁇ direction
  • z m indicates the position of the drive shaft 30 in the Z axis direction.
  • ⁇ rp and ⁇ mp indicate the period of magnet arrangement (width of one magnet in the ⁇ direction) of each of the first rotor 40 and the drive shaft 30 in the ⁇ direction.
  • the drive shaft 30 has a rotational force in the ⁇ direction due to the rotating magnetic field formed by the second stator 20 and a Z-axis direction generated by the rotational movement of the first rotor 40. Thrust and rotational force in the ⁇ direction act.
  • the rotational force in the ⁇ direction due to the rotating magnetic field formed by the second stator 20 and the rotational force F ⁇ Sin ⁇ in the ⁇ direction generated by the rotational movement of the first rotor 40 are required. It is preferable to control the first stator 10 and the second stator 20 so as to cancel each other out. When the rotational forces cancel each other out, the drive shaft 30 only moves linearly relative to the first stator 10 and the second stator 20. As a result, thrust in the Z-axis direction can be generated independently.
  • the first stator 10, the second stator 20, the first rotor 40, and the drive shaft 30 are physically non-contact with each other, loss due to friction can be prevented. As a result, high output can be realized. Further, by adopting a configuration in which two stators, which are output units, are provided, it is possible to output a higher output. Further, since the magnets included in the first rotor 40 and the drive shaft 30 are rectangular, the configuration is simpler and easier to manufacture as compared with the configuration in which the spiral magnet is adopted. Further, since the north pole region and the south pole region of the first rotor 40 and the drive shaft 30 include a non-magnetized portion, the amount of magnets used can be reduced. As a result, the cost can be reduced.
  • FIG. 9 is a perspective view showing a two-degree-of-freedom motor according to the second embodiment.
  • FIG. 10 is a front view showing a two-degree-of-freedom motor according to the second embodiment.
  • FIG. 11 is a cross-sectional view of the XI-XI cut plane of FIG.
  • FIG. 12 is a view showing the magnet arrangement of the drive shaft of the second embodiment, and is a developed plan view of the outer peripheral surface of the drive shaft.
  • FIG. 13 is a view showing the magnet arrangement of the drive shaft of the second embodiment, and is a developed plan view of the outer peripheral surface of the drive shaft.
  • FIG. 14 is a view showing the magnet arrangement of the first rotor of the second embodiment, and is a developed plan view of the outer peripheral surface of the first rotor.
  • FIG. 15 is a view showing the magnet arrangement of the second rotor of the second embodiment, and is a developed plan view of the outer peripheral surface of the second rotor.
  • the two-degree-of-freedom motor 200 is an electric motor capable of independently generating a thrust in the Z-axis direction and a rotational force in the ⁇ direction, similar to the two-degree-of-freedom motor 100.
  • the two-degree-of-freedom motor 200 has a first stator 210, a second stator 220, a drive shaft 230, a first rotor 240, and a second rotor 250.
  • the first stator 210 has a different number of slots from the first stator 10 shown in FIG. 1 and the like, but has the same other basic structures, is annular, and forms a rotating magnetic field.
  • the first stator 210 can drive the first rotor 240 by forming a rotating magnetic field.
  • the second stator 220 has a different number of slots from the second stator 220 shown in FIG. 1 and the like, but has the same other basic structures, is annular, and forms a rotating magnetic field. ..
  • the second stator 220 can drive the second rotor 250 by forming a rotating magnetic field.
  • the first stator 210 and the second stator 220 are provided at different positions in the Z-axis direction. Further, the first stator 210 and the second stator 220 can be controlled independently.
  • the first rotor 240 is an annular rotating body. Further, the first rotor 240 has an annular gap with respect to the outer peripheral surface of the drive shaft 230 and the inner peripheral surface of the first stator 210, and is rotatably supported.
  • the second rotor 250 is also an annular rotating body.
  • the second rotor 250 has an annular gap with respect to the outer peripheral surface of the drive shaft 230 and the inner peripheral surface of the second stator 220, and is rotatably supported.
  • the first rotor 240 has a band-shaped N-pole region including a plurality of N-pole magnets 41 magnetized on the N-pole and a band-shaped S including a plurality of S-pole magnets 42 magnetized on the S-pole on the outer peripheral surface. Includes polar region.
