JP2011185656A - Resolver - Google Patents

Abstract

Provided is a resolver that can detect a plurality of systems, can be miniaturized, and can detect with high accuracy while suppressing magnetic interference.
A resolver 1A is attached to a rotor 10, a ring-shaped back yoke 20, and a back yoke 20 so as to protrude toward the axial center, and an excitation winding and an output winding are wound around the rotor. And a stator composed of a plurality of teeth 30. The stator is provided with a plurality of detection units 21 and 22 each including at least one tooth 30, and at least the back yoke 20 is disposed between the detection units 21 and 22 adjacent to each other in the back yoke 20. A gap 50 opened in the inner circumferential surface S1 is formed. Instead of providing the gap portion 50, the shape of the teeth 30 may be a shape extending obliquely in two directions from the side attached to the back yoke 20 toward the axis center side.
[Selection] Figure 1

Description

  The present invention relates to a resolver capable of detecting a plurality of systems.

A rotor provided at the center of the shaft;
A ring-shaped back yoke provided on the outside of the rotor, and an excitation winding that is attached to the back yoke so as to protrude toward the center of the shaft, and a voltage induced by the input of the excitation signal is an output signal. A resolver comprising a stator composed of a plurality of teeth wound with an output winding output as
It is used for detecting the rotation angle of wheels and the like.
In order to continue stable detection even if a failure or the like of an electronic component occurs, a detection configuration of a plurality of systems is preferable.

  FIG. 6 of Patent Document 1 describes a resolver in which a plurality of pairs of rotor (110) / stator (114) units are arranged on the same axis. In this configuration, the number of parts is large, and the rotor / stator units are required by the number of detection systems, and the length in the axial direction becomes long.

  3 and 4 of Patent Document 1, in a structure in which a plurality of pairs of rotor (43) / stator (44) units are arranged on the same axis, by changing the arrangement pattern of a plurality of teeth in two stators, Mechanical interference between the windings of the two stators is suppressed, and the gap between the two stators is reduced. However, even in such a configuration, since a plurality of rotor / stator units are arranged, the length in the axial direction is more than twice as long as a single resolver with one rotor / stator unit.

2 and 4 of Patent Document 2 describe a resolver in which a plurality of coils (3, 4) are provided on one stator (1). In this configuration, a plurality of systems of coils (3, 4) are arranged adjacent to each other without any gap.
In FIG. 1 of Patent Document 3, a first detection winding (13) and a second detection winding (15) are provided for a plurality of teeth (9) provided in one stator (5). ) Are alternately wound.
The configurations described in Patent Documents 2 and 3 do not require a plurality of stators, and the axial length can be made half or less that of the configuration of Patent Document 1. However, since a plurality of resolver coils are arranged in one stator, magnetic interference is likely to occur between the plurality of systems, and it is difficult to perform highly accurate detection.

  FIG. 1 of Patent Document 4 and FIG. 1 of Patent Document 5 describe a resolver in which a plurality of stators having different diameters are arranged concentrically. In the resolver described in Patent Document 5, it has been proposed to fill a gap between a plurality of stators with a resin or a nonmagnetic material. In such a configuration, magnetic interference between the plurality of stators is suppressed by the resin or the nonmagnetic material. However, since a plurality of stators having different diameters are arranged concentrically, the entire diameter of the resolver becomes large.

  In FIG. 1 of Patent Document 6, the stator is divided into four divided stators (6 to 9), and gaps (6b, 7b, 8b, 9b) are provided between adjacent divided stators. A resolver is described in which magnetic sensors (H1, H2) are provided in two gaps (6b, 8b) among four gaps (6b, 7b, 8b, 9b). In paragraph 0010, “a gap (7b, 9b) in which no magnetic sensor is provided in order to avoid magnetic influence between two split stators (6 and 9, 7 and 8) adjacent to each other. Describes that it should be as wide as possible.

