JPS61203888A - Hall motor - Google Patents

Abstract

PURPOSE:To improve the mechanical dynamic balance of a rotor during the rotation of a Hall motor and the balance of a magnetic force between an armature and a rotor by providing a pair of armatures of the motor axially on a rotational shaft, and providing a pair of rotors around the armatures. CONSTITUTION:A Hall motor 1 has a pair of armatures 10, a coil 11 wound on the salient pole 10a of the armature 10, a coil 13 wound on a salient point 10c, a pair of rotors 16 bonded with a permanent magnet 14, a rotational shaft 18, bearings 19, 20, and a motor case 21. The rotor 16 is composed by securing a pair of cylindrical rotors 22, 23 to the bottoms 22a, 23a integrally. The pair of rotors 22, 23 are symmetrically disposed by laterally opening back-to-back, and rotatably disposed around the pair of armatures 10, and composed to improve the mechanical dynamic balance for the shaft 18 and the balance of the magnetic force.

Description

Detailed Description of the Invention Technical Field The present invention relates to a Hall motor, and in particular, a pair of armature and rotor are provided back to back with respect to a rotating shaft, and the mechanical dynamic balance of the cycup-shaped rotor and the relationship between the armature and the rotor are improved. This invention relates to a Hall motor that improves the balance of magnetic force acting between permanent magnets, produces less vibration during rotation, and is capable of high-speed rotation.

BACKGROUND ART Conventionally, in a Hall motor, an armature is fixed to a motor case, and a rotor fixed to a rotating shaft is rotatably arranged around the armature. In other words, the rotor was supported on the rotating shaft in a cantilevered manner. For this reason, the mechanical dynamic balance of the rotor and the balance of the magnetic force acting between the armature and the permanent magnets of the rotor are good.
It is impossible to do so, and there is a drawback that rotational noise and vibration are large. This means that in order to increase the output of the Hall motor, if the thickness of the armature in the direction of the rotating shaft is increased, the length of the rhinoceros cup-shaped rotor must be increased accordingly.
The drawback was that the balance characteristics worsened, and high output and high speed rotation could not be expected.

Purpose The present invention has been made to eliminate the drawbacks of the prior art described above, and its purpose is to provide a pair of armatures of a Hall motor in the axial direction of the rotating shaft, and to attach the rotor to the rotating shaft. On the other hand, by providing a pair of thigh-cup shapes whose bottoms are fixed back to back and opening in the left and right direction, and each of which is rotatably arranged around a pair of armatures, the rotor during rotation of the Hall motor is This improves the mechanical dynamic balance of the armature and the balance of the magnetic force acting between the armature and the permanent magnets of the rotor, effectively doubling the thickness of the armature, making it possible to increase output, and improving the balance to reduce vibration. and reduce noise, e.g. 110000rp
The purpose of the present invention is to provide a high-output, high-speed rotation type Hall motor that can rotate at a relatively high speed.

Configuration In short, the present invention includes an armature, a coil wound around salient poles of the armature, a rotor having at least a part of it a permanent magnet, and a Hall element for detecting the position of the rotor.
In the Hall motor including a control circuit that controls a current flowing through the coil according to an electromotive force generated in the Hall element, the armature is provided as a pair in the axial direction of the rotating shaft and electrically connected to each other. The rotors are provided with a pair of thigh-cup shapes whose bottoms are fixed back to back to each other with respect to the rotating shaft, opening in the left and right direction, and each of the rotors is arranged to be freely rotatable around the pair of armatures. It is characterized by the fact that

The present invention will be explained below based on embodiments shown in the drawings. A Hall motor 1 according to the present invention includes a control circuit 2 shown in FIG. The control circuit 2 includes Hall elements 3 and 4, voltage comparison circuits 5 and 6, a logic operation circuit 8, and a three-phase inverter circuit 9.

