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公开(公告)号：US06633105B2
公开(公告)日：2003-10-14
申请号：US10104864
申请日：2002-03-22
IPC分类号： H02K3700
摘要： A permanent magnet motor having a stator and a permanent magnet rotor facing the stator with a gap therebetween, the stator having a plurality of stator magnetic poles extending radially toward a peripheral surface of the rotor, s number of small stator teeth formed on a tip end of each of the magnetic poles, and exciting windings of m phases wound around the stator magnetic poles. The rotor having a cylindrical permanent magnet having pieces of N pole and pieces of S pole arranged alternately in a peripheral direction thereof at equal pitches, wherein a pitch of the small stator teeth is 1±1/(2ms) times larger than a pitch of the rotor magnetic pole pairs. The width of the small stator tooth is 37˜47% of the magnetic pole pitch. A depth of the groove formed between the adjacent small stator teeth is more than 15 times larger than the length of the air gap between the stator and the rotor.
摘要翻译： 一种永磁电动机，其具有定子和与定子相对的定子的永久磁铁转子，其间具有间隙，所述定子具有径向朝向所述转子的周面延伸的多个定子磁极，形成在前端的多个小定子齿 的每个磁极和缠绕在定子磁极上的m相的励磁绕组。 转子具有圆柱形永磁体，其圆柱形永磁体具有N极和S极片，其圆周方向以相等的间距交替布置，其中小定子齿的间距是比1的间距大1±1 /（2ms）倍 转子磁极对。 小定子齿的宽度为磁极间距的37〜47％。 在相邻的小定子齿之间形成的槽的深度比定子和转子之间的气隙的长度大15倍以上。
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公开(公告)号：US06707178B2
公开(公告)日：2004-03-16
申请号：US09999340
申请日：2001-12-03
IPC分类号： H02K700
CPC分类号： H02K37/04
摘要： A stator of the stepping motor of the invention includes an annular shaped yoke portion, a stator iron-core having twelve stator main poles each having a plurality of small teeth on the tip end thereof and stator coils wound in the stator iron-core as three-phase winding. The stator rotatably supports a hybrid type rotor having a cylindrical permanent magnet that is sandwiched between a pair of rotors each having pole teeth around the circumferential surface to be opposite to the small teeth. Second, third, fourth and fifth harmonic components are removed by composing cogging torque of the respective phases by means of the three-phase twelve-pole construction. Any one harmonic component of the cogging torque among the second to fifth harmonic components is independently erased by making a difference between the small teeth pitch and the rotor teeth pitch, thereby the selected harmonic component is doubly erased.
摘要翻译： 本发明的步进电动机的定子包括环形磁轭部分，定子铁芯，其定子铁心具有十二个定子主磁极，每个定子主磁极在其末端具有多个小齿，定子铁芯缠绕在定子铁芯中三个 相绕组。 定子可旋转地支撑具有圆柱形永磁体的混合型转子，该圆柱形永久磁铁被夹在一对转子之间，每个转子在圆周表面周围具有与小齿相对的极齿。 第二，第三，第四和第五谐波分量通过三相十二极结构构成各相的齿槽转矩来去除。 通过使小齿间距与转子齿距之间的差异来独立地消除第二至第五谐波分量之间的齿槽转矩的任何一个谐波分量，从而选择的谐波分量被双重擦除。
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公开(公告)号：US06731027B2
公开(公告)日：2004-05-04
申请号：US10082000
申请日：2002-02-22
IPC分类号： H02K3714
CPC分类号： H02K37/18
摘要： A three-phase hybrid type stepping motor of the present invention comprises a stator, a rotor arranged concentrically with the stator and with an air gap therebetween, six stator poles extending radially and formed at a regular pitch on the inner peripheral surface of an annular stator yoke, each of the stator poles having a plurality of small stator teeth at the tip end thereof, the rotor having two splitted rotor elements and a permanent magnet held therebetween and magnetized so as to form N and S poles in the axial direction thereof, fifty of small rotor teeth formed at a regular pitch on the outer peripheral surface of each of the rotor elements, the two splitted rotor elements being shifted from each other in angular position by a ½ pitch of the small rotor teeth, wherein a permeance distribution of the small stator teeth is a vernier pitch balanced by a six or three order harmonic wave, and a ratio of the width of the pole tooth to the rotor teeth pitch is set to 0.35-0.45.
