JP2006074960A - Motor with compact structure and activation method of the same - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a new electric motor improved, and having a very simple, compact and light constitution and a high-speed rotation performance. <P>SOLUTION: A spherical permanent magnet rotor 1 is constituted and shown in (A). A monoclinic coil 5 is fixedly installed around the spherical permanent magnet rotor 1 as shown in (C). A sensor, e.g. a hall element 7 is provided and detects a rotation phase of the spherical permanent magnet rotor 1. Current carrying directions of the monoclinic coil 5 are switched per rotation of 180° of the spherical permanent magnet rotor 1. The spherical permanent magnet rotor 1 is continuously rotated. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to an extremely simple DC motor having one permanent magnet and one or two solenoid coils as main components, and a starting method thereof.

Today, the basic theory of DC motors has reached completion, and the structural classification of DC motors is almost fixed.
According to the established theory, it is classified into a direct winding type, a split winding type, and a multiple winding type, and each has a structure in which a multi-pole coil is wound around an iron core having a plurality of poles.

Exceptionally, there is a millimeter in a rotating device using one permanent magnet as a stator and one iron-free solenoid coil as a rotor.
However, the rotation angle is theoretically less than 180 degrees and is generally used at a rotation angle of about 90 degrees. Therefore, continuous rotation of 360 degrees or more is impossible.
JP 2004-159428 A JP 2004-147470 A "Motor Technology Encyclopedia", written by Shigehiko Tsuboshima, 1993, published by Ohmsha New Electrical Engineering Course, Volume 3, “Electrical Equipment”, written by Shinosuke Okada, 1969, published by Corona "Illustrated Electrical Engineering New Book", Hiroshi Iwaki, 1995, published by Asakura Shoten

  An object of the present invention is to provide a small DC motor having an extremely simple structure as compared with the conventional one, low manufacturing cost, and practical value.

The configuration of the concise structure motor according to the invention of claim 1 assumes three orthogonal axes X, Y, and Z (see FIG. 1C),
The spherical permanent magnet rotor (1) and the X-axis direction rotor shaft (2) passing through the center thereof are integrally fixed,
The rotor shaft (2) is rotatably supported via a bearing with respect to the case (6).
A single solenoid type coil (5) having an inner diameter larger than the outer diameter of the spherical permanent magnet rotor (1) has its center line orthogonal to the Z axis and oblique to the X and Y axes. Arranged in a posture and surrounding the spherical permanent magnet rotor (1),
And a Hall element (7) for detecting a rotational angle position of the spherical permanent magnet rotor (1), and “based on a detection signal of the Hall element (7), the single solenoid coil (5) An energization switching circuit (8) for controlling the energization direction is provided.

According to the motor having a simple structure according to the first aspect of the present invention described above, the spherical permanent magnet rotor can be rotated with a single (one single core) solenoid coil as a stator.
In the prior art, it was impossible to rotate 180 degrees or more. However, in the inventive device according to the first aspect of the invention, the rotational phase of the spherical permanent magnet rotor is detected by the Hall element to switch the energizing direction of the solenoid coil. Thus, 360 degree continuous rotation was made possible. Further, the energization direction can be controlled to be forward and reverse.
As described above, a compact, lightweight, and low-cost DC motor can be obtained with an extremely simple structure.

The configuration of the concise structure motor according to the invention of claim 2 assumes three orthogonal axes X, Y, Z (see FIG. 3A),
The spherical permanent magnet rotor (1) and the X-axis direction rotor shaft (2) passing through the center thereof are integrally fixed,
The rotor shaft (2) is rotatably supported,
A single solenoid-type coil having an inner diameter larger than the outer diameter of the spherical permanent magnet rotor (1) is divided substantially at the center, and is divided into two halves consisting of two halved Y coils (15a, 15b). A concentric coil (15) is formed,
And the two half Y coils (15a) and the half Y coils (15b) are arranged concentrically with the Y axis and surround the spherical permanent magnet rotor (1).
And a Hall element (7) for detecting the rotational angle position of the spherical permanent magnet rotor (1), and “the direction of energization of the half concentric coil (15) based on the detection signal of the Hall element (7)”. It is characterized by comprising an energization switching circuit (8) for controlling the power.