  • the portion corresponding to the north pole region of the outer peripheral surface is the south pole region
  • the portion corresponding to the south pole region of the outer peripheral surface is the north pole region. That is, the inner peripheral surface of the N-pole magnet 41 is the S pole, and the inner peripheral surface of the S-pole magnet 42 is the N pole.
  • the north pole region and the south pole region of the first rotor 240 are provided so as to face the outer peripheral surface of the drive shaft 230 and the inner peripheral surface of the first stator 210, respectively. That is, the north pole region and the south pole region of the outer peripheral surface of the first rotor 240 are magnetically affected by the first stator 210, and the north pole region and the south pole region of the inner peripheral surface of the first rotor 240 are driven. It is provided so as to magnetically affect the shaft 230. The details of the magnet arrangement in the first rotor 240 will be described later.
  • the second rotor 250 has a band-shaped N-pole region containing a plurality of N-pole magnets 41 magnetized on the N-pole and a band-shaped S-pole containing a plurality of S-pole magnets 42 magnetized on the S pole. Includes area.
  • the north pole region and the south pole region of the second rotor 250 are provided so as to face the outer peripheral surface of the drive shaft 230 and the inner peripheral surface of the second stator 220, respectively. That is, the north pole region and the south pole region of the second rotor 250 are magnetically affected by the second stator 220 and magnetically with respect to the north pole region and the south pole region drive shaft 230 of the second rotor 250. It is provided to influence. The details of the magnet arrangement in the second rotor 250 will be described later.
  • each of the plurality of N-pole magnets 41 and S-pole magnets 42 included in the second rotor 250 has an arc shape. Further, as shown in FIG. 10, the width of one N-pole magnet 41 and one S-pole magnet 42 in the ⁇ direction is 45 °, and eight of these magnets are arranged to form one circumference of the second rotor 250. It was decided to. The same applies to the first rotor 240.
  • the drive shaft 230 is arranged with an annular gap with respect to the inner peripheral surfaces of the first rotor 240 and the second rotor 250. Further, on the outer peripheral surface of the drive shaft 230, a band-shaped N-pole region including a plurality of N-pole magnets 31 magnetized on the N-pole and a band-shaped S-pole including an S-pole magnet 32 magnetized on the S pole The area is provided. Further, in the drive shaft 230, the width of one N-pole magnet 31 and one S-pole magnet 32 in the ⁇ direction is 180 °, and two of these magnets are arranged side by side to form one circumference of the drive shaft 230. And said. The details of the magnet arrangement on the drive shaft 230 will be described later.
  • the N-pole region on the outer peripheral surface of the drive shaft 230 receives a repulsive force from the N-pole region on the inner peripheral surfaces of the first rotor 240 and the second rotor 250, and the inner peripheral surfaces of the first rotor 240 and the second rotor 250. Receives a force that attracts the S pole region of. Further, the S pole region on the outer peripheral surface of the drive shaft 230 receives a force attracting the N pole region on the inner peripheral surfaces of the first rotor 240 and the second rotor 250, and the inner circumference of the first rotor 240 and the second rotor 250. Receives a repulsive force from the S pole region of the surface.
  • the drive shaft 330 repels the first rotor 240. You will receive the power to do and the power to attract. Further, when a phase difference occurs in the ⁇ direction between the magnet arrangement of the second rotor 250 and the magnet arrangement of the drive shaft 230 due to the rotational movement of the second rotor 250, the drive shaft 230 is moved from the second rotor 250. It will receive the above-mentioned repulsive force and attractive force. In this way, the drive shaft 230 is driven by receiving a magnetic force from the first rotor 240 and the second rotor 250.
  • FIGS. 12 and 13 are views showing the magnet arrangement of the drive shaft of the second embodiment, and are developed plan views of the outer peripheral surface of the drive shaft.
  • the N-pole magnet 31 is shown by narrow diagonal lines
  • the S-pole magnet 32 is shown by hatching consisting of a plurality of wide diagonal lines
  • the non-magnetized portion is shown in white. There is.
  • the drive shaft 230 has an N-pole region extending along the right inclination direction and an S-pole region extending along the N-pole region on the outer peripheral surface thereof.
  • the north pole region and the south pole region are arranged alternately.
  • the inclination angle in the right inclination direction with respect to the ⁇ direction is ⁇ .
  • the N-pole region is a region including the N-pole magnet 31 and the non-magnetized portion 33.
  • the S pole region is a region including the S pole magnet 32 and the non-magnetized portion 34.