Furthermore, as shown in FIGS. 2 and 3, the Hall motor 1
is a pair of armatures 10, a coil 11 wound around the salient pole 10a of the armature 10, a coil 12 wound around the salient pole 10b, a coil 13 wound around the salient pole 10c, and permanent magnets 14 and 15. It includes a pair of rotors 16 stuck together, a rotating shaft 18, bearings 19 and 20, and a motor case 21. The rotor 16 includes a pair of cup-shaped rotors 2
2 and 23 are fixed together by welding or the like by welding the bottom parts 22a and 23, and the wall part 24 consisting of the bottom part 22a and the bottom part 23a is fixed to the boss 25,
A rotary shaft 18 is press-fitted into the boss 25, and the pair of rotors 22 and 23 are arranged symmetrically with their backs to each other open in the left-right direction, and each rotor is rotatable around the pair of armatures 10. The rotary shaft 18 is arranged in such a manner that the mechanical dynamic balance and magnetic force with respect to the rotating shaft 18 are well balanced. Also, a pair of coils 11, 1 of the armature 10
2.13 are electrically connected to form a single armature. The rotating shaft 18 is rotatably supported by a bearing 19 and a bearing 20.

The armature 10 is fixed to the motor case 21 by a support member 26 and a support member 28, and the Hall elements 3 and 4 are fixed to a mounting plate 28 and a fixture 29 fixed to the support member 26.
It is fixed between the salient poles 10a by.

Next, the control circuit 2 will be explained. The Hall element 3 is located between the salient poles 10a and 10b, and the Hall element 4 is located between the salient poles 10b and 10c, and detects the density and direction of the magnetic fluxes passing through them. The control current necessary to operate the Hall elements 3 and 4 is supplied by connecting the Hall elements 3 and 4 in series in order to reduce the power consumption of the Hall motor 1. That is, the positive terminal 30a of the regulator 30 is connected to the resistor 32 by the conductor 31, and the resistor 32 and the terminal 3a
are connected by a conductor 33, a terminal 4a is connected to the terminal 3b by a conductor 34, and the terminal 4b is grounded by a conductor 35. The resistor 32 is connected between the terminals 3a and 3b and between the terminals 4a and 4a.
, 4b to adjust the control current (bias current) flowing between them.

In the embodiment, the control current is, for example, about 5 milliamps. However, the internal resistance of the Hall elements 3 and 4 is easily influenced by temperature, and the potential of the terminal 3a changes depending on the temperature.

Further, the terminal 3c and the terminal 4C are open.

The potential of the terminal 3d is about half of that of the terminal 3a when there is no magnetic flux received by the Hall element 3, but the potential of the terminal 3d is about half that of the terminal 3a.
When the magnetic flux in the S direction acts, the potential of the terminal 3d increases, and conversely, when the magnetic flux acts in the S direction, the potential of the terminal 3d decreases.

The resistor 36 and the resistor 37 are connected in series through a conductive wire 40, and the resistor 37 and the resistor 38 are connected in series through a conductive wire 41, respectively, and the terminal 36a of the resistor 36 is connected to the terminal 3a of the Hall element 3 through a conductive wire 42. and the terminal 38b of the resistor 38 is connected to the terminal 3b.
is connected to by a conducting wire 43. Similarly, resistor 44
．． 45 and 46 are connected to the Hall element 4 from the terminal 4a to a conductor 47, a resistor 44, a conductor 48, a resistor 45, and a conductor 1i11.
49, resistor 46, and conductor 50 are connected in series in this order, and conductor! 1150 is connected to terminal 4b. The resistance value of the resistor 36 is equal to the resistance value of the resistor 38, and the resistance value of the resistor 36 is equal to that of the resistor 38.
The resistance value of resistor 7 is smaller than the resistance values of resistor 36 and resistor 38. Similarly, the resistor 44 and the resistor 46 have the same resistance value and are larger than the resistance value of the resistor 45.

