JPS59222069A - Spherical pulse motor - Google Patents

Abstract

PURPOSE:To enable to move an output on a spherical surface with a simple structure by integrally securing a ring-shaped rotor and a ring-shaped relative stator perpendicularly to each other, and providing a movable element movably on the outer periphery of the relative stator. CONSTITUTION:When a pulse current is inputted to a stator winding 1, the stator pole 2 is excited, a rotor pole 6 is attracted, and the rotor 7 is rotated until the magnetic resistances of the teeth 5 of the pole 2 and the pole 6 become minimum in equilibrated state. When the pulse current is inputted to the element winding 15, the element pole 11 is excited, and the element 12 is moved on a ring-shaped relative stator 9 to the position becoming the equilibrated state that the magnetic resistance of the teeth 16 of the pole 11 and the pole 10 become minimum in equilibrated state. When the pulse current inputted to the element 15 is sequentially controlled, the position of the element on the stator 9 can be controlled.

Description

[Detailed Description of the Invention] [Technical Field] The present invention relates to a pulse motor used, for example, in the joints of industrial robots 1 to 1, and particularly relates to a spherical pulse motor in which the protrusion shaft can move on a spherical surface. It is.

[Prior art]

Conventionally, it has been known to combine multiple pulse motors or linear pulse motors to move the output horn axis in three dimensions, but combining multiple motors makes the structure complicated and making it difficult to downsize. .

Furthermore, there is still no known device whose output shaft moves on a spherical surface.

[Purpose of the invention]

An object of the present invention is to provide a spherical pulse motor with a simple structure and a small size, in which the protrusion shaft can move on a spherical surface, solving the conventional problems of a complicated structure and miniaturization due to rotation. It is in.

[Structure of the invention]

In order to achieve the above object, in the spherical pulse motor of the present invention, a plurality of stator poles having windings are installed along the circumferential direction of the fixed shaft, and the stator is fixed to the fixed shaft. A ring-shaped rotor with a plurality of rotor types facing each other with stator poles and gills in between, and a ring-shaped relative stator that is rotatable around a fixed shaft with the axis of the fixed shaft as a center line. are integrally fixed so as to be orthogonal to each other, and a plurality of stator poles are provided on the outer periphery of this relative stator, and these relative stator poles and gears are connected to each other. - A structure in which a mover is provided with multiple types of movers with windings facing each other across the knobs, and is movable on the outer periphery of a relative stator, and an output shaft is provided on this mover. The output shaft can be moved to a desired position on the spherical surface by controlling the pulse currents input to the stator pole windings and the movable element windings.

〔Example〕

An embodiment of the present invention will be described with reference to the drawings.

FIG. 1 is a plan view of a spherical pulse motor according to the present invention, FIG. 2 is a cross-sectional view of the spherical pulse motor of FIG. 1 taken along line 8-Δ, and FIG. FIG. 3 is a perspective view showing a general outline of the spherical pulse motor shown in FIG. 2;

A stator 4 in which a small number of stator poles 2 provided with stator windings 1 are provided in the circumferential direction of the fixed @3 is fixed to the fixed shaft 3.

The tips of the stator poles 2 are provided with teeth 5 in order to increase the resolution. A ring-shaped rotor 7 having a plurality of rotor types 6 facing the teeth 5 of the stator poles 2 with a gap therebetween, and a ring-shaped rotor 7 with a plurality of rotor types 6 facing each other with a gap therebetween, and a ring-shaped rotor 7 that rotates around the fixed shaft 3 with the axis of the fixed shaft 3 aligned with the center line. A ring-shaped relative stator 9, which is attached to the fixed shaft 3 by a bearing 8 so as to rotate, is integrally fixed so as to be perpendicular to the U direction. The teeth 5 of the stator pole 2 and the rotating seven poles 6 are provided with slightly different pitches except those in a balanced state.

A plurality of relative stator poles 10 are provided on the outer periphery of the relative stator 9. These relative stator poles 10 are separated by a gap (a mover 12 provided with a plurality of opposing mover types 11 is attached to a two-pronged fixture 13). Attach both ends of the bearing 1 to a part on the outer periphery of the rotor 7 that is perpendicular to the part where the fixed part 9 is fixed.
4 to allow the mover 12 to move over the relative stator 9. A mover winding 15 is provided on the mover type 11, and teeth 16 are provided at the tip of the mover type 11 to increase resolution.
is cut. The teeth 16 of these movable element types 11 and the relative stator poles 10 are provided with pitches slightly shifted from each other except in the balanced state. An output shaft 17 is attached on the outer periphery of the mover 12.