  • the N-pole magnets 31 are arranged side by side at intervals along the right-inclining direction. Further, in the N-pole region, the non-magnetized portions 33 are arranged side by side at intervals from each other along the right-inclining direction. As described above, in the N-pole region, the N-pole magnet 31 and the non-magnetized portion 33 are alternately arranged side by side.
  • S pole magnets 32 are arranged side by side at intervals along the right inclination direction. Further, in the S pole region, the non-magnetized portions 34 are arranged side by side at intervals from each other along the right inclination direction. In this way, in the S pole region, the S pole magnet 32 and the non-magnetized portion 34 are arranged alternately side by side.
  • the N-pole magnet 31 included in the N-pole region of the drive shaft 230 and the non-magnetized portion 34 included in the S-pole region of the drive shaft 230 are arranged alternately side by side in the left inclination direction.
  • the S pole magnet 32 included in the S pole region of the drive shaft 230 and the non-magnetized portion 33 included in the N pole region of the drive shaft 230 are arranged alternately side by side in the left inclination direction.
  • the drive shaft 230 can be regarded as having a configuration including an N pole region extending along the left tilt direction and an S pole region extending along the left tilt direction.
  • the north pole region extending along the left inclination direction is a region including the north pole magnet 31 and the non-magnetized portion 34.
  • the S pole region extending along the left inclination direction is a region including the S pole magnet 32 and the non-magnetized portion 33.
  • the planar shapes of the N-pole magnet 31, the S-pole magnet 32, and the non-magnetized portions 33, 34 in the developed plan view are respectively extended to the right and tilted to the left.
  • a parallelogram (diamond) including a side (end) extending in the direction was used.
  • FIG. 14 is a view showing the magnet arrangement of the first rotor of the second embodiment, and is a developed plan view of the outer peripheral surface of the first rotor.
  • the first rotor 240 has the magnet arrangement shown in FIG. 14 even when viewed from the inner peripheral surface side.
  • the magnet arrangement of the first rotor 240 is the same as that of the first rotor 40 of the first embodiment. That is, in the first rotor 240, the plurality of N-pole magnets 41 are arranged so as to be arranged at intervals along the right inclination direction (first inclination direction) and along the Z-axis direction. Similarly, the plurality of S pole magnets 42 are arranged so as to be arranged at intervals along the right inclination direction and along the Z-axis direction. Further, the N-pole magnet 41 is arranged so as not to overlap with the S-pole magnet 42 in the ⁇ direction.
  • FIG. 15 is a view showing the magnet arrangement of the second rotor of the second embodiment, and is a developed plan view of the outer peripheral surface of the second rotor.
  • the second rotor 250 has the magnet arrangement shown in FIG. 15 even when viewed from the inner peripheral surface side.
  • the plurality of N-pole magnets 41 are arranged at intervals along the left inclination direction (second inclination direction) and are arranged along the Z-axis direction. Have been placed.
  • the plurality of S pole magnets 42 are arranged so as to be arranged at intervals along the left inclination direction and along the Z-axis direction.
  • the N-pole magnet 41 is arranged so as not to overlap with the S-pole magnet 42 in the ⁇ direction.
  • FIG. 16 is a diagram showing the magnetic force acting on the drive shaft as the first rotor rotates and moves.
  • FIG. 17 is a diagram showing a magnetic force acting on the drive shaft as the second rotor rotates and moves.
  • a rotational force in the ⁇ direction acts on the first rotor 240.
  • the rotational movement of the first rotor 240 in the ⁇ direction causes a phase difference in the ⁇ direction between the magnet arrangement of the first rotor 240 and the magnet arrangement of the drive shaft 230.
  • a magnetic force is generated on the drive shaft 230.
  • a magnetic force F is generated on the drive shaft 230 in a direction orthogonal to the right tilting direction, as shown in FIG.
  • the magnetic force F is the resultant force of the thrust F ⁇ cos ⁇ acting in the + Z direction and the rotational force F ⁇ sin ⁇ acting in the ⁇ direction.
  • the magnetic force F shown in FIG. 16 is generated according to the phase difference ⁇ mr1 shown in the above equation (1).
  • ⁇ rp 90 °
  • ⁇ mp 180 °.
  • a rotational force in the ⁇ direction acts on the second rotor 250.
