Patent Application
20230179072
The present invention relates to a stepping motor.
Hybrid type stepping motors generally include a rotor including a pair of rotor segments each having a plurality of rotor teeth circumferentially provided at a constant interval, and a disk-shaped magnet held between the pair of rotor segments. A stator is provided around the rotor. The stator has a plurality of main poles, and the main poles each include a plurality of stator teeth provided in opposed relation to the rotor. The stator teeth are circumferentially provided at substantially the same interval as the rotor teeth. The maximum torque of such a hybrid type stepping motor is limited by magnetic saturation between the stator teeth and the rotor teeth.
PTL 1 discloses a stepping motor configured such that permanent magnets are respectively inserted in slots provided between adjacent rotor teeth and/or between adjacent stator teeth. This configuration provides a magnetic structure which reduces the magnetic saturation to ensure effective utilization of generated magnetic fluxes, making it possible to increase the maximum torque. That is, the permanent magnets embedded in the respective slots suppress the leakage of the magnetic fluxes to concentrate air gap magnetic fluxes between the stator teeth and the rotor teeth, thereby contributing to the increase of the torque generation.
PTL 1 states that there is a certain correlation between the holding force of a permanent magnet inserted in a slot and the ratio of a slot depth to a slot width (depth/width ratio) and, therefore, an optimum depth/width ratio is present (line 37 in the left column to line 18 in the right column of page 6 in PTL 1).
When the stepping motor having the configuration described in PTL 1 is produced, a basic design guideline is to put the permanent magnets in the respective slots as tightly as possible. This is supposedly because the torque can be advantageously increased by increasing the magnetic fluxes as much as possible.
However, the inventor of the present invention precisely analyzed the flow of the magnetic fluxes around the gap between the rotor and the stator and, as a result, found that the conventional basic design guideline is not necessarily optimum for maximization of the torque. Specifically, the inventor found that some of magnetic fluxes generated by magnets provided in the slots of one of the rotor and the stator do not reach the other of the rotor and the stator but return to the one. Such magnetic fluxes are ineffective magnetic fluxes that are not contributable to the torque.
Based on the conventionally unknown findings described above, an embodiment of the present invention provides a stepping motor configured to be capable of effectively increasing the torque.
The embodiment of the present invention provides a stepping motor which includes a stator, and a moving element disposed in opposed relation to the stator and movable in a predetermined movement direction with respect to the stator. The stator has a plurality of main poles, windings for the respective main poles, a plurality of stator teeth disposed on each of the main poles in opposed relation to the moving element and spaced from each other in the movement direction, and stator slots provided between respective adjacent pairs of the stator teeth. The moving element has a plurality of moving element teeth disposed in opposed relation to the stator and spaced from each other in the movement direction, and moving element slots provided between respective adjacent pairs of the moving element teeth. Slot magnets of hard magnetic inserts (inserts of a hard magnetic material) each magnetized in a slot depth direction are respectively provided in the stator slots and/or the moving element slots. The slot magnets preferably each have a width that is 60% to 80% of the width of each of the slots as measured in the movement direction.
The moving element teeth may be linear projections each extending in a direction intersecting the movement direction. The stator teeth may be linear projections each extending in the direction intersecting the movement direction. The moving element teeth and the stator teeth may extend parallel to each other. The moving element teeth may be opposed to and spaced from the stator teeth in an opposed direction perpendicular to the movement direction and the intersecting direction with a gap. The opposed direction may be parallel to the slot depth direction.
The moving element may be a rotor which is rotatable about a predetermined rotation axis. In this case, the movement direction may be a circumferential direction about the rotation axis.
The slot magnets may include stator slot magnets of hard magnetic inserts each magnetized in a stator slot depth direction and respectively provided in the stator slots. Further, the slot magnets may include moving element slot magnets of hard magnetic inserts each magnetized in a moving element slot depth direction and respectively provided in the moving element slots. The stator slot magnets and the moving element slot magnets may be magnetized so that, when the stator slot magnets are opposed to the moving element slot magnets, the opposed magnets have opposite polarities (different polarities).
The stator slot magnets may be opposed to and spaced from the moving element slot magnets with a gap. This gap may be not greater than the gap between the moving element teeth and the stator teeth.
The slot magnets may include samarium magnets.