Even with the motor having the simple structure according to the invention of the second aspect described above, the spherical permanent magnet rotor is continuously formed by using a single solenoid coil (having no iron core) as a stator in substantially the same manner as in the first aspect. Can be rotated.
Although the structure is simple, small size, light weight, and low cost, it is almost the same as in the first aspect. However, since the half concentric coil is divided into two half Y coils, the assembly work of the motor device can be performed. Easy.

The configuration of the concise structure motor according to the invention of claim 3 assumes three orthogonal axes X, Y, Z (see FIG. 3B),
The spherical permanent magnet rotor (1) and the X-axis direction rotor shaft (2) passing through the center thereof are integrally fixed,
The rotor shaft (2) is rotatably supported,
A single solenoid-type coil having an inner diameter larger than the outer diameter of the spherical permanent magnet rotor (1) is divided substantially at the center, so that two half Y coils (16a) and half oblique coils 1 are divided. A half-bending coil (16) consisting of (6b) is formed,
And while one half Y coil (16a) is arranged concentrically with the Y-axis,
The center line of the other half oblique coil (16b) is disposed obliquely with respect to the Y axis on the YZ plane,
These half Y coil (16a) and half oblique coil (16b) surround the spherical permanent magnet rotor (1),
And a Hall element (7) for detecting the rotational angle position of the spherical permanent magnet rotor (1), and “the direction of energization of the half-bending coil (16) based on the detection signal of the Hall element (7)”. It is characterized by comprising an energization switching circuit (8) for controlling the power.

Even with the motor having the simple structure according to the invention of claim 3 described above, as in the case of claim 2, the spherical permanent magnet rotor is continuously formed by using a single solenoid coil (having no iron core) as a stator. Can be rotated.
In addition, since one of the two halved coils is inclined with respect to the Y axis, a higher speed rotation than in the second aspect can be obtained.

The configuration of the concise structure motor according to the invention of claim 4 is assumed (see FIG. 4), assuming three orthogonal axes X, Y, Z,
The spherical permanent magnet rotor (1) and the X-axis direction rotor shaft (2) passing through the center thereof are integrally fixed,
The rotor shaft (2) is rotatably supported,
A single solenoid-type coil is substantially divided at the center to form a half-orthogonal coil (17) comprising two half-Y coils (17a) and half-Z coils (17b).
And while one half Y coil (17a) is arranged concentrically with the Y-axis,
The other half Z coil (17b) is disposed concentrically with the Z axis,
These half Y coil (17a) and half Z coil (17b) are opposed to the spherical permanent magnet rotor (1),
And a Hall element (7) for detecting the rotational angle position of the spherical permanent magnet rotor (1), and “the direction of energization of the half-bending coil (16) based on the detection signal of the Hall element (7)”. It is characterized by comprising an energization switching circuit (8) for controlling the power.

According to the motor having a simple structure according to the invention of claim 4 described above,
A spherical permanent magnet rotor can be rotated by using a single solenoid coil (without an iron core) as a stator.
In the prior art, the rotation of 180 degrees or more is impossible. However, in the invention device according to claim 4, the rotation phase of the spherical permanent magnet rotor is detected by the Hall element and the energizing direction of the solenoid coil is switched. Thus, 360 degree continuous rotation was made possible. Further, the energization direction can be controlled to be forward and reverse.

A simple structure motor starting method according to the invention of claim 5 is:
The spherical permanent magnet rotor (1) and the X-axis direction rotor shaft (2) passing through the center thereof are integrally fixed,
The rotor shaft (2) is rotatably supported,
A single solenoid coil surrounds the spherical permanent magnet rotor (1) or faces the spherical permanent magnet rotor, and the rotational angle position of the spherical permanent magnet rotor (1) is determined. A motor having a simple structure provided with a hall element (7) to be detected and "an energization switching circuit (8) for controlling the energization direction of the solenoid coil based on the detection signal of the hall element (7)" is started. A method,
a. When stopping the motor with the simple structure, the energization control based on the detection signal of the Hall element (7) is temporarily stopped, and the "spherical permanent magnet rotor is in a neutral position that balances the magnetic force of the solenoid coil". Stop it,
b. In advance, the phase at which the Hall element (7) operates is slightly deviated from the neutral position,
c. The energization of the solenoid coil is started after adjusting the energization based on the detection signal of the hall element (7).