  • the rotational movement of the second rotor 250 in the ⁇ direction causes a phase difference in the ⁇ direction between the magnet arrangement of the second rotor 250 and the magnet arrangement of the drive shaft 230. At that time, a magnetic force is generated on the drive shaft 230.
  • the drive shaft 230 has the drive shaft 230 with respect to the left tilt direction as shown in FIG.
  • a magnetic force F is generated in the direction orthogonal to each other.
  • the magnetic force F is the resultant force of the thrust F ⁇ cos ⁇ acting in the ⁇ Z direction and the rotational force F ⁇ sin ⁇ acting in the ⁇ direction.
  • the magnetic force F shown in FIG. 17 is generated according to the phase difference ⁇ mr2 shown in the equation (2).
  • ⁇ r2 and ⁇ m indicate the rotation angles of the second rotor 250 and the drive shaft 230 in the ⁇ direction
  • z m indicates the position of the drive shaft 230 in the Z axis direction.
  • ⁇ rp and ⁇ mp indicate the period of magnet arrangement (width of one magnet in the ⁇ direction) of each of the second rotor 250 and the drive shaft 230 in the ⁇ direction.
  • l p indicates the period of magnet arrangement in the Z-axis direction (width of one magnet in the Z-axis direction).
  • the drive shaft 230 has the thrust in the Z-axis direction and the rotational force in the ⁇ direction generated by the rotational movement of the first rotor 240, and the rotational movement of the second rotor 250.
  • the thrust in the Z-axis direction and the rotational force in the ⁇ direction which are generated by the above, act.
  • the thrust F ⁇ cos ⁇ in the + Z direction generated by the rotational movement of the first rotor 240 and the thrust F ⁇ cos ⁇ in the ⁇ Z direction generated by the rotation of the second rotor 250 cancel each other out. It is preferable to control the first stator 210 and the second stator 220 so as to match. When the thrusts cancel each other out, the drive shaft 230 only rotationally moves relative to the first stator 210 and the second stator 220. As a result, the rotational force in the ⁇ direction can be generated independently.
  • FIG. 18 is a diagram showing the relationship between the phase angle [deg] of the first rotor and the second rotor with respect to the drive shaft and the thrust [N] when the first rotor and the second rotor rotate in the same direction. Is.
  • the first stator 210 and the second stator 210 and the second stator 210 and the second are so that the thrust in the Z-axis direction generated by the rotational movement of the first rotor 240 and the thrust in the Z-axis direction generated by the rotation of the second rotor 250 cancel each other out.
  • the drive shaft 230 does not move in the Z-axis direction.
  • FIG. 19 shows the relationship between the phase angle [deg] of the first rotor and the second rotor with respect to the drive shaft and the rotational force [Nm] when the first rotor and the second rotor rotate in the same direction. It is a figure.
  • the drive shaft 230 is rotationally moved by the rotational force in the ⁇ direction generated by the rotational movement of the first rotor 240 and the rotational force in the ⁇ direction generated by the rotational movement of the second rotor 250.
  • FIG. 20 is a diagram showing the magnetic force acting on the drive shaft as the second rotor rotates and moves.
  • the drive shaft 230 When the second rotor 250 rotates in the + ⁇ direction, that is, when it rotates in the direction opposite to that of the first rotor 240, the drive shaft 230 has a magnetic force in a direction orthogonal to the left tilt direction, as shown in FIG. F occurs.
  • the magnetic force F is the resultant force of the thrust F ⁇ cos ⁇ acting in the + Z direction and the rotational force F ⁇ sin ⁇ acting in the + ⁇ direction.
  • a rotational force F ⁇ sin ⁇ in the ⁇ direction generated by the rotational movement of the first rotor 240 and a rotational force F ⁇ sin ⁇ in the + ⁇ direction generated by the rotation of the second rotor 250 It is preferable to control the first stator 210 and the second stator 220 so that the two stators cancel each other out. Since the rotational forces cancel each other out, the drive shaft 230 moves only linearly relative to the first stator 210 and the second stator 220. Thereby, the thrust in the Z direction can be generated independently.
  • FIG. 21 shows the relationship between the phase angle [deg] of the first rotor and the second rotor with respect to the drive shaft and the thrust [N] when the first rotor and the second rotor rotate in opposite directions. It is a figure.
  • the drive shaft 230 moves in the linear direction due to the thrust in the Z-axis direction generated by the rotational movement of the first rotor 240 and the thrust in the Z-axis direction generated by the rotation of the second rotor 250.
