JPS62236346A - Servo motor - Google Patents
Servo motorInfo
- Publication number
- JPS62236346A JPS62236346A JP8052586A JP8052586A JPS62236346A JP S62236346 A JPS62236346 A JP S62236346A JP 8052586 A JP8052586 A JP 8052586A JP 8052586 A JP8052586 A JP 8052586A JP S62236346 A JPS62236346 A JP S62236346A
- Authority
- JP
- Japan
- Prior art keywords
- permanent magnet
- pole
- yoke
- coil
- motor
- 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.)
- Pending
Links
- 238000004804 winding Methods 0.000 claims abstract description 11
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 230000004907 flux Effects 0.000 abstract description 10
- 230000002093 peripheral effect Effects 0.000 abstract description 6
- 230000001133 acceleration Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000006698 induction Effects 0.000 description 2
- 239000007858 starting material Substances 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 244000025254 Cannabis sativa Species 0.000 description 1
- 244000111306 Torreya nucifera Species 0.000 description 1
- 235000006732 Torreya nucifera Nutrition 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
Landscapes
- Permanent Magnet Type Synchronous Machine (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明はサーボモータに関し、特にコミュテータを必要
としないダイレクトドライブサーボモータに関する。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to servo motors, and particularly to direct drive servo motors that do not require a commutator.
従来のコミュテータを必要としないダイレクトドライブ
サーボモータには、ブラシレス誘導サーボモータや同期
駆動方式のブラシレスサーボモータやレタクタンス型の
パルスモータ等各種のものがある。Conventional direct drive servo motors that do not require a commutator include various types such as brushless induction servo motors, synchronous drive type brushless servo motors, and retactance type pulse motors.
これらのモータは、いずれもモータの回転面内で磁極を
順次切換えて動作する構成となっている。All of these motors are configured to operate by sequentially switching the magnetic poles within the rotation plane of the motor.
従って従来のダイレクトドライブモータにおいては、モ
ータの回転面内において磁束のループが構成されており
、例えばブラシレス誘導サーボモータの場合にはベクト
ル制御を行う必要がある等その制御回路が複雑であると
いう欠点がある。また同期駆動方式のブラシレスサーボ
モータの場合は、ホール素子等の磁極検出機構とコイル
の切換動作を行う回路とが必要であって、構造が複雑で
かつ駆動回路も高価であるという欠点がある。Therefore, in conventional direct drive motors, a loop of magnetic flux is formed within the rotational plane of the motor, and for example, in the case of brushless induction servo motors, vector control is required, resulting in a complicated control circuit. There is. Furthermore, in the case of a synchronous drive type brushless servo motor, a magnetic pole detection mechanism such as a Hall element and a circuit for switching the coils are required, and the structure is complicated and the drive circuit is also expensive.
さらにまた、レラクタンス型パルスモータの場合は、他
の方式のサーボモータと比較して加減速特性が劣りまた
トルクリップル(トルクの微小な変動)が大きい等の性
能面において問題がある。Furthermore, reluctance type pulse motors have performance problems such as inferior acceleration/deceleration characteristics and large torque ripples (minor fluctuations in torque) compared to other types of servo motors.
本発明が解決しようとする問題点、換言すれば本発明の
目的は、従来のサーボモータの上述のような欠点欠を除
去し、構造が簡単でかつ制御回路または駆動回路が簡単
なためコストが安く、しかも加減速特性やトルクリップ
ル等に関する性能のずぐれたサーボモータを提供するこ
とにある。The problem to be solved by the present invention, in other words, the purpose of the present invention is to eliminate the above-mentioned drawbacks of the conventional servo motor, and to reduce the cost because the structure is simple and the control circuit or drive circuit is simple. The object of the present invention is to provide a servo motor that is inexpensive and has superior performance in terms of acceleration/deceleration characteristics, torque ripple, and the like.