  FIG. 1 of Patent Document 7 describes a resolver in which a stator is divided into a plurality of divided stators (13), and gaps (12) are provided between adjacent divided stators. Paragraph 0008 of Patent Document 7 describes that the distortion of the excitation magnetic field distribution can be eliminated by dividing the stator into a plurality of divided stators (13).

  FIG. 1 of Patent Document 8 describes a resolver in which a stator is divided into four divided stators (114a to 114d), and gaps are provided between adjacent divided stators. Paragraph 0056 of Patent Document 8 describes that since the stator is divided into four divided stators (114a to 114d), interference between adjacent magnetic circuits is prevented.

  Patent Documents 6 to 8 describe a configuration that suppresses magnetic interference by dividing one stator into a plurality of divided stators and providing gaps between adjacent divided stators. There is no description about application to multiple systems.

JP 2004-325386 A Japanese Unexamined Patent Publication No. 2000-018968 JP 2002-168652 JP JP 2006-250867 A JP 2007-181360 A Japanese Utility Model Publication No. 06-004617 JP 2008-014759 A JP 2008-107342 A

  The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a resolver that can detect a plurality of systems, can be downsized, and can detect with high accuracy while suppressing magnetic interference. Is.

The first resolver of the present invention is
One rotor provided at the center of the shaft;
One ring-shaped back yoke provided outside the rotor, an excitation winding attached to the back yoke so as to protrude toward the axial center of the back yoke, and an excitation signal being input thereto, and the excitation signal A resolver comprising a stator composed of a plurality of teeth wound with an output winding in which a voltage induced by the input of the output is output as an output signal,
The stator is provided with a plurality of systems of detecting portions each including at least one tooth, and at least on the inner peripheral surface of the back yoke between the detecting portions adjacent to each other of the back yoke. Opened voids are formed.

The second resolver of the present invention is
One rotor provided at the center of the shaft;
A ring-shaped back yoke provided outside the rotor, an excitation winding attached to the back yoke so as to protrude toward the axial center of the back yoke, and an excitation signal input thereto; A resolver comprising a stator composed of a plurality of teeth wound with an output winding in which a voltage induced by an input is output as an output signal;
The stator is provided with a plurality of detection portions each including at least one tooth, and the teeth are directed from the side attached to the back yoke toward the axial center of the back yoke. It has a shape extending obliquely in two directions.

  According to the present invention, it is possible to provide a resolver that can detect a plurality of systems, can be downsized, and can detect with high accuracy while suppressing magnetic interference.

(A) is a top view of the resolver of 1st Embodiment which concerns on this invention, (B) is a figure which shows the example of a design change. (A) is a top view of the resolver of 2nd Embodiment which concerns on this invention, (B) is a figure which shows the example of a design change, (C) is a figure which shows another example of a design change. The top view of the resolver of 3rd Embodiment which concerns on this invention

[First embodiment]
The configuration of the resolver according to the first embodiment of the present invention will be described with reference to the drawings. FIG. 1A is a plan view showing the main part of the resolver of this embodiment.

The resolver 1A of the present embodiment is
One rotor 10 provided at the center of the shaft;
A ring-shaped back yoke 20 provided on the outside of the rotor 10 and a stator (reference numeral: 20 + 30) composed of a plurality of teeth 30 attached to the back yoke 20 so as to protrude toward the axial center thereof,
Each tooth 30 is wound with a coil 40 including an excitation winding to which an excitation signal is input and an output winding from which a voltage induced by the input of the excitation signal is output as an output signal.

  In the present embodiment, the back yoke 20 is provided with a gap portion 50 penetrating from the inner peripheral surface S1 of the back yoke 20 to the outer peripheral surface S2 at two locations facing each other in the radial direction. 20 + 30) is divided into a first detector 21 and a second detector 22. The gap 50 reaches the outer peripheral surface S2 from the inner peripheral surface S1 of the back yoke 20, and is open on both the inner peripheral surface S1 and the outer peripheral surface S2.