  • FIG. 22 shows the relationship between the phase angle [deg] of the first rotor and the second rotor with respect to the drive shaft and the rotational force [Nm] when the first rotor and the second rotor rotate in opposite directions. It is a figure which shows.
  • the first stator 210 and the second stator 210 and the second stator 210 and the second are so that the rotational force in the ⁇ direction generated by the rotational movement of the first rotor 240 and the rotational force in the ⁇ direction generated by the rotation of the second rotor 250 cancel each other out.
  • the drive shaft 230 does not rotate in the ⁇ direction.
  • FIG. 23 is a view showing the magnet arrangement of the drive shaft of the first modification of the second embodiment, and is a developed plan view of the outer peripheral surface of the drive shaft.
  • the two-degree-of-freedom motor according to the first modification of the second embodiment has the same configuration as the drive shaft 230 shown in FIGS. 9 to 17, except that the magnet arrangement in the drive shaft 330 is different. ..
  • the drive shaft 330 includes an N-pole region and an S-pole region on the outer peripheral surface thereof, similarly to the drive shaft 230.
  • the N-pole region the N-pole magnet 31 is arranged along the right-tilt direction and the left-tilt direction.
  • the S pole magnet 32 is arranged along the right tilt direction and the left tilt direction. That is, the N-pole magnet 31 and the S-pole magnet 32 are parallelograms (diamonds) including sides (ends) along the right-tilt direction and the left-tilt direction.
  • the plurality of N pole magnets 31 are arranged at intervals in the Z-axis direction.
  • the plurality of S pole magnets 32 are arranged at intervals in the Z-axis direction.
  • the thrust in the Z-axis direction and the rotational force in the ⁇ direction act due to the rotational movement of the first rotor 240 and the second rotor 250. Thereby, linear movement or rotational movement can be generated independently.
  • FIG. 24 is a diagram showing a porcelain that magnetizes the drive shaft of the first modification of the second embodiment.
  • the magnetizer 80 is a device that generates a magnetic field that magnetizes the outer peripheral surface of the drive shaft 330. It has a plurality of magnetized portions 81 having a shape that conforms to the shape of the magnet included in the drive shaft 330.
  • the outer peripheral surface of the drive shaft 330 is magnetized by arranging the drive shaft 330 whose outer peripheral surface is not magnetized on the magnetized portion 81 of the magnetizer 80 and generating a magnetic field.
  • the magnetizer 80 shown in FIG. 24 it is possible to magnetize a half circumference of the drive shaft 330 by one magnetizing operation. Therefore, in the first modification of the second embodiment, the north pole region and the south pole region shown in FIG. 23 can be formed on the outer peripheral surface of the drive shaft 330 by two magnetizing operations.
  • the number of magnets used is small, so that the output is reduced, but the manufacturing process is simplified.
  • FIG. 25 is a perspective view showing a two-degree-of-freedom motor according to a second modification of the second embodiment.
  • 26 and 27 are views showing the magnet arrangement of the drive shaft of the second modification of the second embodiment, and are developed plan views of the outer peripheral surface of the drive shaft.
  • the two-degree-of-freedom motor according to the second modification of the second embodiment is the same as the configuration shown in FIGS. 9 to 17, except that the magnet arrangement in the drive shaft 430 is different.
  • the drive shaft 430 includes an N-pole region and an S-pole region on the outer peripheral surface thereof, similarly to the drive shaft 230.
  • the N-pole magnet 31 included in the N-pole region and the S-pole magnet 32 included in the S-pole region are rectangular (rectangular) including a side (end) along the Z-axis direction and a side (end) along the ⁇ direction. be. Further, the N-pole magnet 31 and the S-pole magnet 32 are alternately arranged so as to be adjacent to each other at the ends in the ⁇ direction and the Z-axis direction.
  • the north pole region and the south pole region are magnetically provided along the right tilt direction and the left tilt direction with respect to the first rotor 240 and the second rotor 250. Can be done.