The voltage comparison circuit 5 consists of operational amplifiers 51 and 52,
This is called a window comparator. The operational amplifier 51 has a positive terminal 51a, a negative terminal 51b, and an output terminal 51c, and when there is an input that causes the terminal 51a to have a higher voltage than the terminal 51b, the terminal 51C
The output voltage is generated at . Similarly, the operational amplifier 52 has a positive terminal 52a, a negative terminal 52b, and an output terminal 52c. The terminals 51a and 51b are connected by a conductor vA53 and form an input terminal 5b of the voltage comparison circuit 5, and the input terminal 5b is connected by a conductor 54 to the terminal 3d. The terminal 52a serves as the input terminal 5a of the voltage comparator circuit 5, and is connected to the point A on the conductor 41.
is connected by a conducting wire 55. The terminal 51b forms the input terminal 5C of the voltage comparator circuit 5, and the conductor 40
It is connected to point C above with a conducting wire 56. The terminal 51c forms the output terminal 5d of the voltage comparison circuit 5, and the terminal 52c forms the output terminal 5e of the voltage comparison circuit 5. resistance 36
．． 37 and 38 are for dividing the voltage between the terminals 3a and 3b.

Comparison circuit 5 compares the potentials at point A, point B (terminal 3d), and point C, and outputs the result to terminals 5d and 5e depending on the case.

That is, when the Hall element 3 has no magnetic flux, the potential at point B is equal to that at point D.
(terminal 3a), and the voltage division ratio between the resistors 36 and 38 is 1:1, so the potential at point B falls within the range from the potential at point A to the potential at point C. , terminals 5d and 5
No output appears at e. Next, when N-pole magnetic flux acts on Hall element 3, the potential at point B rises and becomes higher than the potential at point C, causing an output to terminal 5d. It is about to appear. Further, when the magnetic flux of the S pole acts on the Hall element 3, the potential at point B falls and becomes lower than the potential at point A, so that an output appears at the terminal 5e.

The voltage comparison circuit 6 includes an operational amplifier 61 and an operational amplifier 62. The positive terminal 61a and the negative terminal 62b are
They are connected to each other by conductive wires 63 and to terminal 4d by conductive wire 64, and terminal 61b is connected to terminal 4 of resistor 45.
5a by a conductor 65, and the terminal 62a is connected to the resistor 4.
It is connected to the terminal 46a of No. 6 by a conductive wire 66. Note that the configuration and operation of the voltage comparison circuit 6 are the same as those of the voltage comparison circuit 5, so a detailed explanation thereof will be omitted.

Further, when a normal Hall element and a comparator are combined, as shown in FIG. 7, the terminal 6 of the Hall element 67
Four terminals, 7a, 67b, 67c, and 67d, are used. Therefore, when connecting the Hall element 68 and the Hall element 69 in series as shown in FIG.
, 114, 115°, 116, and 117. On the other hand, in the case of this embodiment, the number of lead wires is 3
Since five pieces of 3°34, 35, 54 and 64 are sufficient, the structure can be simplified and manufacturing costs can be reduced.

Next, the logical operation circuit 7 includes a three-person gate 71 and a three-person gate 72. The input terminal 71a is connected to the terminal 51c by the conductor m73, the input terminal 71b is connected to the terminal 61c by the conductor 74, and the input terminal 71c is connected to the NOR gate 7 by the conductor 75.
It is connected to the output terminal 72d of No.2. Input terminal 72a
is connected to the terminal 52c by a conductor 76, the input terminal 72b is connected to the terminal 62c by a conductor 77, and the input terminal 72c is connected to the terminal 72b by a conductor 78.

The NOR gate 71 has input terminals 71a, 72b and 71c.
When both are unmanned, the output terminal 71d has a high potential, and conversely, if there is an input to any one, no output appears at the terminal 71d. Similarly, in the NOR gate 72, when the input terminals 72a, 72b, and 72c are all unattended, the output terminal 72d becomes a high potential, and conversely, if there is an input to any one, no output appears at the terminal 72d. It has become.