Each of the first detection unit 21 and the second detection unit 22 is provided with four teeth 30. The first detection unit 21 and the second detection unit 22 have different excitation signal-output signal paths. In the present embodiment, the first detection unit 21 and the second detection unit 22 have the same excitation signal input, but have different output signal phases.
The signal sources of the excitation signals input to the first detection unit 21 and the second detection unit 22 may be the same or non-identical, and the timings of the excitation signals may be synchronized or asynchronous.

The system of the first detection unit 21 is referred to as “A system”, and the system of the second detection unit 22 is referred to as “B system”. In FIG. 1A, the teeth / coil portions belonging to the first detector 21 are denoted by reference signs A1 to A4, and the teeth / coil portions belonging to the second detector 22 are denoted by reference signs B1 to B4. In the present embodiment, one of the first detection unit 21 and the second detection unit 22 outputs a sin wave and the other outputs a cosine wave. With this configuration, multiple systems can be detected in this embodiment. In the present embodiment, for example, normal detection is performed in the A system, and when detection by the A system cannot be performed due to an abnormality of an electronic component, the detection can be performed by switching to the B system.
The first detection unit 21 and the second detection unit 22 may have the same output signal phase.

  Refer to FIG. 2, FIG. 3, etc. of Patent Document 3 listed in the “Background Art” section for the wiring connection mode, excitation signal, and output signal waveform in each detection system.

  In the present embodiment, two teeth / coil portions A1, A2 constitute one magnetic circuit, and the teeth / coils are generated by the magnetomotive force excited by the excitation winding and the magnetic circuit passing through the teeth / coil portions A1, A2. Magnetic flux flows through the parts A1 and A2, and the voltage excited in the output winding is determined by the magnetic flux. Similarly, two teeth / coil portions A3 and A4, two teeth / coil portions B1 and B2, and two teeth / coil portions B3 and B4 each constitute one magnetic circuit. However, the present invention is not limited to such a configuration, and the magnetic circuit configuration can be appropriately designed.

  The resolver 1 </ b> A is provided with a holding member 60 that holds the ends of the first detection unit 21 and the second detection unit 22 that are adjacent to each other with the gap 50 interposed therebetween. The number and location of the holding members 60 correspond to the gaps 50.

  In the present embodiment, since a plurality of systems of detection units 21 and 22 are provided in one stator, the size and thickness can be reduced to the same level as a resolver that performs one system of detection.

In the present embodiment, since the gap 50 is provided between the multiple systems of the detection units 21 and 22, the presence of the gap 50, that is, the air layer, makes the magnetic connection between the multiple systems of the detection units 21 and 22. Thus, magnetic interference between the detection units 21 and 22 of a plurality of systems is suppressed, and highly accurate detection is possible.
As the gap 50 (air layer) is larger, the magnetic resistance between the detection units 21 and 22 of a plurality of systems tends to increase. In order to effectively suppress magnetic interference, it is preferable that the size of the gap 50 is large.

The material of the holding member 60 is not particularly limited as long as it is a magnetically insulating material. In order to suppress magnetic interference between the first detection unit 21 and the second detection unit 22, the magnetic resistance is large. A material is preferable, and specifically, various resins are preferable.
By providing a gap 50 between the first detection unit 21 and the second detection unit 22, and further arranging a resin-made holding material 60 in and around the gap 50, a plurality of detection units are provided. 21 and 22 can be stably held, and the magnetic resistance between them can be increased to suppress magnetic interference at a high level.

  As described above, according to the present embodiment, it is possible to provide a resolver 1A that can detect a plurality of systems, can be downsized, and can detect with high accuracy while suppressing magnetic interference.

