JP2002119030A - Dc brushless motor - Google Patents
Dc brushless motorInfo
- Publication number
- JP2002119030A JP2002119030A JP2000235103A JP2000235103A JP2002119030A JP 2002119030 A JP2002119030 A JP 2002119030A JP 2000235103 A JP2000235103 A JP 2000235103A JP 2000235103 A JP2000235103 A JP 2000235103A JP 2002119030 A JP2002119030 A JP 2002119030A
- Authority
- JP
- Japan
- Prior art keywords
- brushless motor
- housing case
- motor
- thin
- inner rotor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Brushless Motors (AREA)
- Iron Core Of Rotating Electric Machines (AREA)
- Motor Or Generator Frames (AREA)
- Permanent Magnet Type Synchronous Machine (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、主に医療用機器や
精密測定装置などに利用されるDCブラシレスモータであ
り、より詳細には、輸液ポンプ又は透析用ポンプ等に用
いられる外径φ12mm以下のインナーロータマグネット型
DCブラシレスモータユニットに関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a DC brushless motor mainly used for medical equipment and precision measuring devices, and more specifically, an outer diameter of 12 mm or less used for an infusion pump or a dialysis pump. Inner rotor magnet type
It relates to a DC brushless motor unit.
【０００２】[0002]
【従来の技術】従来より、インナーロータマグネット型
のDCブラシレスモータは、ハウジングケースとして磁性
材料を切削加工、又はプレス加工等により形成した単一
鋼塊の略円筒状のパーツ部品を用いるのが一般的であっ
た。2. Description of the Related Art Conventionally, a DC brushless motor of an inner rotor magnet type generally uses a substantially cylindrical part part of a single steel ingot formed by cutting or pressing a magnetic material as a housing case. It was a target.
【０００３】例えば、図３に示すように、円筒状マグネ
ット4とその中心を貫通するシャフト3からなるインナー
ロータ部を、円筒状ハウジングケース1の両端開口部に
位置するフランジ2の軸中心位置で軸受6により回転自在
に軸支し、これをハウジングケース1内周面に固定配置
した界磁コイル5に転流通電することにより発生する回
転磁界によりロータ部を回転駆動させるDCブラシレスモ
ータがある。For example, as shown in FIG. 3, an inner rotor portion composed of a cylindrical magnet 4 and a shaft 3 penetrating the center of the inner magnet is placed at the axial center position of a flange 2 located at both ends of the cylindrical housing case 1. There is a DC brushless motor in which a rotor is rotatably supported by a bearing 6, and the rotor is rotationally driven by a rotating magnetic field generated by applying a commutation current to a field coil 5 fixedly arranged on the inner peripheral surface of the housing case 1.
【０００４】[0004]
【発明が解決しようとする課題】しかしながら上記図３
のようなインナーロータマグネット型DCブラシレスモー
タは、モータ動作時のロータ回転中に、ロータマグネッ
ト4の磁束が、磁性材料からなるハウジングケース1を横
切るため、ハウジングケース1中にうず電流が流れ、鉄
損が発生するという問題が以前から指摘されていた。However, FIG.
In an inner rotor magnet type DC brushless motor such as that described above, the magnetic flux of the rotor magnet 4 crosses the housing case 1 made of a magnetic material during rotation of the rotor during motor operation, so that eddy current flows in the housing case 1 and iron The problem of loss has been pointed out before.
【０００５】つまり従来のDCブラシレスモータの構成の
場合、ハウジングケースが一体の単一鋼塊であるため、
電気抵抗が小さく、うず電流が流れやすいため、結果的
にうず電流損の増大や、発熱の促進を招いていた。That is, in the case of a conventional DC brushless motor, since the housing case is an integral single steel block,
Since the electric resistance is small and eddy current flows easily, eddy current loss is increased and heat generation is promoted as a result.