According to the motor start method having a simple structure according to the invention of claim 5 described above,
When the motor having the simple structure is stopped, the action of the Hall element is intentionally stopped, so that the magnetic pole of the spherical permanent magnet rotor stops in the Y-axis direction.
In the state where the magnetic pole direction is the Y-axis direction as described above, since the magnetic pole direction is detected by the Hall element whose phase is (slightly) deviated, the energization direction can be determined.
That is, the state that “the Hall element is located at an intermediate point equidistant from both the N and S poles, and it cannot be determined to which direction the current should be applied” does not appear.

The configuration of the concise structure motor according to the invention of claim 6 is in addition to the configuration requirements of the invention device of claims 1 to 4,
When the energization control based on the detection signal of the Hall element (7) is stopped and the solenoid coil is energized, the angular position at which the spherical permanent magnet rotor (1) stops is defined as a neutral position,
The detection point for detecting the rotational phase of the spherical permanent magnet rotor by the Hall element (7) and switching the energization has a phase difference compared to the neutral position.

According to the invention of the sixth aspect described above, since the rotational phase detection point of the spherical permanent magnet rotor by the Hall element is deviated from the neutral position of the spherical permanent magnet rotor, a reliable start is possible.
That is, it is possible to easily implement the inventive method according to claim 5 and to fully exhibit the effect.

The configuration of the simple structure motor according to the invention of claim 7 is as follows (see FIG. 2B)
Assuming three orthogonal axes X, Y, Z
The spherical permanent magnet stator (3) is arranged concentrically with the coordinate origin O, the magnetic pole direction is perpendicular to the Z axis, and is oblique to the X axis and the Y axis,
A single solenoid-type coil (11) having an inner diameter larger than the outer diameter of the spherical permanent magnet stator (3) surrounds the spherical permanent magnet stator and the rotor shaft (18) in the X-axis direction. Is rotatably supported by
The solenoid coil (11) is connected to a power supply terminal (14) via a "commutator (12) installed on the rotor shaft in the X-axis direction" and a brush (13). To do.

According to the motor of the concise structure according to the invention of claim 7 described above, the rotor is composed of one ironless core coil and one permanent magnet stator as main components, and is composed of a commutator and a brush. 360 degree continuous rotation is possible with a simple and low-cost configuration in which an energization switching circuit is provided.
In particular, since the rotor does not have an iron core, it is lightweight, has a small rotational inertia, and can be easily accelerated and stopped.

According to the motor having a simple structure according to the first aspect of the present invention, the spherical permanent magnet rotor can be continuously rotated by using a single solenoid coil (one having no iron core) as a stator.
In the prior art, it was impossible to rotate 180 degrees or more. However, in the inventive device according to the first aspect of the invention, the rotational phase of the spherical permanent magnet rotor is detected by the Hall element and the energizing direction of the solenoid coil is switched. Thus, 360 degree continuous rotation was made possible. Further, the energization direction can be controlled to be forward and reverse.
As described above, a compact, lightweight, and low-cost DC motor can be obtained with an extremely simple structure.

According to the motor having a simple structure according to the second aspect of the invention, the spherical permanent magnet rotor is continuously rotated by using a single solenoid coil (having no iron core) as a stator in substantially the same manner as in the first aspect. Can do.
Although the structure is simple, small size, light weight, and low cost, it is almost the same as in the first aspect. However, since the half concentric coil is divided into two half Y coils, the assembly work of the motor device can be performed. Easy.