[Design change example]
In the first embodiment, the number of detection units provided in one stator, the number of teeth 30 provided in each detection unit, and the number of detection systems can be appropriately designed.
In the resolver 1B shown in FIG. 1B, the stator is divided into four detection units 23 to 26, and a gap 50 is provided between the detection units 23 to 26 adjacent to each other. In this example, the detection units 23 and 24 are an A system, and the detection units 25 and 26 are a B system. Also in this example, two teeth / coil portions A1, A2 constitute one magnetic circuit, and the teeth / coils are generated by the magnetomotive force excited by the exciting winding and the magnetic circuit passing through the teeth / coil portions A1, A2. Magnetic flux flows through the coil portions A1 and A2, and the voltage to be excited in the output winding is determined by the magnetic flux. Similarly, two teeth / coil portions A3 and A4, two teeth / coil portions B1 and B2, and two teeth / coil portions B3 and B4 each constitute one magnetic circuit. However, the present invention is not limited to such a configuration, and the magnetic circuit configuration can be appropriately designed.
Even in such a configuration, the same effect as in the above embodiment can be obtained.

[Second Embodiment]
The configuration of the resolver according to the second embodiment of the present invention will be described with reference to the drawings. FIG. 2A is a plan view showing the main part of the resolver of this embodiment.
Since the basic configuration of this embodiment is the same as that of the first embodiment, the same components are denoted by the same reference numerals, and description thereof is omitted.

  1st Embodiment demonstrated the aspect which provided the space | gap part 50 between the detection parts 21 and 22 of multiple systems. In the resolver 1B of the present embodiment, the multiple systems of detection units 21 and 22 are not completely separated, and the multiple systems of detection units 21 and 22 are either on the inner circumferential surface S1 side or the outer circumferential surface S2 side of the back yoke 20. The side is also connected.

  In the present embodiment, a gap portion 51 formed of at least one thin line-shaped cut portion is formed between adjacent detection portions 21 and 22 instead of the gap portion 50 formed of a through hole. The gap 51 reaches the outer peripheral surface S2 from the inner peripheral surface S1 of the back yoke 20, but the back yoke 20 is not completely cut in the thickness direction.

In the configuration of the present embodiment as well, a plurality of detection units 21, 22 are provided depending on the presence of the gap 51, that is, the air layer, as in the case of providing the gap 50 made of a through hole between the adjacent detection units 21, 22. Are magnetically separated, and magnetic interference between adjacent detectors 21 and 22 is suppressed.
In the gap portion 51 formed of a thin line-shaped cut portion, a plurality of gap portions 51 are preferably formed between the adjacent detection portions 21 and 22 in order to ensure a sufficient air layer. In the example shown in the figure, three gaps 51 formed of thin line-shaped cut portions are formed between the adjacent detection portions 21 and 22. However, the number of the gaps 51 can be designed as appropriate.

In the present embodiment, the detection units 21 and 22 of a plurality of systems are not completely separated by the gap 51 and are connected to each other. Therefore, it is not necessary to assemble the detection units 21 and 22 of the plurality of systems, and the holding material 60 is also used. This is unnecessary, and the resolver 2 can be easily assembled.
Also in this embodiment, it is possible to provide a resolver 2 that can detect a plurality of systems, can be miniaturized, and can detect with high accuracy while suppressing magnetic interference.

[Design change example]
In the second embodiment, the shape of the gap provided in the back yoke 20 can be appropriately changed in design.
As shown in FIG. 2B, a gap 52 formed of a wedge-shaped cut portion may be provided between the adjacent detection units 21 and 22. The gap 52 is a gap that reaches the outer circumferential surface S2 from the inner circumferential surface S1 of the back yoke 20, but opens only on the inner circumferential surface S1, and does not open on the outer circumferential surface S2. The diameter of the gap portion 52 is large on the inner peripheral surface S1, and continuously decreases toward the outer peripheral surface S2.
The gap 52 formed of a wedge-shaped cut portion may not reach the outer peripheral surface S2.

  As shown in FIG. 2 (C), even if a gap 53 is formed between adjacent detectors 21 and 22 that is open only on the inner circumferential surface S1 of the back yoke 20 and does not reach the outer circumferential surface S2. Good. In the illustrated example, the diameter of the gap 53 is small on the inner circumferential surface S1 and continuously increases toward the outer circumferential surface S2, but the diameter change of the gap 53 can be designed as appropriate.