摘要翻译： 本发明的三相混合型步进电动机包括一个定子，一个与定子同心设置的转子和一个气隙，六个定子极径向延伸并以一定间距形成在环形定子的内周面上 磁轭，每个定子极在其顶端具有多个小的定子齿，转子具有两个分离的转子元件和永久磁铁，并被磁化以在其轴向上形成N和S极，五十 在每个转子元件的外周表面上以规则间距形成的小转子齿，两个分离的转子元件在角位置彼此偏移小转子齿的1/2间距，其中， 小定子齿是通过六阶或三阶谐波平衡的游标间距，极齿与转子齿间距的比率设定为0.35-0.45。
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公开(公告)号：US06548923B2
公开(公告)日：2003-04-15
申请号：US09821693
申请日：2001-03-29
申请人： Kazuo Ohnishi , Masafumi Sakamoto , Koki Isozaki
发明人： Kazuo Ohnishi , Masafumi Sakamoto , Koki Isozaki
IPC分类号： H02K3700
CPC分类号： H02K37/18
摘要： The permeance between the small teeth provided on the stator magnetic pole and the rotor magnetic pole may be varied regularly according to the rotation of the rotor. The small stator teeth provided on the tip end of each stator magnetic pole are divided into sets of two or three small stator teeth and at least one pitch of the adjacent teeth is different from the other pitch of the other adjacent teeth, so that the vector sum of the quaternary harmonics of permeance in each set is substantially zero. The small stator teeth formed on the tip end of the stator pole are composed of two sets of three small stator teeth, and at least one pitch of the adjacent teeth is different from the other pitch of the other adjacent teeth, so that a vector sum of the tertiary harmonics of permeance of the three small stator teeth included in each of sets becomes substantially zero, and that a vector sum of permeances of axialsymmetric two small stator teeth on the quaternary harmonic plane of two sets becomes substantially zero.
摘要翻译： 设置在定子磁极上的小齿与转子磁极之间的磁导可以根据转子的旋转而规则地变化。 设置在每个定子磁极的尖端上的小定子齿被分成两个或三个小定子齿的组，并且相邻齿的至少一个间距不同于其他相邻齿的另一个间距，使得矢量 每组中磁导率的四次谐波之和基本为零。 形成在定子极的前端上的小定子齿由两组三个小定子齿组成，并且相邻齿的至少一个间距不同于另一个相邻齿的另一个间距，使得矢量和 包含在每组中的三个小定子齿的三次谐波的三次谐波变得基本为零，并且两组的四次谐波平面上的轴对称两个小定子齿的磁导的矢量和变为基本为零。
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公开(公告)号：US06545376B2
公开(公告)日：2003-04-08
申请号：US09861913
申请日：2001-05-21
申请人： Kazuo Ohnishi , Masafumi Sakamoto , Koki Isozaki
发明人： Kazuo Ohnishi , Masafumi Sakamoto , Koki Isozaki
IPC分类号： H02K3700
CPC分类号： H02K37/18
摘要： In the three-phase hybrid type stepping motor according to the present invention, the small stator teeth formed on the tip end of the stator pole are classified to sets of two or three small teeth, the third harmonic vector sum of the permeances of the small teeth in each set is determine to substantially zero, and the third, fifth and sixth harmonic vector sum of the permeances of the small teeth of the sets is determine to substantially zero, under the consideration that the permeances between the small teeth of the stator magnetic pole and the rotor are varied according to the rotation of the rotor and that the permeances are varied regularly.
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公开(公告)号：US06781337B2
公开(公告)日：2004-08-24
申请号：US10269020
申请日：2002-10-09
IPC分类号： G05B1910
CPC分类号： B25J9/042 , B25J19/0025 , H01R39/64
摘要： In an industrial robot having a plurality of arms, each arm is coupled with other elements, such as a mounting base, another arm, a robotic hand, and revolved by a motion of the revolvable joint. The revolvable joint has a rotary electric connecting structure such as a slip ring or a rotary transformer which can be rotated endlessly. Electric powers for driving motors by which the arms are revolved and control signals for controlling the driving of the motors are supplied or transmitted through the rotary electric connecting structure, so that the arms can be rotated endlessly without twisting or breaking of electric cables.