【０００６】この改善のため、非磁性材料からなるハウ
ジングケース内に、例えば厚み0.5mm程度の鋼板を軸方
向に積層して収めた構造とすることにより、うず電流を
流れにくくする手段が提案されているが、積層鋼板を内
包するハウジングケースの厚み分、モータ外径寸法が増
大してしまい、小径化が難しく、特に外径φ12mm以下の
小径モータには適用が困難であった。In order to improve this, there has been proposed a means for preventing eddy current from flowing by adopting a structure in which steel sheets having a thickness of, for example, about 0.5 mm are stacked in the axial direction in a housing case made of a non-magnetic material. However, the outer diameter of the motor is increased by the thickness of the housing case containing the laminated steel sheet, and it is difficult to reduce the diameter, and it is particularly difficult to apply the motor to a small diameter motor having an outer diameter of 12 mm or less.
【０００７】本発明は上記課題を解決するもので、モー
タが外径φ12mm以下の小径なインナーロータマグネット
型モータであっても、うず電流損を低減し、高効率で発
熱の少ないモータを提供することを目的とする。The present invention solves the above-mentioned problems, and provides a motor with high efficiency and low heat generation, which reduces eddy current loss even if the motor is a small-diameter inner rotor magnet type motor having an outer diameter of 12 mm or less. The purpose is to:
【０００８】[0008]
【課題を解決するための手段】上記の目的を達成するた
めに、請求項１に係るDCブラシレスモータにあっては、
外径φ12mm以下のインナロータマグネット型DCブラシレ
スモータにおいて、界磁コイルの外周部に位置する該モ
ータのハウジングケースを、磁性材料からなる、互いに
電気的に絶縁された、少なくとも複数層以上の円筒状薄
肉多層構造とするものである。According to a first aspect of the present invention, there is provided a DC brushless motor according to the first aspect.
In an inner rotor magnet type DC brushless motor having an outer diameter of φ12 mm or less, a housing case of the motor located on the outer peripheral portion of the field coil is formed of a magnetic material, and is electrically insulated from each other, and has at least a plurality of cylindrical layers. It has a thin multilayer structure.
【０００９】この発明によれば、外径φ12mm以下のイン
ナーロータマグネット型DCブラシレスモータであって
も、バックヨークを兼ねたハウジングケースを磁性材料
からなり、互いに電気的に絶縁された薄円筒体を複数層
以上、径方向に密着積層した構造とすることにより、う
ず電流流路断面積（各層の薄円筒体断面積）が縮小し、
またハウジングケースの電気抵抗が増加するので、うず
電流が流れにくくなり、うず電流損を大幅に低減するこ
とができる。According to the present invention, even in the case of an inner rotor magnet type DC brushless motor having an outer diameter of φ12 mm or less, a thin cylindrical body made of a magnetic material and electrically insulated from each other is used for a housing case also serving as a back yoke. By adopting a structure in which a plurality of layers are closely laminated in the radial direction, the cross-sectional area of the eddy current flow path (the cross-sectional area of the thin cylinder of each layer) is reduced.
Further, since the electric resistance of the housing case increases, eddy current hardly flows, and eddy current loss can be greatly reduced.
【００１０】一方、密着積層薄円筒体の厚みの総和（ハ
ウジングケースの厚み）、すなわち総磁路断面積を維持
することにより、電磁気学的に発生しうる軸トルクを低
下させることなく、総合的に高性能化が図れる。On the other hand, by maintaining the total thickness (thickness of the housing case) of the close-laminated thin cylindrical body, that is, the total cross-sectional area of the magnetic path, the shaft torque that can be generated electromagnetically can be reduced without decreasing the overall torque. High performance.
【００１１】また、請求項２に係るDCブラシレスモータ
にあっては、ハウジングケースを、磁性材料からなる、
少なくとも片面側を電気的に絶縁された薄葉帯を複数回
以上、円筒状に巻き付けることにより、円筒状薄肉多層
構造とするものである。Further, in the DC brushless motor according to claim 2, the housing case is made of a magnetic material.
At least one side of which is electrically insulated is wound with a thin leaf band more than once into a cylindrical shape to form a cylindrical thin multilayer structure.
【００１２】この発明によれば、バックヨークを兼ねた
ハウジングケースが絶縁層により分割されるため、うず
電流が流れにくくなり、請求項１同様、うず電流損が低
減されるという作用を有する。According to the present invention, since the housing case also serving as the back yoke is divided by the insulating layer, the eddy current does not easily flow, and the eddy current loss is reduced as in the first aspect.