  Since more magnetic flux passes through the inner circumferential surface S1 side of the back yoke 20 than the outer circumferential surface S2 side, as shown by the void portions 50 to 53, at least a void portion opened in the inner circumferential surface S1 is provided. preferable. With such a configuration, it is possible to magnetically separate between a plurality of detection units by the presence of a gap, that is, an air layer, and to effectively suppress magnetic interference between adjacent detection units.

  In the example shown in FIGS. 2 (B) and 2 (C), the detection units of a plurality of systems are not completely separated by a gap and are connected to each other. In addition, a holding material for holding a plurality of detection units is not required, and the resolver can be easily assembled.

[Third embodiment]
A configuration of a resolver according to a third embodiment of the present invention will be described with reference to the drawings. FIG. 3 is a plan view showing the main part of the resolver of this embodiment.

The resolver 3 of this embodiment is
One rotor 10 provided at the center of the shaft;
A ring-shaped back yoke 70 provided on the outer side of the rotor 10, and a stator (reference numeral 70 + 80) composed of a plurality of teeth 80 attached to the back yoke 70 so as to protrude toward the axial center thereof,
Each tooth 80 is wound with a coil 100 including an excitation winding to which an excitation signal is input and an output winding from which a voltage induced by the input of the excitation signal is output as an output signal.

  In the present embodiment, the stator (70 + 80) is divided into a first detector 71 and a second detector 72. However, the first detection unit 71 and the second detection unit 72 are not clearly separated and are connected to each other.

  The first detection unit 71 and the second detection unit 72 have different excitation signal-output signal paths. In the first detection unit 71 and the second detection unit 72, the input excitation signals are the same signal, but the phases of the output signals are different. The signal sources of the excitation signals input to the first detection unit 71 and the second detection unit 72 may be the same or non-identical, and the timings of the excitation signals may be synchronized or asynchronous.

The system of the first detection unit 71 is called “A system”, and the system of the second detection unit 72 is called “B system”. In FIG. 3, reference numerals A <b> 5 to A <b> 6 are assigned to the teeth / coil parts belonging to the first detection unit 71, and reference signs B <b> 5 to B <b> 6 are assigned to the teeth / coil parts belonging to the second detection unit 72. In the present embodiment, one of the first detector 71 and the second detector 72 outputs a sin wave and the other outputs a cosine wave. With this configuration, multiple systems can be detected in this embodiment. In the present embodiment, for example, normal detection is performed in the A system, and when detection by the A system cannot be performed due to an abnormality of an electronic component, the detection can be performed by switching to the B system.
The first detection unit 71 and the second detection unit 72 may have the same output signal phase.

  Refer to FIG. 2, FIG. 3, etc. of Patent Document 3 listed in the “Background Art” section for the winding connection mode, the excitation signal, and the waveform of the output signal in each system.

  In the present embodiment, one tooth / coil portion A5 constitutes one magnetic circuit, and the teeth / coil portion A5 is formed by the magnetomotive force excited by the excitation winding and the magnetic circuit passing through the teeth / coil portion A5. A magnetic flux flows, and the voltage excited in the output winding is determined by the magnetic flux. Similarly, one tooth / coil part A6, one tooth / coil part B5, and one tooth / coil part B6 each constitute one magnetic circuit. However, the present invention is not limited to such a configuration, and the magnetic circuit configuration can be appropriately designed.

  In the present embodiment, the teeth 80 have a shape extending obliquely in two directions from the side attached to the back yoke 70 toward the axial center of the back yoke 70. Each tooth 80 is attached to the back yoke 70 by a holding member 90.

  In the present embodiment, the teeth 80 have an arc shape (“arc shape” includes a regular arc shape and an elliptic arc shape). In the illustrated example, the teeth 80 have a semicircular arc shape. The shape of the teeth 80 is arbitrary as long as it extends obliquely in two directions from the side attached to the back yoke 70 toward the axial center of the back yoke 70, and may be V-shaped or the like.