With the above configuration, the logic operation circuit 7 temporarily operates as a third
A position detection signal obtained when a Hall element (not shown) is placed between the salient poles 10b and 10c in the figure, and a signal extracted from the Hall element is passed through a voltage comparison circuit (not shown). Exactly the same output can be obtained from the terminal 71d and the terminal 72d. In addition, the guide vA75 is
This prevents the NOR gates 71 and 72 from being both at a high potential and causing the transistors 88 and 89 to be simultaneously energized and damaged.

The three-phase inverter circuit 8 includes transistors 81°82.8
3, 84.85, 86, 87.88 and 89, and diodes 90A, 90B, 91A.

91B, 92A, and 92B. The base 81b of the transistor 81 is connected to the terminal 51c via a resistor 94 and a conductive wire 121, the collector 81c is connected to the base 82b of the transistor 82 via a resistor 95, and the emitter 81e is grounded. The base 83b of the transistor 83 is connected to the terminal 52 via a resistor 96 and a conductive wire 122.
connected to c. Emitter 82 of transistor 82
e is connected to the power supply V by conductors 123 and 124;
Collector 82c is connected to collector 83c of transistor 83 by conductor 125, and emitter 83e is grounded. Further, a diode 90A is connected in the forward direction from the collector 82c to the emitter 82e of the transistor 82, and a diode 90B is connected in the forward direction from the emitter 83e to the collector 83c of the transistor 83. The collectors 82c and 83c are connected by a conducting wire 126 to a junction P of the delta-connected coils 11, 12 and 13.

Similarly, the base 84b of the transistor 84 is connected to the terminal 61c via a resistor 97 and a conductive wire 127, and the collector 84c is connected to the base 84b of the transistor 85 via a resistor 98.
5b, and the emitter 84e is grounded 6
The base 86b of transistor 86 is connected to resistor 99 and conductor m1.
28 is now connected to terminal 62C. The emitter 85e of the transistor 85 is connected to the power supply V via conductors 129 and 124, and the collector 85c is connected to the power supply V through the conductors 129 and 124.
The emitter 86e is electrically connected to the collector 86c of 6 by *130, and the emitter 86e is grounded. Further, from the collector 85c of the transistor 85 to the emitter 85. A diode 91A is connected in the forward direction to e, and a transistor 86
A diode 9 is connected from the emitter 86e to the collector 86c.
1B is connected in the forward direction. Collector 85c and 8
6c is connected by a conducting wire 131 to a junction Q of delta-connected coils 11, 12 and 13.

Similarly, the base 87b of the transistor 87 is connected to the terminal 71d via the resistor 100 and the conductive wire 132.
The collector 87c is connected to the transistor 88 via the resistor 101.
is connected to the base 88b of the emitter 87e, and the emitter 87e is grounded. The emitter 88e of the transistor 88 is connected to the conductor 12
4, the collector 88c is connected to the collector 89c of the transistor 89, and the emitter 89
e is grounded. Further, a diode 92A is connected in the forward direction from the collector 88c to the emitter 88e of the transistor 88, and a diode 92B is connected in the forward direction from the emitter 89e to the collector 89c of the transistor 89. The collectors 88c and 89C connect the conductor 135 to the junction R of the delta-connected coils 11, 12 and 13.
connected by.

Diodes 90A, 90B, 91A, 91B.

92A and 92B are the coils 11 while the rotor 16 is rotating.
．． This is to allow the current due to the back electromotive force generated in 12 and 13 to flow in one direction.

FIG. 6 shows the rotation angle of the rotor 16 and voltage waveforms at various parts of the control circuit 2. The horizontal axis θ represents the rotation angle of the rotor 16. Broken line 182 is transistor 8
Continuity between emitter 82e and collector 82c of No. 2!
(Hereinafter, simply referred to as a conductive state), a high level represents a conductive state, and a low level represents a non-conductive state.

Similarly, the polygonal line 183 shows the conduction state of the transistor 83, the polygonal line 185 shows the conduction state of the transistor 85, the polygonal line 186 shows the conduction state of the transistor 86, the polygonal line 188 shows the conduction state of the transistor 88, and the polygonal line 189 shows the conduction state of the transistor 89. Break! Reference numeral 190 indicates the potential at the summation point P, where a high level is a positive potential, a low level is a zero potential, and a negative level is a negative potential. Similarly, the polygonal line 191 is the summation point Q
%1192 represents the potential at the junction R.