The slot magnets may include neodymium magnets.
The foregoing and other objects, features, and effects of the present invention will become more apparent from the following description of embodiments with reference to the attached drawings.
The stator 2 includes a stator iron core 21 and windings 22. The motor flange 4 and the bracket 5 are fixed to opposite ends of the stator iron core 21, and these members constitute a motor case 8.
The rotor 3 is disposed within the motor case 8 rotatably about a rotation axis 10. The rotor 3 includes a rotation shaft 30 extending along the rotation axis 10, and a rotor iron core 31 supported by the rotation shaft 30. The rotation shaft 30 is supported rotatably by the pair of bearings 6, 7. One of the bearings (bearing 6) is attached to the motor flange 4, and the other bearing 7 is attached to the bracket 5.
Rotor teeth 33 (moving element teeth) are provided equidistantly at a predetermined tooth pitch in a circumferential direction 11 on the outer peripheral surface of the rotor iron core 31. The rotor teeth 33 each extend parallel to the rotation axis 10. Alternatively, the rotor teeth 33 may each be inclined with respect to the rotation axis 10.
Rotor slots 34 are provided between respective adjacent pairs of the rotor teeth 33. Rotor slot magnets 35 (moving element slot magnets) are respectively inserted in the rotor slots 34. The rotor slot magnets 35 are rod-shaped hard magnetic inserts (typically, permanent magnet pieces) respectively extending along the rotor slots 34. The rotor slot magnets 35 are respectively fixed within the rotor slots 34, for example, with an adhesive.
The stator iron core 21 includes a frame-shaped back yoke 27, and a plurality of main poles 28. The main poles 28 each extend from the back yoke 27 toward the rotor iron core 31, and are spaced from each other in the circumferential direction 11 to surround the rotor iron core 31. Thus, the main poles 28 define a rotor accommodation space 32 having a generally hollow cylindrical shape about the rotation axis 10. The windings 22 (see
The main poles 28 each have a support portion 28a connected to the back yoke 27, and an opposed portion 28b connected to a distal end of the support portion 28a. The opposed portion 28b faces the rotor accommodation space 32 and, therefore, is opposed to the rotor iron core 31. The opposed portion 28b extends in the circumferential direction 11 to the opposite sides of the support portion 28a. Thus, winding slots 29 are provided between respective circumferentially-adjacent pairs of the main poles 28. The windings 22 are accommodated in these winding slots 29. The opposed portion 28b has an opposition surface which is opposed to the rotor iron core 31. The opposition surface is formed with a plurality of stator teeth 23 which project toward the rotation axis 10. The stator teeth 23 are provided equidistantly at a predetermined tooth pitch in the circumferential direction 11. The stator teeth 23 extend along the rotation axis 10 so as to correspond to the rotor teeth 33. Where the rotor teeth 33 are inclined with respect to the rotation axis 10, the stator teeth 23 are correspondingly inclined with respect to the rotation axis 10.
Stator slots 24 are provided between respective adjacent pairs of the stator teeth 23. Stator slot magnets 25 are respectively inserted in the stator slots 24. The stator slot magnets 25 are rod-shaped hard magnetic inserts (typically, permanent magnet pieces) respectively extending along the stator slots 24. The stator slot magnets 25 are respectively fixed within the stator slots 24, for example, with an adhesive.
The rotor slot magnets 35 and the stator slot magnets 25 are each magnetized radially of the rotation axis 10. The expression “radially of the rotation axis 10” means “perpendicularly to the rotation axis 10.” Therefore, the rotor slot magnets 35 are each magnetized along the depth of the rotor slot 34. Further, the stator slot magnets 25 are each magnetized along the depth of the stator slot 24. The magnetization directions of the rotor slot magnets 35 are respectively same as the magnetization directions of the stator slot magnets 25 radially of the rotation axis 10. With the rotor slot magnets 35 opposed to the stator slot magnets 25, therefore, the polarities of the rotor slot magnets 35 are opposite from the polarities of the opposed stator slot magnets 25.