Even with the motor having a simple structure according to the third aspect of the invention, the spherical permanent magnet rotor can be continuously rotated by using a single solenoid coil (without an iron core) as a stator, as in the second aspect. it can.
In addition, since one of the two halved coils is inclined with respect to the Y axis, a higher speed rotation than in the second aspect can be obtained.

According to the motor having a simple structure according to the invention of claim 4,
A spherical permanent magnet rotor can be rotated by using a single solenoid coil (without an iron core) as a stator.
In the prior art, the rotation of 180 degrees or more is impossible. However, in the invention device according to claim 4, the rotation phase of the spherical permanent magnet rotor is detected by the Hall element and the energizing direction of the solenoid coil is switched. Thus, 360 degree continuous rotation was made possible. Further, the energization direction can be controlled to be forward and reverse.

According to the motor start method having a simple structure according to the invention of claim 5,
When the motor having the simple structure is stopped, the action of the Hall element is intentionally stopped, so that the magnetic pole of the spherical permanent magnet rotor stops in the Y-axis direction.
In the state where the magnetic pole direction is the Y-axis direction as described above, since the magnetic pole direction is detected by the Hall element whose phase is (slightly) deviated, the energization direction can be determined.
That is, the state that “the Hall element is located at an intermediate point equidistant from both the N and S poles, and it cannot be determined to which direction the current should be applied” does not appear.

According to the invention of claim 6, since the rotational phase detection point of the spherical permanent magnet rotor by the Hall element is deviated from the neutral position of the spherical permanent magnet rotor, a reliable start is possible.
That is, it is possible to easily implement the inventive method according to claim 5 and to fully exhibit the effect.

  According to the motor having a simple structure according to the seventh aspect of the present invention, there is provided an energization switching circuit comprising a rotor composed of one ironless core coil and one permanent magnet stator as main components, and a commutator and a brush. 360 degree continuous rotation is possible with a simple and low-cost configuration that is provided side by side. In particular, since the rotor does not have an iron core, it is lightweight, has a small rotational inertia, and can be easily accelerated and stopped.

1A and 1B show an embodiment of the present invention, in which FIG. 1A is a front external view of a rotor in a first example, FIG. 1B is a front external view of a stator in a second example, and FIG. It is the figure which attached the control system to the typical front external view of 1 Example.
As a characteristic configuration of the present invention, a spherical permanent magnet is used. FIG. 1A shows an example in which a spherical permanent magnet rotor 1 is configured by penetrating and fixing a rotor shaft 2 to the center of a spherical permanent magnet.
When the rotor shaft 2 is in the X-axis direction, the direction of the magnetic poles (N, S) of the spherical permanent magnet rotor 1 is parallel to the Y-axis.
However, the spherical permanent magnet rotor does not need to be a sphere that is sterically geometrically accurate, and may have a shape similar to a sphere. For example, an elliptic rotating body may be used, and any solid shape that is symmetrical about the X axis may be used.
An example of a concise structure motor using the spherical permanent magnet rotor 1 will be described in detail later with reference to FIG. 1 (C), FIG. 2, and FIG.

FIG. 1B shows that a stator is formed by fixing a magnet support to the spherical permanent magnet.
Since this spherical permanent magnet stator 3 is spherical, it is difficult to specify the direction of the magnetic pole.
However, when this member (spherical permanent magnet stator) is used, the motor rotation axis is XX, and the direction of the magnetic pole (N, S) is inclined with respect to both the X axis and the Y axis. Install as follows.
An example of a simple structure motor using this spherical permanent magnet stator 3 will be described in detail later with reference to FIG.

FIG. 1C shows a first embodiment, and the spherical permanent magnet rotor 1 and the rotor shaft 2 depicted in this drawing are members shown in FIG. 1A.
The spherical permanent magnet rotor 1 in the first embodiment is made of neodymium and has a surface magnetic flux density of 0.4T.
The rotor shaft 2 is rotatably supported with respect to the case 6 so as to be in the X-axis direction. The direction of the magnetic poles (N, S) rotates but is always on the YZ plane.
The monoclinic coil 5 is fixedly attached to the case 6 by being loosely fitted to the spherical permanent magnet rotor 1.
In this embodiment, the monoclinic coil is a single solenoid coil having no iron core, the center line of which is located on the XY plane and is inclined with respect to the X axis.