摘要翻译： 在具有多个臂的工业机器人中，每个臂与诸如安装基座，另一个臂，机器人手的其它元件联接，并且通过可旋转接头的运动而旋转。 可旋转接头具有能够不断旋转的旋转电连接结构，例如滑环或旋转变压器。 通过旋转电连接结构供给或传送用于驱动臂旋转的电动机的电力和用于控制电动机的驱动的控制信号，使得臂可以在不扭曲或断开电缆的情况下不断地旋转。
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公开(公告)号：US06741006B2
公开(公告)日：2004-05-25
申请号：US09851922
申请日：2001-05-10
申请人： Masafumi Sakamoto
发明人： Masafumi Sakamoto
IPC分类号： H02K112
摘要： A magnet type stepping motor which has (1) a stator with three-phase stator windings, and 6m pieces of stator main pole arranged side by side, where m is an integer and ≧1, the stator windings of one phase are wound around every two stator main poles among the 6m pieces of the stator main pole, wherein when the stator windings of one phase are excited with a direct current, m pieces of N pole and M pieces of S pole are formed alternately on the 6m pieces of stator main pole, and (2) a rotor of a cylindrical permanent magnet magnetized in the circumferential direction to form Z/2 pieces of N pole and Z/2 pieces of S pole alternately, where Z is the number of rotor poles.
摘要翻译： 一种磁铁式步进电动机，其具有（1）具有三相定子绕组的定子和并排布置的6m个定子主极，其中m为整数，> = 1，一相的定子绕组缠绕 定子主极6m之间的每两个定子主极，其中当一个相的定子绕组被直流激励时，在6m定子上交替地形成m个N极和M个S极， 主极，（2）沿圆周方向磁化的圆筒形永磁体的转子，交替地形成Z / 2个N极和Z / 2个S极，其中Z是转子极数。
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公开(公告)号：US06329729B1
公开(公告)日：2001-12-11
申请号：US09640138
申请日：2000-08-16
申请人： Masafumi Sakamoto
发明人： Masafumi Sakamoto
IPC分类号： H02K3700
摘要： A magnet type stepping motor which has (1) a stator with three-phase stator windings, and 6m pieces of stator main pole arranged side by side, where m is an integer and ≧1, the stator windings of one phase are wound around every two stator main poles among the 6m pieces of the stator main pole, wherein when the stator windings of one phase are excited with a direct current, m pieces of N pole and M pieces of S pole are formed alternately on the 6m pieces of stator main pole, and (2) a rotor of a cylindrical permanent magnet magnetized in the circumferential direction to form Z/2 pieces of N pole and Z/2 pieces of S pole alternately, where Z is the number of rotor poles.
摘要翻译： 一种磁铁式步进电动机，其具有（1）具有三相定子绕组的定子和并排布置的6m个定子主极，其中m为整数，> = 1，一相的定子绕组缠绕 定子主极6m之间的每两个定子主极，其中当一个相的定子绕组被直流激励时，在6m定子上交替地形成m个N极和M个S极， 主极，（2）沿圆周方向磁化的圆筒形永磁体的转子，交替地形成Z / 2个N极和Z / 2个S极，其中Z是转子极数。
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公开(公告)号：US4347457A
公开(公告)日：1982-08-31
申请号：US215717
申请日：1980-12-12
申请人： Masafumi Sakamoto
发明人： Masafumi Sakamoto
CPC分类号： H02K37/18
摘要： A circular-plate permanent magnet, with its one side being magnetized as N-pole while the other as S-pole, which is sandwiched between two rotor yokes made of a magnetic circular plate, is mounted on a rotor shaft as one unit, and this unit makes up the rotor. The stator, which is arranged in a position where its inner surface opposes the outer periphery of the aforesaid rotor across a small air gap, is firmly held between a front cover and a rear cover. Around the outer periphery of the aforesaid rotor yokes, toothed-wheel-like jags which provide the permeance variations are installed. By letting DC current flow stepwise through the stator coils which are wound around the aforesaid stator, the rotor rotates stepwise. With D.sub.1 and D.sub.2 being the outside diameter and the inside diameter respectively of the cylindrical part on the inside diameter side of the front cover and rear cover, D.sub.0 being the outside diameter of the rotor yokes, L being the shaftwise length of the rotor shaft, Gl being the dimension of the air gap between the outer periphery of the rotor yokes and the inner surface of the stator, Dl being the distance between the end surface of the cylindrical part on the inside diameter side of the front and rear covers, and n being any optional natural number, then by satisfying the expression ofDl/Gl>n.multidot.(D.sub.1.sup.2 -D.sub.2.sup.2)/(4D.sub.o .multidot.L)the magnetic flux leaking outside the motor can be minimized to less than 1/n of the effective magnetic flux of the motor.