  • the magnetic force received from the first rotor 240 and the second rotor 250 is applied in the region. It will be offset. That is, the region magnetically surrounded by the thick line with respect to the first rotor 240 and the second rotor 250 is a region equivalent to the non-magnetic pole portion. Therefore, in the magnet arrangement shown in FIG. 26, it can be regarded as magnetically equivalent to the magnet arrangement shown in FIG. 16 with respect to the first rotor 240 and the second rotor 250. Therefore, by using the drive shaft 430, the thrust in the Z-axis direction and the rotational force in the ⁇ direction can be independently generated with the rotational movement of the first rotor 240 and the second rotor 250.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Electromagnetism (AREA)
  • Permanent Magnet Type Synchronous Machine (AREA)

Abstract

La présente invention concerne un moteur électrique (100) doté de deux degrés de liberté qui permet d'obtenir une faible perte et une puissance élevée. La présente invention comprend un premier stator (10), un second stator (20), un premier rotor (40) et un arbre de commande (30). Des aimants à pôle N (41) de régions de pôle N du premier rotor (40) sont alignés le long d'une direction inclinée vers la droite avec des intervalles entre eux. Des aimants à pôle S (42) de régions de pôle S du premier rotor (40) sont alignés le long de la direction inclinée vers la droite avec des intervalles entre eux, et sont positionnés de façon à ne pas chevaucher les aimants à pôle N (41) des régions de pôle N dans une direction θ. Des aimants à pôle N (31) de régions de pôle N de l'arbre de commande (30) sont positionnés le long de la direction inclinée vers la droite et d'une direction d'axe Z. Des aimants de pôle S (32) de régions de pôle S de l'arbre de commande (30) sont positionnés le long de la direction inclinée vers la droite et de la direction d'axe Z.
PCT/JP2020/047259 2020-01-22 2020-12-17 Mécanisme électrique doté de deux degrés de liberté WO2021149420A1 (fr)

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Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS538710A (en) * 1976-05-24 1978-01-26 Kling Alberto Electromagnetic drive unit
JPS60111381U (ja) * 1983-12-28 1985-07-27 日本電気ホームエレクトロニクス株式会社 ２自由度を有するモ−タ
JPS6240052A (ja) * 1985-08-14 1987-02-21 Tokyo R & D:Kk 回転及び軸直線運動両用型の電動機
JP2004040894A (ja) * 2002-07-02 2004-02-05 Tsubakimoto Chain Co 電磁アクチュエータ
JP2004254411A (ja) * 2003-02-19 2004-09-09 Matsushita Electric Works Ltd アクチュエータ及びこれを用いた電動歯ブラシ
EP1780878A1 (fr) * 2005-10-25 2007-05-02 Protronic N.V. Moteur linéaire et rotatif compact
JP2009071967A (ja) * 2007-09-12 2009-04-02 Namiki Precision Jewel Co Ltd 回転直動複合動作アクチュエータ
KR20110001271A (ko) * 2009-06-30 2011-01-06 연세대학교 산학협력단 2자유도 전동기 및 상기 전동기의 제조방법
CN104852549A (zh) * 2015-05-28 2015-08-19 东南大学 一种采用交错极结构的直线旋转永磁作动器
JP2016025700A (ja) * 2014-07-17 2016-02-08 国立大学法人横浜国立大学 磁気ねじアクチュエータ

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS538710A (en) * 1976-05-24 1978-01-26 Kling Alberto Electromagnetic drive unit
JPS60111381U (ja) * 1983-12-28 1985-07-27 日本電気ホームエレクトロニクス株式会社 ２自由度を有するモ−タ
JPS6240052A (ja) * 1985-08-14 1987-02-21 Tokyo R & D:Kk 回転及び軸直線運動両用型の電動機
JP2004040894A (ja) * 2002-07-02 2004-02-05 Tsubakimoto Chain Co 電磁アクチュエータ
JP2004254411A (ja) * 2003-02-19 2004-09-09 Matsushita Electric Works Ltd アクチュエータ及びこれを用いた電動歯ブラシ
EP1780878A1 (fr) * 2005-10-25 2007-05-02 Protronic N.V. Moteur linéaire et rotatif compact
JP2009071967A (ja) * 2007-09-12 2009-04-02 Namiki Precision Jewel Co Ltd 回転直動複合動作アクチュエータ
KR20110001271A (ko) * 2009-06-30 2011-01-06 연세대학교 산학협력단 2자유도 전동기 및 상기 전동기의 제조방법
JP2016025700A (ja) * 2014-07-17 2016-02-08 国立大学法人横浜国立大学 磁気ねじアクチュエータ
CN104852549A (zh) * 2015-05-28 2015-08-19 东南大学 一种采用交错极结构的直线旋转永磁作动器

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