Columns 11, 12 and 13 indicate the salient poles 10a, 10b and 10c of the armature 10 around which the coils are wound, respectively.
represents the magnetic pole, where the capital letters N and S indicate the case where they act primarily to attract the permanent magnet 14 or 15, and the lower case letters n and S act as auxiliaries to attract the permanent magnet 14 or 15.
This shows the case where there is a repulsion.

Function The present invention is constructed as described above, and its function will be explained below. First, before starting, the permanent magnet 14 (N pole) faces the Hall element 3, and the part of the rotor 16 where the permanent magnets 14 and 15 are not attached (the non-magnetic flux part 16a) faces the Hall element 4. It is assumed that

Here, when the control circuit 2 is energized, the operational amplifier 51 in the voltage comparator circuit 5 outputs an output, and the terminal 51c becomes a high potential, and the voltage comparator circuit 6 does not output. At the same time, in the logic operation circuit 7, the output of the terminal 51c is input to the terminal 71a of the NOR gate 71, and the output terminal 7
1d becomes zero potential. On the other hand, terminal 7 of Noah gate 72
Since there is no input to 2a and 72b, the output terminal 72d has a high potential.

When the terminal 51c and the terminal 72d become high potential, the transistor 82 and the transistor 89 become conductive.
Current flows from the power supply V through the conductor 124, the conductor 123, the transistor 82, and the conductor 126, and from the junction P to the coil 11.1.
2 and 13, and flows from junction R through conductor 135, transistor 89, and back to ground. At this time, the current mainly flows through the coil 11 as shown by the arrow X, and the current flowing through the coils 12 and 13 as shown by the arrow Y is small, so the coils 12 and 13 work in an auxiliary manner.

The current flowing through the coil 11 causes the salient pole 10a to become an S pole, and a force that attracts the permanent magnet 14 acts, and the coils 12 and 13 cause the salient poles 10b and 10c to become an N pole, and a force that repels the permanent magnet 15 acts to attract the rotor. 16 rotates counterclockwise in FIG. 3 about a rotating shaft 18. Then, since the magnetic poles facing Hall elements 3 and 4 change,
Another transistor 85 and transistor 89 are electrically connected,
A commutation takes place. Hereinafter, in the same manner, the operational amplifier 51.
When the operational amplifier 52, 61 and the NOR gate 71 output, the transistors 82, 85 and 88 become conductive, and the potentials of the junction points P, Q and R become positive, and the operational amplifier 52, 62 and the NOR gate 72
When the output is performed, the transistors 83, 86 and 89 become conductive, and the potentials of the joint points P, Q and R become negative, and the rotor 16
continues to rotate.

In this way, since the Hall elements 3 and 4 detect the three states of N pole, S pole, and no magnetic flux, the Hall motor 1 not only does not require a complicated waveform shaping circuit, but also has a logic operation circuit 7. Based on the position detection signals obtained from the Hall elements 3 and 4, the same position detection signal as when a Hall element (not shown) is placed between the salient poles 10b and 10c is generated, so three-phase drive Although it is a power type, it can be operated with only two Hall elements 3 and 4.

In addition, it is generally known in the case of brushed motors that when the operations of adjacent coils overlap slightly when rectifying, the effect of the residual electromotive force generated in the coils is reduced. This effect can be similarly reduced by making the magnetization angle ψ of the permanent magnets 14 and 15 slightly wider than 120 degrees.

Note that in the control circuit 2, the conductor 31 that supplies the bias current to the Hall elements 3 and 4 and the conductor 124 that supplies the drive current to the coils 11, 12 and 13 are separated by the regulator 30; The rated input voltage of the Hall motor 1 can be easily changed by changing the values such as .