6 本発明のサーボモータは、外周側をN極に内周′
“ 側をS極に着磁した円環状の第一の永久磁石と、外
周側をS極に内周側をN極に着磁した第一の永久磁石と
同一形状の第二の永久磁石と、前記第一の永久磁石およ
び第二の永久磁石を並列に配置してその外周に固定する
第一のヨークと、前記第一および第二の永久磁石の外方
にそれらと一定の空隙をもって配置された第二のヨーク
とを備え、前記第二のヨークがその外周側に等円周角の
複数個のスロットと前記第一の永久磁石および第二の永
久磁石のおのおのに対応する位置に前記スロットと内周
面とを貫通する貫通穴とを有し、前記スロットと前記貫
通穴と前記内周面とを巻回するコイルを備え、前記コイ
ルの巻回方向が前記第一の永久磁石に対する巻回方向と
前記第二の永久磁石に対する巻回方向とが互いに反対方
向であるようにして構成される。6 The servo motor of the present invention has an outer circumferential side as a north pole and an inner circumferential side as a north pole.
“ A first permanent magnet in the form of an annular ring whose side is magnetized to S pole, and a second permanent magnet having the same shape as the first permanent magnet whose outer circumferential side is magnetized to S pole and inner circumferential side is magnetized to N pole. , a first yoke that arranges the first permanent magnet and the second permanent magnet in parallel and fixes them to the outer periphery; and a first yoke that is arranged outside the first and second permanent magnets with a certain gap between them. a second yoke, the second yoke having a plurality of slots with equal circumferential angles on its outer circumferential side, and a plurality of slots at positions corresponding to each of the first permanent magnet and the second permanent magnet. a through hole penetrating the slot and an inner circumferential surface, and a coil wound around the slot, the through hole, and the inner circumferential surface, the winding direction of the coil being relative to the first permanent magnet. The winding direction and the winding direction of the second permanent magnet are opposite to each other.
次に、本発明の実施例について図面を参照して詳細に説
明する。Next, embodiments of the present invention will be described in detail with reference to the drawings.
第1図は本発明の一実施例を示す断面図、第2図はB部
詳細図、第3図はA−A断面図である。FIG. 1 is a sectional view showing one embodiment of the present invention, FIG. 2 is a detailed view of part B, and FIG. 3 is a sectional view taken along line A-A.
第1図〜第3図において、モータのスタータは永久磁石
1a・1bおよびスタータヨーク2とがら構成されてい
る。永久磁石1aは外周側をN極に内周側をS極に着磁
されて円環状(リング状)の形状を有している。また永
久磁石1bは外周側をSiに内周側をN極に着磁され永
久磁石1aと同一の形状を有している。これらの2個の
永久磁石1a・1bは円環状のステータヨーク2の外周
上に軸方向に並んで配置されて固定されている。1 to 3, the starter of the motor is composed of permanent magnets 1a and 1b and a starter yoke 2. As shown in FIGS. The permanent magnet 1a has an annular (ring-shaped) shape, with the outer circumferential side being magnetized to the north pole and the inner circumferential side being magnetized to the south pole. Further, the permanent magnet 1b has the same shape as the permanent magnet 1a, with the outer circumferential side being magnetized with Si and the inner circumferential side being magnetized with N pole. These two permanent magnets 1a and 1b are arranged and fixed in the axial direction on the outer periphery of the annular stator yoke 2.
一方、モータのロータはロータヨーク3およびコイル4
から構成されている。ロータヨーク3は永久磁石1aお
よび1bの外側に同心円状にかつ一定の空隙を保って配
置されている。ロータヨーク3の外周部には等円周角に
配置された複数個のスロット5が設けられており、各ス
ロットとロータヨーク3の内周面との間には貫通穴7が
設けられている。コイル4はスロット5・貫通穴7およ
びロータヨーク3の内周面を巻回して巻かれておりコイ
ル4と永久磁石1aおよび1bとの間隙は一定となって
いる。コイル4の巻回方向は、永久磁石は1aに対する
巻回方向と永久磁石1bに対する巻回方向とが互いに逆
方向になるようになっている。On the other hand, the rotor of the motor has a rotor yoke 3 and a coil 4.
It consists of The rotor yoke 3 is arranged concentrically outside the permanent magnets 1a and 1b with a constant gap maintained therebetween. A plurality of slots 5 are provided on the outer circumference of the rotor yoke 3 and arranged at equal circumferential angles, and a through hole 7 is provided between each slot and the inner circumferential surface of the rotor yoke 3. The coil 4 is wound around the slot 5, the through hole 7, and the inner peripheral surface of the rotor yoke 3, and the gaps between the coil 4 and the permanent magnets 1a and 1b are constant. The winding direction of the coil 4 is such that the winding direction around the permanent magnet 1a and the winding direction around the permanent magnet 1b are opposite to each other.