In FIG. 1C, since the monoclinic coil 5 is inclined with respect to the Y axis, a magnetic field that is inclined with respect to the Y axis is generated when this is energized. For this reason, the spherical permanent magnet rotor 1 rotates so that the magnetic pole direction (NS) is aligned with the Y-axis direction.
However, this alone can only turn less than 180 degrees.
To continuously rotate following the above rotation, when the state of FIG.
It must be switched so that the energization direction of the monoclinic coil 5 is reversed.

Therefore, the Hall element 7 is installed in the vicinity of the spherical permanent magnet rotor 1 to detect the magnetic pole direction of the spherical permanent magnet rotor.
For convenience of explanation, a state where the magnetic pole direction (S-N) of the spherical permanent magnet rotor 1 is the Y-axis direction as shown in FIG. This state appears as a balanced state when a current in a certain direction is applied to the monoclinic coil 5.
When the Hall element 7 detects the neutral position, the energization switching circuit 8 performs switching control so as to reverse the energization direction.
In this way, the spherical permanent magnet rotor 1 is continuously rotated by switching the energization direction every 180 ° rotation.

As in FIG. 1C, assuming that the magnetic pole direction of the spherical permanent magnet rotor 1 (north pole N-S of the permanent magnet) is accurately stopped in the Y-axis direction, The direction to energize 5 is not determined. The reason is that the neutral position is the switching point of the energization direction.
Specifically, the following problems occur.
If the spherical permanent magnet rotor 1 is stopped slightly before the neutral position, a “magnetic force in a direction to bring the spherical permanent magnet rotor 1 closer to the neutral position” is generated in the monoclinic coil 5. Just energize,
Also, if the spherical permanent magnet rotor 1 is stopped slightly past the neutral position, the monoclinic coil 5 is energized so as to generate “a magnetic force in a direction to move the spherical permanent magnet rotor 1 away from the neutral position”. Just do it.
However, if the spherical permanent magnet rotor 1 is just stopped at the neutral position as described above, the energization direction cannot be determined.

Therefore, in this embodiment, the installation position of the Hall element 7 is slightly deviated from the XY plane, and a phase slightly different from the neutral position is detected.
As described above, since the magnetic pole direction of the spherical permanent magnet rotor 1 is in the neutral position and the phase of the detection point by the Hall element 7 is slightly deviated, the Hall element 7 is neutral with the spherical permanent magnet rotor 1. Since it is erroneously determined that the position is not the position and the monoclinic coil 5 is energized, the spherical permanent magnet rotor 1 can start rotating even from the neutral position. At this time, the rotation start direction is determined by the bias direction of the Hall element installation location.

2A and 2B show a second embodiment, in which FIG. 2A is an exploded sectional front view for explaining the structure, and FIG. 2B is a sectional front view illustrating an assembled state.
The spherical permanent magnet stator 3 depicted in FIG. 2A is a component shown in FIG. 1B.
The spherical permanent magnet stator 3 is fixed to the case 6 with its center point coincident with the coordinate origin, and the magnetic pole direction (NS) is oblique to both the X axis and the Y axis. ing.
On the other hand, the single X coil 11 is fixed to the rotor frame 10 and is rotatably supported concentrically with the X axis. In the present invention, a single X coil is a single solenoid type that does not have an iron core and is supported concentrically with the X axis.

In the first embodiment shown in FIG. 2, unlike the first embodiment (FIG. 1C), the commutator 12 and the brush 13 are provided without the hall element 7 and the energization direction is switched. It has become.
The reason for providing such a structural difference is as follows.
In Example 1 (FIG. 1C), the coil is a stationary member and the spherical permanent magnet is a rotating member. Therefore, a Hall element is suitable for detecting the rotational phase of the spherical permanent magnet that is a rotating member.
In Example 2 (FIG. 2), the spherical permanent magnet is a stationary member and the coil is a rotating member. Therefore, a brush / commutator is suitable for switching the energizing direction of the coil that is the rotating member.