【００１３】また、請求項３に係るDCブラシレスモータ
あっては、ハウジングケースの前記薄肉多層構造におけ
る各層の電気絶縁手段を、電着塗装被膜とするものであ
る。Further, in the DC brushless motor according to the third aspect, the electrical insulation means of each layer in the thin multilayer structure of the housing case is an electrodeposition coating film.
【００１４】この発明によれば、絶縁膜を比較的容易に
磁性材料表面に形成することができ、塗装原理上、円筒
形状内壁面であっても均一に絶縁膜を形成することがで
きる。また、コスト的にも有利である。According to the present invention, the insulating film can be relatively easily formed on the surface of the magnetic material, and the insulating film can be uniformly formed on the inner wall surface of the cylinder in view of the coating principle. It is also advantageous in terms of cost.
【００１５】[0015]
【発明の実施の形態】以下、本発明にかかるDCブラシレ
スモータの好適な実施の形態について、図面を参照し、
その実施例を詳細に説明する。なお、本発明はこの実施
の形態に限定されるものではなく、構造は一例とする。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, preferred embodiments of a DC brushless motor according to the present invention will be described with reference to the drawings.
The embodiment will be described in detail. Note that the present invention is not limited to this embodiment, and the structure is an example.
【００１６】図１は、本発明の実施の形態に係る外径φ
12mmのインナーロータマグネット型DCブラシレスモータ
の構成を示す側断面図である。この構造は、前記従来の
インナーロータマグネット型DCブラシレスモータと同様
に、円筒状マグネット4とその中心を貫通するシャフト3
からなるインナーロータ部を、円筒状ハウジングケース
の両端開口部に位置するフランジ2の軸中心位置で軸受6
により回転自在に軸支し、これをハウジングケース内に
固定配置した界磁コイル5に転流通電することにより発
生する回転磁界により回転駆動させるモータであるが、
ハウジングケースは、従来の鉄鋼材を切削、又はプレス
加工等により形成した単一鋼塊の略円筒状のパーツ部品
を用いるものではなく、図に示すように、鉄鋼材からな
る、互いに電気的に絶縁された薄円筒体10、11を径方向
に密着積層した構造となっている。FIG. 1 shows an outer diameter φ according to an embodiment of the present invention.
FIG. 2 is a side sectional view showing a configuration of a 12 mm inner rotor magnet type DC brushless motor. This structure has a cylindrical magnet 4 and a shaft 3 penetrating the center thereof, similarly to the conventional inner rotor magnet type DC brushless motor.
The inner rotor portion consisting of the bearing 6 is located at the axial center of the flange 2 located at the opening at both ends of the cylindrical housing case.
The motor is rotatably driven by a rotating magnetic field generated by commutating current to a field coil 5 fixedly arranged in a housing case.
The housing case does not use a substantially cylindrical part part of a single steel ingot formed by cutting or pressing a conventional steel material, as shown in the figure, and made of a steel material and electrically connected to each other. It has a structure in which insulated thin cylindrical bodies 10 and 11 are closely laminated in the radial direction.
【００１７】また、ハウジングケースを詳細に見てみる
と、図１丸枠内拡大図にパターン１として示すように、
磁性体からなる薄円筒体11の全表面にエポキシ系カチオ
ン電着塗装による膜厚10〜20μmの絶縁膜Cが形成され、
さらに外側に密着して配された薄円筒体10とは互いに電
気的に絶縁されている。Further, looking at the housing case in detail, as shown as a pattern 1 in the enlarged view inside the circle in FIG.
An insulating film C having a thickness of 10 to 20 μm is formed on the entire surface of the thin cylindrical body 11 made of a magnetic material by an epoxy-based cationic electrodeposition coating,
Further, the thin cylindrical body 10 closely arranged on the outside is electrically insulated from each other.