次に上述のように構成された実施例の動作について第2
図および第3図を参照して説明する。Next, we will discuss the operation of the embodiment configured as described above.
This will be explained with reference to the figures and FIG.
第2図において、永久磁石1aのN極から出た磁束6は
空隙部のコイル4を貫通してロータヨーク3の永久磁石
1aと対向する部分3に入るがロータヨーク3のスロッ
ト5内のコイル4は貫通することなく、ロータヨーク3
内を紙面に垂直に進み(第2図において符号■で示す)
、第3図に示す如く永久磁石1bと対向する部分を通っ
て空隙部に巻かれたコイル4を貫通して永久磁石1bか
らステータヨーク2を通って磁束6の閉ループを形成し
ている。この磁束6の閉ループは、モータの回転面と直
交(回転軸に平行)して構成されている。In FIG. 2, the magnetic flux 6 emitted from the N pole of the permanent magnet 1a passes through the coil 4 in the air gap and enters the part 3 of the rotor yoke 3 facing the permanent magnet 1a, but the coil 4 in the slot 5 of the rotor yoke 3 Rotor yoke 3 without penetrating
Proceed perpendicularly to the paper inside (indicated by the symbol ■ in Figure 2)
As shown in FIG. 3, a closed loop of magnetic flux 6 is formed from the permanent magnet 1b through the stator yoke 2 by passing through the coil 4 wound in the gap through the part facing the permanent magnet 1b. This closed loop of magnetic flux 6 is configured to be orthogonal to the rotational surface of the motor (parallel to the rotational axis).
モータを所定の方向に回転させるには、コイル4に所定
の方向の電流を流せばよい。コイルに流れる電流とそれ
と交差する磁束6とはフレミングの左手の法則に基づい
て所定の方向の力を発生し、ロータを構成しているロー
タヨーク3とコイル4とを回転させる。また位置決めの
ための位置決め制御を行うには、位置検出センサを付加
してサーボ系を構成して制御電流を印加することによっ
て容易に位置決め制御を行うことができる。なおコイル
4への給電をケーブル配線によって行う場合は、ロータ
と一緒にケーブルが回転するため、ダイレクトドライブ
モータとして回転角度の小さな範囲内で使用するのがよ
い。In order to rotate the motor in a predetermined direction, current may be passed through the coil 4 in a predetermined direction. The current flowing through the coil and the magnetic flux 6 crossing it generate a force in a predetermined direction based on Fleming's left-hand rule, thereby rotating the rotor yoke 3 and coil 4 that constitute the rotor. Further, positioning control for positioning can be easily performed by adding a position detection sensor to configure a servo system and applying a control current. Note that when power is supplied to the coil 4 by cable wiring, the cable rotates together with the rotor, so it is best to use it as a direct drive motor within a small rotation angle range.
以上詳細に説明したように、本発明のサーボモータ磁束
の閉ループをモータ回転面に直交させて構成しているた
め、モータの回転時においてコイルへの磁束の向きは常
に一定である。従って、モータ自体にコミュテータを設
ける必要がなく、一般的なブラシ型サーボモータの駆動
装置で駆動可能であり、構成が簡単なためコストを低減
させる1、1、 ことができるという効果がある。ま
た、モータの回転力を発生する空隙部の大きさは全域に
わたって一定であるので原理的にトルクリップルが小さ
く従ってサーボ制御の特性が優れているという効果もあ
る。As explained in detail above, since the servo motor of the present invention has a closed loop of magnetic flux perpendicular to the motor rotation surface, the direction of the magnetic flux to the coil is always constant during rotation of the motor. Therefore, there is no need to provide a commutator in the motor itself, and it can be driven by a general brush type servo motor drive device, and the structure is simple, which has the effect of reducing costs. Furthermore, since the size of the gap that generates the rotational force of the motor is constant over the entire area, the torque ripple is theoretically small and the servo control characteristics are excellent.