(See FIG. 2B) The direction of the magnetic field generated when the single X coil 11 is energized is the X-axis direction,
The magnetic pole direction (NS) of the spherical permanent magnet stator 3 intersects obliquely with respect to both the X axis and the Y axis. Accordingly, the single X coil 11 that is energized and generates magnetic field lines in the X-axis direction receives a rotational force around the X-axis due to attraction and repulsion with the fixed magnetic pole of the spherical permanent magnet stator 3.
Each time the single X coil 11 rotates 180 degrees, it continuously rotates while its energization direction is changed by the commutator / brush action. A member denoted by reference numeral 14 is a power supply terminal.

FIG. 3A is a schematic diagram depicting a modification of the first embodiment shown in FIG. 1C, and FIG. 3B is a schematic diagram of a further modification.
In the first embodiment of FIG. 1 (C), the magnetic pole direction of the spherical permanent magnet rotor 1 and the center line of the monoclinic coil 5 are always inclined and do not become the same direction. For this reason, efficiency is not good.
Therefore, in the modification of FIG. 3A, the half concentric coil 15 having a structure in which the half Y coil 15a and the half Y coil 15b in the Y-axis direction are arranged slightly apart and concentrically arranged is configured.
If comprised in this way, the rotor axis | shaft 2 was arrange | positioned between the two half Y coils 15a and 15b. As a result, a large rotational torque was obtained with the same dimensions, the same voltage and current.
The curve of the chain line shown in FIG. 7 is the rotational speed-current characteristic in Example 1 shown in FIG.
The half Y coil 15a and the half Y coil 15b have a coil wire diameter of 0.5 mm, 7 turns, and an inner diameter of 11 mm, respectively.

Further, as shown in FIG. 3B, one half of the two half coils (16a) is installed in the Y-axis direction, and the other half (16a) is installed at an angle θ with respect to the Y-axis. . That is,
A half-bending coil 16 in which the half Y coil 16a and the half oblique coil 16b are arranged slightly apart from each other is configured. As a result, it was possible to rotate at a higher speed than in FIG.

FIG. 4 is a schematic diagram illustrating Example 3 improved so as to obtain even better characteristics, as viewed in the X-axis direction.
The two split coils 17a and 17b are configured in the same manner as the embodiment shown in FIG. 3, but one side 17a is installed in the Y-axis direction to form a half Y coil, and the other 17b is Installed in the Z-axis direction to make a half-Z coil. These two split coils form a half-orthogonal coil 17.
The rotor shaft 2 of the spherical permanent magnet rotor 1 is arranged in the X-axis direction (perpendicular to the paper surface).
On the other hand, the half Y coil 17a is arranged in the Y axis direction and the half Z coil 17b is arranged in the Z axis direction so that the center line passes through the coordinate origin O.
The Hall element 7 and the energization switching circuit 8 are the same as those described in the first embodiment (FIG. 1C).
The rotational speed-current characteristics of Example 3 are shown by a solid curve in FIG. In this example, high-speed rotation close to 60,000 rpm was obtained.
Although not shown, as a modification of the third embodiment (FIG. 4), the angle at which the two half Y coils 17a and 17b are opposed can be set to other than a right angle (for example, concentric in the Y-axis direction). It is also possible to face the

FIG. 5 is a modification of the embodiment shown in FIG. 3B, and the difference between the two is as follows.
Although the center lines of the half Y coil 16a and the half oblique coil 16b in FIG. 3B pass through the coordinate origin O, the center lines of the divided oblique coil 20a and the divided oblique coil 20b in FIG. Not through O.
According to the embodiment of FIG. 5, compared with the embodiment of FIG. 3B, the torque is reduced, but high-speed rotation is possible.