【００１８】表１に本発明の実施と従来例との損失比率
の比較値を示す。両者はハウジングケース構造が異なる
以外、寸法・材質などを含め全く同一仕様である。また
モータ駆動電圧は共にDC５Vとした。このとき損失比率
ηLOSS (％)は、無負荷電流Ｉo (mA)および起動電流Ｉs
(mA)を実測し、損失比率ηLOSS (％)＝[無負荷電流Ｉo
(mA)／起動電流Ｉs (mA)］＊100の計算式により算出し
た。Table 1 shows a comparison value of the loss ratio between the embodiment of the present invention and the conventional example. Both have exactly the same specifications, including dimensions and materials, except for the housing case structure. The motor drive voltage was DC 5V. At this time, the loss ratio η LOSS (%) depends on the no-load current I o (mA) and the starting current I s.
(mA), the loss ratio η LOSS (%) = [no-load current I o
(mA) / start-up current I s (mA)] * 100.
【表１】 [Table 1]
【００１９】前記表１の平均値を比較すると、従来例の
損失比率が40.3％であるのに対し、本発明の実施例の損
失比率は32.7％であり、明らかに本発明の効果が定量的
に確認できた。Comparing the average values in Table 1, the loss ratio of the conventional example is 40.3%, whereas the loss ratio of the embodiment of the present invention is 32.7%, and the effect of the present invention is clearly quantitative. Could be confirmed.
【００２０】また、本発明のハウジングケースの構造
は、層数２の場合、絶縁膜の形成の組み合わせにより、
図２に示すパターン２と３が考えられる。図においてパ
ターン２は、符号10の薄円筒体の全表面に電着塗装被膜
Cを施したもので、パターン３は薄円筒体10,11各々の全
表面に電着塗装被膜Cを施したものであり、どちらの場
合も、本発明が目的とするうず電流損を低減する前記実
施例と同様な効果が得られた。Further, the structure of the housing case of the present invention is such that when the number of layers is 2, the combination of the formation of the insulating film
Patterns 2 and 3 shown in FIG. 2 are conceivable. In the figure, the pattern 2 is an electrodeposition coating film on the entire surface of the thin cylinder denoted by reference numeral 10.
The pattern 3 is obtained by applying an electrodeposition coating film C on the entire surface of each of the thin cylindrical bodies 10 and 11, and in both cases, the eddy current loss aimed at by the present invention is reduced. The same effect as in the above embodiment was obtained.
【００２１】前記電気絶縁手段は、本発明の実施例では
電着塗装による絶縁膜を説明したが、絶縁手段はこれに
限定されるものではない。例えば、一般的に知られる浸
漬塗装、吹付塗装、粉体塗装等の各種塗装による絶縁膜
であっても良い。また例えばポリイミド等の樹脂フィル
ムを各薄円筒体間に介在させても良い。In the embodiment of the present invention, the electric insulating means is described as an insulating film formed by electrodeposition, but the insulating means is not limited to this. For example, it may be an insulating film formed by various coatings such as generally known dip coating, spray coating, and powder coating. Further, for example, a resin film of polyimide or the like may be interposed between the thin cylinders.
【００２２】また本実施例では、ハウジングケースの構
造について層数２の場合を一例として説明したが、層数
３以上の構成では、電気絶縁膜形成の組み合わせは、上
記図に示した３パターン以外の組み合わせが当然数多く
考えられる。また層数は多いほど、うず電流流路断面積
（各層の略円筒体断面積）が縮小し、ハウジングケース
の電気抵抗が増加するため、うず電流がより流れにくく
なり、うず電流損をさらに低減することができる傾向に
ある。In this embodiment, the case of the housing case having two layers has been described as an example. However, in the case of the structure having three or more layers, the combination of the formation of the electric insulating film is not limited to the three patterns shown in the above-described drawings. Of course, many combinations are possible. Also, as the number of layers increases, the cross-sectional area of the eddy current flow path (substantially cylindrical cross-sectional area of each layer) decreases and the electrical resistance of the housing case increases, so that the eddy current becomes more difficult to flow and the eddy current loss is further reduced. Tend to be able to.