The rotor teeth 33 are linear projections each extending in a direction intersecting the circumferential direction 11 (movement direction). The rotor teeth 33 each project radially outward (away from the rotation axis 10) as having a generally constant width in a sectional plane perpendicular to the rotation axis 10. The rotor teeth 33 each have a top surface 33a facing away from the rotation axis 10. The top surface 33a extends in the circumferential direction 11 about the rotation axis 10. The rotor teeth 33 have substantially congruent sectional shapes, and are arranged equidistantly at a predetermined rotor tooth pitch Pr in the sectional plane perpendicular to the rotation axis 10. The rotor slots 34 provided between the respective adjacent pairs of the rotor teeth 33 are each defined by a pair of generally parallel side surfaces 34b, 34c of the rotor teeth 33 and a bottom surface 34a present between the side surfaces 34b and 34c, and each have a generally rectangular sectional shape. The bottom surface 34a extends in the circumferential direction 11 about the rotation axis 10.
The outer peripheral surfaces (top surfaces 33a) of the rotor teeth 33 each have a circumferential width (hereinafter referred to as “rotor tooth width Tr”) as measured in the circumferential direction 11 about the rotation axis 10. On the other hand, the rotor slots 34 each have a circumferential width (hereinafter referred to as “rotor slot width Sr”) as measured in the circumferential direction 11 about the rotation axis 10 on a virtual cylindrical surface defined by connecting the outer peripheral surfaces (top surfaces 33a) of the rotor teeth 33. Further, the rotor teeth 33 each have a height (hereinafter referred to as “rotor tooth height Hr”) as measured from the bottom surface 34a of the rotor slot 34 to the top surface 33a of the rotor tooth 33.
The rotor slot magnets 35 are rod-shaped inserts (typically, permanent magnet pieces) each made of a hard magnetic material and extending along the rotation axis 10. In this embodiment, the rotor slot magnets 35 each have a generally rectangular sectional shape as taken perpendicularly to the rotation axis 10. The rotor slot magnets 35 each have a bottom surface 35a opposed to the bottom surface 34a of the rotor slot 34, a top surface 35d (opposition surface) located opposite from the bottom surface 35a away from the rotation axis 10, and a pair of side surfaces 35b, 35c extending between the bottom surface 35a and the top surface 35d. Edge portions of the bottom surface 35a and the top surface 35d connected to the side surfaces 35b, 35c are chamfered to be arcuately curved in section. The bottom surface 35a of the rotor slot magnet 35 is bonded (fixed) to the bottom surface 34a of the rotor slot 34, for example, with the adhesive.
The pair of side surfaces 35b, 35c are respectively opposed to the pair of side surfaces 34b, 34c of the rotor slot 34. A gap 36 is provided between the side surface 35b and the opposed side surface 34b of the rotor slot 34 and/or between the side surface 35c and the opposed side surface 34c of the rotor slot 34. Therefore, a magnet width (rotor magnet width) MWr which is equivalent to a distance between the side surfaces 35b and 35c of the rotor slot magnet 35 is smaller than the rotor slot width Sr.
The top surface 35d of the rotor slot magnet 35 serves as the opposition surface which is opposed to the stator 2. In this embodiment, the top surface 35d is recessed from the virtual cylindrical surface defined by connecting the outer peripheral surfaces (top surfaces 33a) of the rotor teeth 33 toward the rotation axis 10. That is, a magnet thickness (rotor magnet thickness) MTr which is equivalent to a distance between the bottom surface 35a and the top surface 35d is smaller than the depth of the rotor slot 34 (which is equivalent to the rotor tooth height Hr). Thus, the rotor slot magnets 35 are respectively entirely accommodated in the rotor slots 34. The top surfaces 35d are substantially parallel to the virtual cylindrical surface. In a strict sense, the top surfaces 35d may each be a flat surface, which is parallel to a plane defined by connecting opening edges of the corresponding rotor slot 34. In this embodiment, the rotor slot magnets 35 respectively inserted in the rotor slots 34 have substantially the same shape and size.