摘要翻译： 一个圆形永磁体，其一侧被磁化为N极，另一侧作为S极被夹在由磁性圆板制成的两个转子轭之间，作为一个单元安装在转子轴上，并且 这个单元组成转子。 被布置在其内表面与小空气间隙相对的前述转子的外周的位置的定子被牢固地保持在前盖和后盖之间。 在上述转子轭的外周附近，安装提供渗透变化的齿轮状的锯条。 通过使直流电流逐步流过缠绕在上述定子上的定子线圈，转子逐步旋转。 D1和D2分别是前盖和后盖的内径侧的圆筒部的外径和内径，D0是转子轭的外径，L是转子轴的轴向长度， G1是转子轭的外周与定子的内表面之间的空气间隙的尺寸，D1是前后盖的内径侧的圆筒部的端面之间的距离，n 任何可选的自然数，然后通过满足D1 / G1> nx（D12-D22）/（4DoxL）的表达式，泄漏在电动机外部的磁通可以最小化到小于电动机的有效磁通的1 / n 。
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公开(公告)号：US07589440B2
公开(公告)日：2009-09-15
申请号：US11562692
申请日：2006-11-22
申请人： Shoji Oiwa , Masafumi Sakamoto , Toru Kobayashi , Masahiko Azegami , Yasuaki Motegi , Takaya Kato , Yasuo Matsuda , Kazuo Onishi , Naoyuki Kanamori , Tadashi Fukushima
发明人： Shoji Oiwa , Masafumi Sakamoto , Toru Kobayashi , Masahiko Azegami , Yasuaki Motegi , Takaya Kato , Yasuo Matsuda , Kazuo Onishi , Naoyuki Kanamori , Tadashi Fukushima
IPC分类号： H02K37/12
CPC分类号： H02K37/18 , H02K1/2713 , H02K16/02 , H02K2201/06 , H02K2213/03
摘要： A stepping motor includes: a stator having main magnetic poles each having small stator teeth on its tip, a core-back portion that connects outer portions of the poles, and windings wound around the poles; and two sets of rotor units that are arranged in an axial direction and face the stator with an air gap therebetween. Each rotor unit consists of two rotor cores that are separated in the axial direction and a magnet sandwiched thereby and magnetized in the axial direction. Each rotor core has small rotor teeth around its outer surface. The rotor cores of each rotor unit are deviated by ½ pitch of the small rotor teeth, and the two rotor units are arranged to make the magnetic polarities of the small rotor teeth of the adjacent two rotor cores identical. A magnet thickness Tm and a rotor core thickness Tc satisfy 0.25≦Tm/Tc≦0.45.
摘要翻译： 步进电动机包括：定子，其顶端具有小的定子齿的主磁极，连接极的外部的芯部部分和绕磁极缠绕的绕组; 以及两组转子单元，其在轴向方向上布置并且与定子面对并具有气隙。 每个转子单元由沿轴向分离的两个转子芯和由其夹在其中并在轴向上被磁化的磁体组成。 每个转子芯在其外表面周围具有小的转子齿。 每个转子单元的转子磁芯偏离小转子齿的1/2间距，并且两个转子单元布置成使相邻两个转子磁芯的小转子齿的磁极相同。 磁体厚度Tm和转子芯厚度Tc满足0.25
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