  In the embodiment shown in FIGS. 4 and 5, the spherical permanent magnet rotor 1 is not arranged in the coil, and the coil is arranged to face the spherical permanent magnet rotor. Therefore, in such an embodiment, the coil can be multi-layered. When the multi-layer winding is used, it is expected that the torque is increased as compared with the case of the single layer winding.

FIG. 6 shows a modification of the third embodiment (FIG. 4).
When a solenoid coil having an oval shape (or a similar shape) when viewed in the axial direction is configured and bent along a minor axis, the split bending coil 21a shown in FIG. 6 is formed.
Only the split bending coil 21a drawn with a solid line may be installed. If the split bending coil 21b drawn with a broken line is also installed, an increase in torque is expected.
When using a bent coil as shown in FIG. 6, "the entire shape including the coil"
Can be made compact.

BRIEF DESCRIPTION OF THE DRAWINGS It is shown in order to demonstrate embodiment of this invention, Comprising: (A) is a front external view of the rotor in a 1st Example, (B) is a front external view of the stator in a 2nd Example. , (C) is a diagram in which a control system is added to the schematic front external view of the first embodiment. The 2nd example is shown, (A) is an exploded sectional front view for explaining structure, and (B) is a sectional front view showing an assembly state. (A) is a schematic diagram depicting a modification of the first embodiment shown in FIG. 1 (C), and (B) is a schematic diagram of a further modification. Schematic diagram illustrating a third embodiment improved so as to obtain better characteristics than the second embodiment described above and viewed in the X-axis direction The figure which added control system to the typical side view in the modification of the Example of above-mentioned FIG.3 (B). A diagram with a schematic side view control system depicting an embodiment configured to reduce the overall shape. Rotational speed-current characteristic diagram drawn with a dashed line curve in the first example and with a solid curve in the third example

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Spherical permanent magnet rotor 2 ... Rotor shaft 3 ... Spherical permanent magnet fixed stator 4 ... Magnet support 5 ... Monoclinic coil 6 ... Case 7 ... Hall element 8 ... Energization switching circuit
9 ... DC power supply
10 ... Rotor frame
11 ... Single X coil
12 ... Commutator
13 ... Brush
14 ... Feeding terminal
15 ... Half split concentric coil
15a ... Half Y coil
15b ... Half Y coil
16 ... Half bending coil
16a ... Half Y coil
16b ... Half diagonal coil
17 ... Half orthogonal coil
17a ... Half Y coil
17b ... Half Z coil
20a ... Divided diagonal coil
20b ... Divided diagonal coil
21a ... Half bending coil 21b ... Half bending coil

Claims (7)