The stator teeth 23 are linear projections each extending in the direction intersecting the circumferential direction 11 (movement direction). The stator teeth 23 respectively extend parallel to the rotor teeth 33. The stator teeth 23 each project radially inward (toward the rotation axis 10) as having a generally constant width in the sectional plane perpendicular to the rotation axis 10. The stator teeth 23 each have a top surface 23a facing toward the rotation axis 10. The top surface 23a extends in the circumferential direction 11 about the rotation axis 10. The stator teeth 23 have substantially congruent sectional shapes, and are arranged equidistantly at a predetermined stator tooth pitch Ps in the sectional plane perpendicular to the rotation axis 10. The stator slots 24 provided between the respective adjacent pairs of the stator teeth 23 are each defined by a pair of generally parallel side surfaces 24b, 24c of the stator teeth 23 and a bottom surface 24a present between the side surfaces 24b and 24c, and each have a generally rectangular sectional shape. The bottom surface 24a extends in the circumferential direction 11 about the rotation axis 10.
The inner peripheral surfaces (top surfaces 23a) of the stator teeth 23 each have a circumferential width (hereinafter referred to as “stator tooth width Ts”) as measured in the circumferential direction 11 about the rotation axis 10. On the other hand, the stator slots 24 each have a circumferential width (hereinafter referred to as “stator slot width Ss”) as measured in the circumferential direction 11 about the rotation axis 10 on a virtual cylindrical surface defined by connecting the inner peripheral surfaces (top surfaces 23a) of the stator teeth 23. Further, the stator teeth 23 each have a height (hereinafter referred to as “stator tooth height Hs”) as measured from the bottom surface 24a of the stator slot 24 to the top surface 23a of the stator tooth 23.
The stator slot magnets 25 are rod-shaped inserts (typically, permanent magnet pieces) each made of a hard magnetic material and extending along the rotation axis 10. In this embodiment, the stator slot magnets 25 each have a generally rectangular sectional shape as taken perpendicularly to the rotation axis 10. The stator slot magnets 25 each have a bottom surface 25a opposed to the bottom surface 24a of the stator slot 24, a top surface 25d (opposition surface) located opposite from the bottom surface 25a on the side of the rotation axis 10, and a pair of side surfaces 25b, 25c extending between the bottom surface 25a and the top surface 25d. Edge portions of the bottom surface 25a and the top surface 25d connected to the side surfaces 25b, 25c are chamfered to be arcuately curved in section. The bottom surface 25a of the stator slot magnet 25 is bonded (fixed) to the bottom surface 24a of the stator slot 24, for example, with the adhesive.
The pair of side surfaces 25b, 25c are respectively opposed to the side surfaces 24b, 24c of the stator slots 24. A gap 26 is defined between the side surface 25b and the opposed side surface 24b of the stator slot 24 and/or between the side surface 25c and the opposed side surface 24c of the stator slot 24. Therefore, a magnet width (stator magnet width) MWs which is equivalent to a distance between the side surfaces 25b and 25c of the stator slot magnet 25 is smaller than the stator slot width Ss.
The top surface 25d of the stator slot magnet 25 serves as the opposition surface which is opposed to the rotor 3. In this embodiment, the top surface 25d is recessed from the virtual cylindrical surface defined by connecting the inner peripheral surfaces (top surfaces 23a) of the stator teeth 23 away from the rotation axis 10. That is, a magnet thickness (stator magnet thickness) MTs which is equivalent to a distance between the bottom surface 25a and the top surface 25d is smaller than the depth of the stator slot 24 (which is equivalent to the stator tooth height Hs). Thus, the stator slot magnets 25 are respectively entirely accommodated in the stator slots 24. The top surfaces 25d are substantially parallel to the virtual cylindrical surface. In a strict sense, the top surfaces 25d may each be a flat surface, which is parallel to a plane defined by connecting opening edges of the corresponding stator slot 24. In this embodiment, the stator slot magnets 25 respectively inserted in the stator slots 24 have substantially the same shape and size.
The rotor slot magnets 35 and the stator slot magnets 25 have substantially the same shape and size.
When the rotor tooth 33 and the stator tooth 23 are opposed to each other, a predetermined gap (space) is defined between the rotor tooth 33 and the stator tooth 23 in an opposition direction, i.e., radially (in the depth direction of the slots 34, 24). This gap is referred to as iron gap ΔF. When the rotor slot 34 and the stator slot 24 are opposed to each other, a predetermined gap is defined between the rotor slot magnet 35 and the stator slot magnet 25 in an opposition direction, i.e., radially (in the depth direction of the slots 34, 24). This gap is referred to as magnet gap ΔM.