Next, to explain the operation, when a pulse current is input to another stator winding 1, the stator pole 2 to which this stator winding 1 is applied is excited and attracts the rotor type 6 that is closest to it. hand,
The rotor 7 rotates until it reaches an equilibrium state in which the magnetic resistance between the teeth 5 of the stator poles 2 and the rotor seeds 6 is minimized. Since the teeth 5 of the stator pole 2 and the rotor type 6 in a state other than the balanced state are installed with a pitch shift, when a pulse current is input to another stator winding 1, this fixed prewinding FAI Stator 4'f subjected to 1
I2 is excited and attracts the nearest rotor type 6,
The rotor 7 rotates to an equilibrium state in which the magnetic resistance between the teeth 5 of the stator poles 2 and the rotor seeds 6 is minimized. In this way, the pulse current input to each stator winding 1 is sequentially 11. +
By controlling J, the rotation angle of the rotor 7 can be controlled.

Furthermore, by controlling the polarity of the pulse current, the direction of rotation can also be controlled.

Furthermore, when a pulse current is applied manually to one moving element winding 15, the moving single pole 11 to which this moving element winding 15 is applied is excited,
The ring-shaped relative stator 8i10 attracts the mover 12 until the mover 12 reaches a position where the magnetic resistance between the tooth 16 of the mover type 11 and the relative stator pole 10 is at a minimum and reaches an equilibrium state. Move on 9. Since the tooth 16 of the movable type 11 other than the balanced state and the relative stator pole 10 are provided with a slight bit deviation, when a pulse current is input to another movable winding 15 next time, this movable winding The mover type 11 with line 15 is excited and attracted to the relative stator pole 10 near Rb, until the tooth 16 of the moving pole 1 reaches an equilibrium position where the magnetic resistance with the relative stator pole 10 is minimum. , the mover 12 moves on the relative stator 9. By sequentially controlling the pulse current input to each movable element winding 15 in this manner, the position of the movable element 12 relative to the stator 9 can be controlled.

Furthermore, by controlling the polarity of the pulse current, the direction of movement can also be controlled.

If the pulse currents flowing through the stator winding 1 and the mover winding 15 are simultaneously controlled, the ring-shaped rotor 7
Since the ring-shaped relative stator 9 is integrally fixed so as to be perpendicular to each other, the ring-shaped relative stator 9 also rotates around the axis of the fixed shaft 3 as the rotor 7 rotates. At the same time, the movable element 12, which is attached to the output shaft 17 by one digit, moves on the ring-shaped relative stator 9. As a result, the output shaft 17 moves on a spherical surface centered on the position of the stator 4 of the fixed l1113.

〔Effect of the invention〕

Since the present invention has the above-described configuration, the output shaft can move on a spherical surface without combining multiple pulse motors or linear pulse motors as in the past, and there is no need to combine multiple pulse motors or linear pulse motors. This has the effect that the rep structure becomes simpler and can be made smaller.

[Brief explanation of the drawing]

FIG. 1 is a plan view of an embodiment of the spherical pulse motor according to the present invention, FIG. 2 is a cross-sectional view of the spherical pulse motor of FIG. 1 taken along line A-A, and FIG. FIG. 2 is a perspective view showing the general outline of the spherical pulse motor of FIG. 2... Stator pole, 3... Fixed shaft, 4...
...Stator, 6...Rotor pole, 7...
...Rotor, 9...Relative stator, 1o...
... Relative stator pole, 11 ... Mover pole, 12
...Movement element, 17...Output shaft. Applicant Nippon Electric Seiki Co., Ltd. Agent Patent Attorney Masu [11 Takeo

Claims (1)

[Claims] 1. A stator having a plurality of stator poles with windings arranged along the circumferential direction of the fixed shaft is fixed to the fixed shaft, and is opposed to these stator poles across a gap. A ring-shaped rotor with multiple types of rotors and a ring-shaped relative stator that is rotatable around the fixed shaft with the axis of the fixed shaft as the center line are fixed together so as to be orthogonal to each other. A plurality of relative stator poles are provided on the outer periphery of the relative stator, and a plurality of mover poles with opposing windings are provided with a gap between them and the relative stator poles. A spherical pulse motor, characterized in that the movable element is movable on the outer periphery of a stator, and the movable element is provided with an output shaft.