  In the present embodiment, since a plurality of systems of detection units 71 and 72 are provided in one back yoke 70, it is possible to reduce the size and thickness of the same level as a resolver that performs one system of detection.

  In the present embodiment, since the teeth 80 have a shape extending obliquely in two directions from the side attached to the back yoke 70 toward the axial center of the back yoke 70, a plurality of detection units 71, Magnetic interference between 72 is suppressed, and highly accurate detection is possible.

  In the present embodiment, the back yoke 70 is preferably made of a material having a large magnetic resistance, and specifically, various resins are preferably used. By setting it as this structure, the magnetic interference between the detection parts 71 and 72 of multiple systems can be suppressed at a higher level.

  As described above, according to the present embodiment, it is possible to provide a resolver 3 that can detect a plurality of systems, can be miniaturized, and can detect with high accuracy while suppressing magnetic interference.

[Design change example]
In 3rd Embodiment, the number of the detection parts provided in a stator, the number of teeth provided in each detection part, and the number of detection systems can be designed suitably.

The resolver of the present invention can be used for detecting vehicle speed, wheel rotation angle, and the like.
For example, the resolver of the present invention can be suitably used as a sensor for detecting the vehicle speed and the rotation angle of a wheel in a personal mobility robot having an inverted two-wheel structure wheel and a single-seat package. By using the resolver of the present invention, even if an electronic component fails and one system cannot be detected, the detection can be continued using the detection of another system, so that the stable operation is continued. be able to.

1A, 1B, 2 Resolver 10 Rotor 20 Back yoke 21-26 Detector 30 Teeth 40 Coil 50-53 Air gap 60 Holding material A1-A4 Teeth / Coil B1-B4 Teeth / Coil S1 Inner circumferential surface S2 of the back yoke Back yoke outer peripheral surface 3 Resolver 10 Rotor 70 Back yoke 71, 72 Detector 80 Teeth 100 Coil A5, A6 Teeth / Coil B5, B6 Teeth / Coil

Claims (9)

One rotor provided at the center of the shaft;
One ring-shaped back yoke provided outside the rotor, an excitation winding attached to the back yoke so as to protrude toward the axial center of the back yoke, and an excitation signal being input thereto, and the excitation signal A resolver comprising a stator composed of a plurality of teeth wound with an output winding in which a voltage induced by the input of the output is output as an output signal,
The stator is provided with a plurality of systems of detecting portions each including at least one tooth, and at least on the inner peripheral surface of the back yoke between the detecting portions adjacent to each other of the back yoke. A resolver having an open void.   The resolver according to claim 1, wherein the gap is a gap reaching the outer peripheral surface from the inner peripheral surface of the back yoke.   The resolver according to claim 2, wherein the gap portion is opened on both the inner peripheral surface and the outer peripheral surface.   The resolver according to claim 3, further comprising a plurality of holding members that hold the end portions of the detection units adjacent to each other with the gap portion interposed therebetween.   The resolver according to claim 4, wherein the holding material is made of resin.   The resolver according to claim 1 or 2, wherein the detection units adjacent to each other with the gap portion are connected to each other on the inner peripheral surface side and / or the outer peripheral surface side. One rotor provided at the center of the shaft;
A ring-shaped back yoke provided outside the rotor, an excitation winding attached to the back yoke so as to protrude toward the axial center of the back yoke, and an excitation signal input thereto; A resolver comprising a stator composed of a plurality of teeth wound with an output winding in which a voltage induced by an input is output as an output signal;
The stator is provided with a plurality of detection portions each including at least one tooth, and the teeth are directed from the side attached to the back yoke toward the axial center of the back yoke. A resolver having a shape extending obliquely in two directions.   The resolver according to claim 7, wherein the teeth have an arc shape.   The resolver according to claim 7 or 8, wherein the back yoke is made of resin.

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