If the iron gap ΔF is sufficiently small, the stator tooth pitch Ps is substantially equal to the rotor tooth pitch Pr, and the rotor tooth width Tr is substantially equal to the stator tooth width Ts. Accordingly, the rotor slot width Sr is substantially equal to the stator slot width Ss. Therefore, the stator tooth pitch Ps and the rotor tooth pitch Pr are hereinafter sometimes collectively referred to as tooth pitch P. Further, the rotor tooth width Tr and the stator tooth width Ts are sometimes collectively referred to as tooth width T, and the rotor slot width Sr and the stator slot width Ss are sometimes collectively referred to as slot width S.
In this embodiment, the rotor tooth height Hr and the stator tooth height Hs may be substantially equal to each other. Therefore, the rotor tooth height Hr and the stator tooth height Hs are hereinafter sometimes collectively referred to as tooth height H. In this embodiment, the rotor slot magnet 35 and the stator slot magnet 25 may be hard magnetic inserts (typically, permanent magnet pieces) having substantially the same shape and size. Therefore, the rotor magnet width MWr and the stator magnet width MWs are hereinafter sometimes collectively referred to as magnet width MW, and the rotor magnet thickness MTr and the stator magnet thickness MTs are hereinafter sometimes collectively referred to as magnet thickness MT.
Further, the rotor slot magnets 35 and the stator slot magnets 25 are hereinafter sometimes collectively referred to as slot magnets, and the rotor slots 34 and the stator slots 24 are hereinafter sometimes collectively referred to as slots.
Magnetic fluxes flowing across the rotor 3 and the stator 2 are contributable to a torque that causes the rotation of the rotor 3. The magnetic fluxes include: magnetic fluxes flowing out of the stator teeth 23 into the rotor teeth 33; magnetic fluxes flowing out of the stator teeth 23 into the rotor slot magnets 35; magnetic fluxes flowing out of the stator slot magnets 25 into the rotor teeth 33; and magnetic fluxes flowing out of the stator slot magnets 25 into the rotor slot magnets 35.
On the other hand, magnetic fluxes circulating through paths extending through the stator teeth 23 and the stator slot magnets 25 while bypassing the rotor teeth 33 and the rotor slot magnets 35, i.e., magnetic fluxes circulating within the stator 2, are not contributable to the torque. Similarly, magnetic fluxes circulating through paths extending through the rotor teeth 33 and the rotor slot magnets 35 while bypassing the stator teeth 23 and the stator slot magnets 25, i.e., magnetic fluxes circulating within the rotor 3, are not contributable to the torque.
In view of the circulation of the magnetic fluxes, the inventor of the present invention conceived that, if the circulation of the magnetic fluxes can be suppressed, it is possible to increase the magnetic fluxes contributable to the torque generation and, hence, to increase the torque.
A conventional basic design concept for the stepping motor employing the slot magnets is that the slot magnets (hard magnetic bodies) are inserted in the slots without any gaps, and this concept is believed to maximize the torque. However, the above analysis result reveals that the structure with the slot magnets inserted in the slots without any gaps enhances the circulation of the magnetic fluxes, and the torque can be rather advantageously increased by providing the gaps between the slot magnets and the slot side surfaces.
If the magnet width MW is excessively reduced, on the other hand, the magnetic fluxes are less efficiently concentrated on the teeth, whereby the magnetic fluxes flowing across the stator 2 and the rotor 3 are liable to decrease.
Therefore, the gaps 26, 36 to be provided between the side surfaces of the slots 24, 34 and the side surfaces of the slot magnets 25, 35 should be each dimensioned in an optimum range so as to maximize the torque.
Based on this conception, the inventor of the present invention conducted studies about a relationship between the magnet width MW and the torque in order to investigate into a relationship between the gaps 26, 36 and the torque. The results of the studies will be described below.
For the description, technical terms are defined as follows. First, the term “magnet width ratio” means the ratio of the magnet width MW to the slot width S. The term “tooth width ratio” means the ratio of the tooth width T to the tooth pitch P (which is equal to the sum of the slot width S and the tooth width T). The term “tooth height/width ratio” means the ratio of the tooth height H to the tooth width T. These terms are collectively shown below.