【００２３】なお、この実施の形態では、外径φ12mmの
インナーロータマグネット型DCブラシレスモータを例に
とって説明したが、同様の構造のモータであれば、本発
明を他のいずれのサイズのモータにも適用することもで
きるのは、言うまでもない。In this embodiment, an inner rotor magnet type DC brushless motor having an outer diameter of φ12 mm has been described as an example. However, if the motor has the same structure, the present invention can be applied to any other size motor. It goes without saying that it can also be applied.
【００２４】[0024]
【発明の効果】以上のように、本発明に係るDCブラシレ
スモータ（請求項１および請求項２）によれば、たとえ
ば外径φ12mm以下のインナロータマグネット型DCブラシ
レスモータにおいても、界磁コイルの外周部に位置する
該モータのハウジングケースを、磁性材料からなる、互
いに電気的に絶縁された、少なくとも複数層以上の円筒
状薄肉多層構造、又は磁性材料からなる少なくとも片面
を電気的に絶縁された薄葉帯を複数回以上円筒状に巻き
付け、円筒状薄肉多層構造とすることにより、モータ外
径の増大や諸特性を低下させることなく、うず電流損を
低減することができ、負荷に与えることができる有効ト
ルクの拡大、及び発熱の抑制によるモータの高性能化を
図ることができる。As described above, according to the DC brushless motor according to the present invention (claims 1 and 2), even in an inner rotor magnet type DC brushless motor having an outer diameter of φ12 mm or less, for example, The housing case of the motor located on the outer peripheral portion is made of a magnetic material, electrically insulated from each other, at least one or more layers of a cylindrical thin multilayer structure, or at least one surface made of a magnetic material is electrically insulated. The eddy current loss can be reduced without increasing the motor outer diameter or deteriorating various characteristics by winding the thin leaf band into a cylindrical shape more than once to form a cylindrical thin-walled multilayer structure. It is possible to increase the effective torque that can be achieved and improve the performance of the motor by suppressing heat generation.
【図１】本発明の実施の形態に係るDCブラシレスモータ
の構成を示す側断面図。FIG. 1 is a side sectional view showing a configuration of a DC brushless motor according to an embodiment of the present invention.
【図２】本発明の実施の形態に係るハウジングケース構
造の第２及び第３の構成例を示す説明図。FIG. 2 is an explanatory view showing second and third configuration examples of the housing case structure according to the embodiment of the present invention.
【図３】従来のDCブラシレスモータの構成を示す側断面
図。FIG. 3 is a side sectional view showing a configuration of a conventional DC brushless motor.
１ ハウジングケース ２ フランジ ３ シャフト ４ マグネット ５ 界磁コイル ６ 軸受 ７ FPC給電部 ８ FPC保持プレート 10, 11 薄円筒体 100, 110 インナーロータマグネット型DCブラシレスモ
ータDESCRIPTION OF SYMBOLS 1 Housing case 2 Flange 3 Shaft 4 Magnet 5 Field coil 6 Bearing 7 FPC feeding part 8 FPC holding plate 10, 11 Thin cylindrical body 100, 110 Inner rotor magnet type DC brushless motor
Claims (3)
ト型DCブラシレスモータにおいて、界磁コイルの外周部
に位置する該モータのハウジングケースが磁性材料から
なり、互いに電気的に絶縁された、少なくとも複数層以
上の円筒状薄肉多層構造であることを特徴とするDCブラ
シレスモータ。In an inner rotor magnet type DC brushless motor having an outer diameter of 12 mm or less, at least a plurality of layers of a motor housing located at an outer peripheral portion of a field coil made of a magnetic material and electrically insulated from each other. A DC brushless motor having the cylindrical thin multilayer structure described above.
少なくとも片面側が電気的に絶縁された薄葉帯を複数回
以上円筒状に巻き付けることにより、円筒状薄肉多層構
造としたことを特徴とする請求項１に記載のDCブラシレ
スモータ。2. The housing case is made of a magnetic material,
2. The DC brushless motor according to claim 1, wherein a thin-walled belt having at least one side electrically insulated is wound a plurality of times into a cylindrical shape to form a cylindrical thin-walled multilayer structure.