In addition, in the above embodiment, coils 11, 12 and 13
Since it is a bipolar type that conducts current in both forward and reverse directions, it can generate a high starting torque comparable to a three-pole brushed motor. Although the coils 11, 12, and 13 have been described as delta connections, they may also be star connections.

Also, a resistor 37 connected to the terminal 51b and the terminal 52a
Since the operating point of the voltage comparator circuit 5 can be changed by changing its resistance value, Hall elements 3 having various characteristics can be used. Similarly, by adjusting the resistance value of the resistor 45, Hall elements 4 having various characteristics can be used.

Further, in the above embodiment, the Hall motor I has been described as being of a three-phase driving force type, but of course the present invention is not limited to this, and the present invention can also be applied to a five-phase Hall motor or the like.

Next, to explain the mechanical rotation characteristics of the Hall motor 1 according to the present invention, the pair of rotors 22 and 23 are connected to the rotating shaft 1.
8 are arranged symmetrically so that they are back to back to each other via the boss 25, and are rotated by a pair of armatures 10, respectively, so the output as a motor is twice that of a case with one armature. Become. In addition, compared to the case where the same output is obtained by extending a long thigh-cup-shaped rotor (not shown) from the boss 25 on one side, the mechanical dynamic balance is much better, and vibration is extremely less (less). , 110000r
It is also possible to rotate at a high speed of about p.

In addition, since the rotors 16 are arranged as a pair of rotors 22 and 23 symmetrically from the boss 25, the attractive and repulsive magnetic forces acting on the rotors 22 and 23 from each armature 10 are balanced, and the balance of magnetic forces is also very good. Excellent, the vibration caused by this is extremely low (and the rotation noise is also quiet).

Effect Since the present invention is constructed and operates as described above, a pair of armatures of the Hall motor are provided in the axial direction of the rotating shaft, and the rotors are fixed to each other with their bottoms aligned with the rotating shaft. A pair of side-cups are provided with openings in the left and right directions, and each of them is rotatably arranged around a pair of armatures, so that the mechanical dynamic balance of the rotor and the armature and rotor during rotation of the Hall motor are improved. This has the effect of improving the balance of magnetic force acting between the permanent magnets. In addition, it is possible to increase output by essentially doubling the thickness of the armature, and vibration and noise can be reduced by improving balance. This has the effect of providing a type of Hall motor.

[Brief explanation of the drawing]

1 to 6 relate to embodiments of the present invention, FIG. 1 is an electric circuit diagram of a control circuit for a Hall motor, FIG. 2 is a partial longitudinal cross-sectional side view of the Hall motor, and FIG. 3 is an armature, Figure 4 is a front view showing the positional relationship between the Hall element and the rotor, Figure 4 is a front view of the rotor, Figure 5 is a vertical cross-sectional view of the rotor, and Figure 6 is a diagram showing the relationship between the rotation angle of the rotor and the voltage waveforms of various parts of the control circuit. The diagrams shown in FIGS. 7 and 8 relate to the conventional example, and FIG. 7 is an electric circuit diagram connecting the Hall element and the comparator, and FIG.
FIG. 2 is an electrical circuit diagram in which two Hall elements are connected in series. 1 is a Hall motor, 2 is a control circuit, 3.4 is a Hall element, 10 is an armature, 10a, 10b. 10C is a salient pole, 11, 12.13 is a coil, 14.15
is a permanent magnet, 16.22.23 is a rotor, 22a, 23
a is the bottom, and 18 is the rotation axis.

Claims (1)

[Claims] An armature, a coil wound around salient poles of the armature, a rotor having a permanent magnet at least in part, a Hall element for detecting the position of the rotor, and a Hall element that responds to an electromotive force generated in the Hall element. In the Hall motor, the armature is provided in a pair in the axial direction of the rotating shaft and electrically connected to each other, and the rotor is connected to the rotating shaft. In contrast, a pair of holes are provided in the shape of a thigh cup whose bottom portions are fixed back to back and open in the left and right direction, each of which is disposed so as to be freely rotatable around the pair of armatures. motor.