Magnet width ratio=Magnet widthMW/Slot widthSTooth width ratio=Tooth widthT/Tooth pitchP=Tooth widthT/(Slot widthS+Tooth widthT)Tooth height/width ratio=Tooth heightH/Tooth widthT
In
Comparison of the lines L100, L300, L400, L600 and L800 indicates that the torque tends to be increased as the magnet thickness MT is increased to cause the top surfaces 25d, 35d (gap surfaces) of the slot magnets to approach the top surfaces 23a, 33a (tooth surfaces) of the teeth 23, 33. The comparison also indicates that the torque is maximized irrespective of the magnet gap ΔM when the magnet width MW is a specific width. For a maximum torque design, as shown by a broken line L1, it is preferred to reduce the magnet width MW as the magnet gap ΔM decreases.
Comparison of
In examples of
Where the magnet width ratio MW/S is set within a range of 60% to 80%, a great torque generating design is possible irrespective of the type of the magnets and the magnet gap ΔM.
As compared with the exemplary analysis shown in
As described in the exemplary analyses shown in
The exemplary analysis shown in
The magnet gap ΔM is preferably not greater than 800 μm, more preferably not greater than 400 μm, still more preferably not greater than 200 μm. The magnet gap ΔM is preferably not less than the iron gap ΔF (e.g., 40 μm), and may be not less than 100 μm.
In inventive examples, two-phase stepping motors of slot magnet type each having a mounting angle size of 60 mm, a motor length of 40 mm, a rotor inertia moment of 370×10−7 kgm2, a rotor tooth number of 50, a tooth width ratio T/P of 39%, and a tooth height/width ratio H/T of 1.0 were prepared. Then, the magnet width ratio MW/S was set to 75%, and the magnet gap ΔM was narrowed by increasing the magnet thickness MT. Sintered neodymium magnets each having a residual magnetic flux density of 1.4 T were used as the slot magnets. Current-torque characteristics were measured when the stepping motors of the inventive examples were each driven by two-phase excitation. In
The lines L200, L400 and L800 correspond to the examples in which the magnet gap ΔM was set to 200 μm, 400 μm and 800 μm, respectively. These lines indicate that the torque significantly varies according to the magnet gap ΔM. Further, where the magnet gap ΔM is 200 μm (line L200), the torque is generally doubled as compared with the torque provided by the hybrid type (line Lh).
In other inventive examples, two-phase stepping motors of slot magnet type each having a mounting angle size of 42 mm, a motor length of 52 mm, a rotor inertia moment of 55×10−7 kgm2, a rotor tooth number of 50, a tooth width ratio T/P of 39%, and a tooth height/width ratio H/T of 1.0 were prepared. Then, the magnet gap ΔM was set to 200 μm, and the magnet width ratio MW/S was set to 76% to 70%. Sintered neodymium magnets each having a residual magnetic flux density of 1.4 T were used as the slot magnets. Current-torque characteristics were measured when the stepping motors of the inventive examples were each driven by two-phase excitation. In
The lines L70, L73 and L76 correspond to the examples in which the magnet width ratio MW/S was set to 70%, 73% and 76%, respectively. A comparison between
Although the tooth pitches P of the rotor and the stator may take various values, the torque can be increased by using magnets (slot magnets) each having a proper width according to the tooth pitch P.
While the embodiment of the present invention has thus been described specifically, the invention may be embodied in some other ways. In the aforementioned embodiment, the stepping motor mainly described above is configured so that the rotor 3 is rotated about the rotation axis 10 by way of example, but the present invention is applicable to a stepping motor having a linear motor configuration. That is, the stepping motor may be configured so that the stator is disposed along a linear path and the moving element is movable along the stator.
In the aforementioned embodiment, the stator slot magnets 25 and the rotor slot magnets 35 are provided by way of example, but only the rotor slot magnets 35 may be provided with the stator slot magnets 25 obviated, or only the stator slot magnets 25 may be provided with the rotor slot magnets 35 obviated.
While the embodiments of the present invention have been described in detail, these embodiments are merely specific examples that are illustrative of the technical principles of the present invention but not limitative of the invention. The spirit and scope of the present invention are limited only by the appended claims.
This application claims the priority benefit of Japanese Patent Application No. 2020-77740 filed on Apr. 24, 2020, the disclosure of which is entirely incorporated herein by reference.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2020-077740 | Apr 2020 | JP | national |
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/JP2021/008000 | 3/2/2021 | WO |