Assuming three orthogonal axes X, Y, Z
The spherical permanent magnet rotor (1) and the X-axis direction rotor shaft (2) passing through the center thereof are integrally fixed,
The rotor shaft (2) is rotatably supported via a bearing with respect to the case (6).
A single solenoid type coil (5) having an inner diameter larger than the outer diameter of the spherical permanent magnet rotor (1) has its center line orthogonal to the Z axis and oblique to the X and Y axes. Arranged in a posture and surrounding the spherical permanent magnet rotor (1),
And a Hall element (7) for detecting a rotational angle position of the spherical permanent magnet rotor (1), and “based on a detection signal of the Hall element (7), the single solenoid coil (5) A motor having a simple structure, characterized in that it includes an energization switching circuit (8) for controlling the energization direction. Assuming three orthogonal axes X, Y, Z
The spherical permanent magnet rotor (1) and the X-axis direction rotor shaft (2) passing through the center thereof are integrally fixed,
The rotor shaft (2) is rotatably supported,
A single solenoid coil having an inner diameter larger than the outer diameter of the spherical permanent magnet rotor (1) is divided substantially at the center, and is formed by two half Y coils (15a, 15b). A coil (15) is formed;
The two half Y coils 15a and the half Y coils 15b are arranged concentrically with the Y axis and surround the spherical permanent magnet rotor (1).
And a Hall element (7) for detecting the rotational angle position of the spherical permanent magnet rotor (1), and “the direction of energization of the half concentric coil (15) based on the detection signal of the Hall element (7)”. A motor having a simple structure, characterized in that it includes an energization switching circuit (8) for controlling the motor. Assuming three orthogonal axes X, Y, Z
The spherical permanent magnet rotor (1) and the X-axis direction rotor shaft (2) passing through the center thereof are integrally fixed,
The rotor shaft (2) is rotatably supported,
A single solenoid-type coil having an inner diameter larger than the outer diameter of the spherical permanent magnet rotor (1) is divided substantially at the center, so that two half Y coils (16a) and half oblique coils 1 ( A half-bending coil (16) comprising 6b) is formed;
And while one half Y coil (16a) is arranged concentrically with the Y-axis,
The center line of the other half oblique coil (16b) is disposed obliquely with respect to the Y axis on the YZ plane,
These half Y coil (16a) and half oblique coil (16b) surround the spherical permanent magnet rotor (1),
And a Hall element (7) for detecting the rotational angle position of the spherical permanent magnet rotor (1), and “the direction of energization of the half-bending coil (16) based on the detection signal of the Hall element (7)”. A motor having a simple structure, characterized in that it includes an energization switching circuit (8) for controlling the motor. Assuming three orthogonal axes X, Y, Z
The spherical permanent magnet rotor (1) and the X-axis direction rotor shaft (2) passing through the center thereof are integrally fixed,
The rotor shaft (2) is rotatably supported,
A single solenoid coil is divided substantially at the center to form a half-orthogonal coil (17) comprising two half-Y coils (17a) and half-Z coils (17b).
And while one half Y coil (17a) is arranged concentrically with the Y-axis,
The other half Z coil (17b) is disposed concentrically with the Z axis,
These half Y coil (17a) and half Z coil (17b) are opposed to the spherical permanent magnet rotor (1),
And a Hall element (7) for detecting the rotational angle position of the spherical permanent magnet rotor (1), and “the direction of energization of the half-bending coil (16) based on the detection signal of the Hall element (7)”. A motor having a simple structure, characterized in that it includes an energization switching circuit (8) for controlling the motor. The spherical permanent magnet rotor (1) and the X-axis direction rotor shaft (2) passing through the center thereof are integrally fixed,
The rotor shaft (2) is rotatably supported,
A single solenoid coil surrounds the spherical permanent magnet rotor (1) or faces the spherical permanent magnet rotor, and the rotational angle position of the spherical permanent magnet rotor (1) is determined. A motor having a simple structure provided with a hall element (7) to be detected and "an energization switching circuit (8) for controlling the energization direction of the solenoid coil based on the detection signal of the hall element (7)" is started. A method,
a. When stopping the motor with the simple structure, the energization control based on the detection signal of the Hall element (7) is temporarily stopped, and the "spherical permanent magnet rotor is in a neutral position that balances the magnetic force of the solenoid coil". Stop it,
b. In advance, the phase at which the Hall element (7) operates is slightly deviated from the neutral position,
c. A motor starting method with a simple structure, characterized in that energization of the solenoid-type coil is started after adjusting the energization based on the detection signal of the Hall element (7). When the energization control based on the detection signal of the Hall element (7) is stopped and the solenoid coil is energized in a certain direction, the magnetic pole angle position where the spherical permanent magnet rotor (1) stops is set as a neutral position,
The detection point at which the Hall element (7) detects the rotational phase of the spherical permanent magnet rotor and switches energization has a phase difference compared to the neutral position. 5. A motor having a simple structure according to claim 4. Assuming three orthogonal axes X, Y, Z
The spherical permanent magnet stator (3) is arranged concentrically with the coordinate origin O, the magnetic pole direction is perpendicular to the Z axis, and is oblique to the X axis and the Y axis,
A single solenoid-type coil (11) having an inner diameter larger than the outer diameter of the spherical permanent magnet stator (3) surrounds the spherical permanent magnet stator and the rotor shaft (18) in the X-axis direction. Is rotatably supported by
The solenoid coil (11) is connected to a power supply terminal (14) via a "commutator (12) installed on the rotor shaft in the X-axis direction" and a brush (13). A motor with a simple structure.

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