おける各層の電気絶縁手段が、電着塗装被膜であること
を特徴とする請求項１または２に記載のDCブラシレスモ
ータ。3. The DC brushless motor according to claim 1, wherein the electrical insulation means of each layer in the thin multilayer structure of the housing case is an electrodeposition coating film.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2000235103A JP4665080B2 (en) | 2000-08-03 | 2000-08-03 | DC brushless motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2000235103A JP4665080B2 (en) | 2000-08-03 | 2000-08-03 | DC brushless motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JP2002119030A true JP2002119030A (en) | 2002-04-19 |
| JP4665080B2 JP4665080B2 (en) | 2011-04-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2000235103A Expired - Fee Related JP4665080B2 (en) | 2000-08-03 | 2000-08-03 | DC brushless motor |
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| JP (1) | JP4665080B2 (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005143236A (en) * | 2003-11-07 | 2005-06-02 | Namiki Precision Jewel Co Ltd | Small dc brushless motor |
| JP2006230142A (en) * | 2005-02-18 | 2006-08-31 | Namiki Precision Jewel Co Ltd | Small motor |
| JP2015042015A (en) * | 2013-08-20 | 2015-03-02 | Ｊｆｅスチール株式会社 | Motor with reduced iron loss deterioration caused by shrink-fit |
| JP2017184312A (en) * | 2016-03-28 | 2017-10-05 | ミネベアミツミ株式会社 | motor |
| JP2020150625A (en) * | 2019-03-12 | 2020-09-17 | 株式会社東芝 | Rotary electric machine, rotary electric machine system, vehicle, power generator, lifting device, and robot |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6469235A (en) * | 1987-09-04 | 1989-03-15 | Toshiba Corp | Armature yoke for motor |
| JPH05300713A (en) * | 1992-04-17 | 1993-11-12 | Seiko Instr Inc | Dc motor |
| JPH08154350A (en) * | 1994-11-28 | 1996-06-11 | Nippon Electric Ind Co Ltd | Slotless motor and yoke for slotless motor |
| JP2000166157A (en) * | 1998-11-20 | 2000-06-16 | Namiki Precision Jewel Co Ltd | Power supply mechanism for small-sized motor |
-
2000
- 2000-08-03 JP JP2000235103A patent/JP4665080B2/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6469235A (en) * | 1987-09-04 | 1989-03-15 | Toshiba Corp | Armature yoke for motor |
| JPH05300713A (en) * | 1992-04-17 | 1993-11-12 | Seiko Instr Inc | Dc motor |
| JPH08154350A (en) * | 1994-11-28 | 1996-06-11 | Nippon Electric Ind Co Ltd | Slotless motor and yoke for slotless motor |
| JP2000166157A (en) * | 1998-11-20 | 2000-06-16 | Namiki Precision Jewel Co Ltd | Power supply mechanism for small-sized motor |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005143236A (en) * | 2003-11-07 | 2005-06-02 | Namiki Precision Jewel Co Ltd | Small dc brushless motor |
| JP4632194B2 (en) * | 2003-11-07 | 2011-02-16 | 並木精密宝石株式会社 | Small DC brushless motor |
| JP2006230142A (en) * | 2005-02-18 | 2006-08-31 | Namiki Precision Jewel Co Ltd | Small motor |
| JP2015042015A (en) * | 2013-08-20 | 2015-03-02 | Ｊｆｅスチール株式会社 | Motor with reduced iron loss deterioration caused by shrink-fit |
| JP2017184312A (en) * | 2016-03-28 | 2017-10-05 | ミネベアミツミ株式会社 | motor |
| JP2020150625A (en) * | 2019-03-12 | 2020-09-17 | 株式会社東芝 | Rotary electric machine, rotary electric machine system, vehicle, power generator, lifting device, and robot |
| US11239721B2 (en) | 2019-03-12 | 2022-02-01 | Kabushiki Kaisha Toshiba | Electric rotating machine, electric rotating machine system, vehicle, power generator, lifting device, and robot |
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| Publication number | Publication date |
|---|---|
| JP4665080B2 (en) | 2011-04-06 |
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