第1図は本発明の一実施例を示す断面図、第2図は第1
図のB部の詳細を示す断面図、第3図は第1図のA−A
断面図である。
la、lb・・・永久磁石、2・・・ステータヨーク、
3・・・ロータヨーク、4・・・コイル、5・・・スロ
ット、6・・・磁束。
ζ′ ニー
・′−?パ・す
()′!・・−
代理人 弁理士 内 原 晋−
//11: 水ス磁石
2 : 又テータヨーク
3: U−yヨーク
4 : コイル
茅
/ 図
乙:、m水 に:スロット 。
茅 2y!J
f;Jv!JFIG. 1 is a sectional view showing one embodiment of the present invention, and FIG.
A cross-sectional view showing details of part B in the figure, Figure 3 is taken along line A-A in Figure 1.
FIG. la, lb...Permanent magnet, 2...Stator yoke,
3... Rotor yoke, 4... Coil, 5... Slot, 6... Magnetic flux. ζ′ Ni・′−? Pa・su()′! ...-Representative Patent Attorney Susumu Uchihara- //11: Water magnet 2: Also theta yoke 3: U-y yoke 4: Coil grass/Figure O:, m water: Slot. Kaya 2y! Jf;Jv! J
Claims (1)
永久磁石と、外周側をS極に内周側をN極に着磁した第
一の永久磁石と同一形状の第二の永久磁石と、前記第一
の永久磁石および第二の永久磁石を並列に配置してその
外周に固定する第一のヨークと、前記第一および第二の
永久磁石の外方にそれらと一定の空隙をもって配置され
た第二のヨークとを備え、前記第二のヨークがその外周
側に等円周角の複数個のスロットと前記第一の永久磁石
および第二の永久磁石のおのおのに対応する位置に前記
スロットと内周面とを貫通する貫通穴とを有し、前記ス
ロットと前記貫通穴と前記内周面とを巻回するコイルを
備え、前記コイルの巻回方向が前記第一の永久磁石に対
する巻回方向と前記第二の永久磁石に対する巻回方向と
が互いに反対方向であることを特徴とするサーボモータ
。An annular first permanent magnet with the outer circumference side magnetized as N pole and the inner circumference side as S pole, and the same shape as the first permanent magnet with outer circumference side magnetized as S pole and inner circumference side as N pole. a second permanent magnet; a first yoke that arranges the first permanent magnet and the second permanent magnet in parallel and fixes them on the outer periphery thereof; and a second yoke disposed with a certain gap therebetween, and the second yoke has a plurality of slots with equal circumferential angles on its outer circumferential side and a plurality of slots between the first permanent magnet and the second permanent magnet. a through hole penetrating the slot and the inner circumferential surface at a corresponding position, and a coil wound around the slot, the through hole, and the inner circumferential surface, and the winding direction of the coil is A servo motor characterized in that the winding direction of the first permanent magnet and the winding direction of the second permanent magnet are opposite to each other.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP8052586A JPS62236346A (en) | 1986-04-07 | 1986-04-07 | Servo motor |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP8052586A JPS62236346A (en) | 1986-04-07 | 1986-04-07 | Servo motor |
Publications (1)
Publication Number | Publication Date |
---|---|
JPS62236346A true JPS62236346A (en) | 1987-10-16 |
Family
ID=13720736
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP8052586A Pending JPS62236346A (en) | 1986-04-07 | 1986-04-07 | Servo motor |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS62236346A (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6357116B1 (en) | 1997-09-25 | 2002-03-19 | Hess Engineering, Inc. | Method for assembly of vehicle wheels |
FR2884069A1 (en) * | 2005-04-04 | 2006-10-06 | Spirelec Sarl | DC acyclic rotating machine e.g. electromagnetic induction motor, has electrical conductor layers, each supplied by two buses and disposed between sheets that are disposed radially so that magnetic flux is enclosed in sheets |
-
1986
- 1986-04-07 JP JP8052586A patent/JPS62236346A/en active Pending
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6357116B1 (en) | 1997-09-25 | 2002-03-19 | Hess Engineering, Inc. | Method for assembly of vehicle wheels |
FR2884069A1 (en) * | 2005-04-04 | 2006-10-06 | Spirelec Sarl | DC acyclic rotating machine e.g. electromagnetic induction motor, has electrical conductor layers, each supplied by two buses and disposed between sheets that are disposed radially so that magnetic flux is enclosed in sheets |
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