Rotating electric machine, robot, and method for manufacturing rotating electric machine

Abstract

The present invention provides a rotating electric machine, a robot and a manufacturing method of a rotating electric machine, which suppress the generation of cogging torque. The rotating electric machine (1) comprises: a stator (5) having a coil (53); and a rotor (3) arranged separately from the stator (5) and rotating around a rotating shaft (300), wherein the rotor (3) comprises: a rotor frame (32) connected to the rotating shaft (300); and a magnet (100) arranged on the rotor frame (32), wherein when the direction from the magnet (100) toward the coil (53) is set as a first direction, the magnet (100) comprises: a plurality of first magnets (6) having anisotropy and being magnetized at least in the first direction; and a second magnet (7) having isotropy and being arranged on the end face of the first magnet (6) on the positive side in the first direction.

Description

Technical Field

[0001] The present invention relates to a rotating electric machine, a robot including the rotating electric machine, and a method for manufacturing the rotating electric machine. Background Art

[0002] In the permanent magnet motor of Patent Document 1, a radial gap motor of a Halbach magnet array including main permanent magnets having a magnetization direction in the radial direction and auxiliary permanent magnets having a magnetization direction in the circumferential direction is disclosed.

[0003] Patent Document 1: Japanese Patent Application Publication No. 2004-15906

[0004] However, in Patent Document 1, a plurality of anisotropic magnets having different magnetization directions are combined, and the magnetic flux density distribution is likely to deviate from the sine wave at the boundary between the main permanent magnet and the auxiliary permanent magnet. As a result, there is a problem that cogging torque is likely to occur. Summary of the invention

[0005] A rotating electric machine comprises: a stator having a coil; and a rotor arranged separately from the stator and rotating around a rotating shaft, the rotor comprising: a rotor frame connected to the rotating shaft; and a magnet arranged on the rotor frame, wherein when a direction from the magnet toward the coil is set as a first direction, the magnet comprises: a plurality of first magnets having anisotropy and being magnetized at least along the first direction; and a second magnet having isotropy and being arranged on an end face of the first magnet on the positive side in the first direction.

[0006] A robot includes the above-described rotating electric machine and a driven member driven by the rotating electric machine.

[0007] A method for manufacturing a rotating electric machine, the rotating electric machine comprising: a stator having a coil; a rotor rotating around a rotating shaft; a rotor frame connected to the rotating shaft; and a magnet comprising an anisotropic magnet and an isotropic magnet, the method for manufacturing the rotating electric machine comprising: an anisotropic magnet arranging step of arranging the unmagnetized anisotropic magnet on the rotor frame; an isotropic magnet arranging step of arranging the unmagnetized isotropic magnet on the end surface of the anisotropic magnet on the positive side in the first direction when a direction from the anisotropic magnet toward the coil is set as a first direction; a magnetizing step of magnetizing the arranged unmagnetized anisotropic magnet and the isotropic magnet; and a stator arranging step of arranging the stator in the first direction relative to the rotor on which the magnetized anisotropic magnet and the isotropic magnet are arranged. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1It is a cross-sectional view schematically showing the structure of the rotating electrical machine according to the first embodiment.

[0009] Figure 2 It is a three-dimensional diagram showing the structure of a magnet.

[0010] Figure 3 This is a partial cross-sectional view when the rotor is cut along a plane perpendicular to the radial direction.

[0011] Figure 4 This is a flowchart illustrating a method for manufacturing a rotating electrical machine.

[0012] Figure 5 It is a cross-sectional view showing the structure of a magnet of a rotating electric machine according to a second embodiment.

[0013] Figure 6 It is a cross-sectional view showing the structure of a magnet of a rotating electrical machine according to a third embodiment.

[0014] Figure 7 It is a cross-sectional view showing the structure of a magnet of a rotating electrical machine according to a fourth embodiment.

[0015] Figure 8 It is a cross-sectional view showing the structure of a magnet of a rotating electric machine according to a fifth embodiment.

[0016] Fig. 9 It is a cross-sectional view showing the structure of a magnet of a rotating electric machine according to a sixth embodiment.

[0017] Fig.10 It is a cross-sectional view showing the structure of a magnet of a rotating electrical machine according to a seventh embodiment.

[0018] Fig.11 It is a cross-sectional view showing the structure of a magnet of a rotating electrical machine according to an eighth embodiment.

[0019] Fig.12 It is a cross-sectional view showing the structure of a magnet of a rotating electrical machine according to a ninth embodiment.

[0020] Fig.13 It is a schematic perspective view showing the structure of a rotating electrical machine according to a tenth embodiment.

[0021] Fig.14 It is a schematic plan view showing the structure of a rotating electrical machine.

[0022] Fig.15 It is a schematic plan view showing the structure of a rotating electrical machine according to an eleventh embodiment.

[0023] Fig.16 It is a schematic plan view showing the structure of a rotating electrical machine according to a twelfth embodiment.

[0024] Fig.17 It is a perspective view showing the structure of a robot according to a thirteenth embodiment.

[0025] Fig.18 This is a diagram that simply shows the structure of a robot.

[0026] Description of Reference Numerals

[0027] 1, 1A to 1E, 2, 2A, 2B, 10, 10A, 10B: rotating electrical machine; 3: rotor; 5: stator; 6, 6B to 6E, 8, 8A, 9, 9A, 9B: first magnet; 7, 7A, 75, 75A, 75B: second magnet; 32, 32D, 32E, 33, 38, 38A, 38B: rotor frame; 53: coil; 61, 91, 91A, 91B: main pole magnet ; 62, 62B, 62C, 92, 92A, 92B: secondary pole magnets; 71: arc-shaped magnet; 100, 100A~100E, 150, 150A, 150B, 200, 200A, 200B: magnets; 300, 310: rotating axes; 1000: robot; 1010: the first arm as the root side arm (root side arm); 1100: the robot arm as a driven component. DETAILED DESCRIPTION

[0028] Hereinafter, the embodiment of the present invention will be described with reference to the drawings. However, in each drawing, the size and scale of each part are shown to be appropriately different from the actual ones.

[0029] 1. First Implementation

[0030] Figure 1 2 is a cross-sectional view showing a schematic structure of a rotary electric machine 1 according to the first embodiment. Figure 1 In the embodiment, the rotating electrical machine 1 is constructed as an axial gap electrical machine.

[0031] The axial gap motor is a motor having a gap between the magnet 100 and the coil 53 in the axial direction A of the rotating shaft 300 described later. Figure 1 As shown, the rotary electric machine 1 is a motor adopting a so-called 1-rotor 1-stator structure.

[0032] Specifically, if Figure 1 As shown, the rotary electric machine 1 includes: an annular rotor 3 that rotates around a rotary shaft 300 ; a stator 5 that is disposed on the upper side of the rotor 3 (specifically, a rotor frame 32 ) along the rotary shaft 300 ; and a housing 4 that is disposed on the lower side.

[0033] In the following description, the direction along the central axis AX of the rotating shaft 300 is referred to as the “axial direction A” or the “up-down direction”, the circumferential direction of the rotor 3 is referred to as the “circumferential direction C”, and the radial direction of the rotor 3 is referred to as the “radial direction R”. In particular, the direction from the stator 5 toward the housing 4 is referred to as the “downward direction A1”, and the direction from the housing 4 toward the stator 5 is referred to as the “upward direction A2”.

[0034] The rotating shaft 300 is a hollow cylinder. Alternatively, the rotating shaft 300 may be a solid cylinder. In the rotating electrical machine 1 of the present embodiment, the rotating shaft 300 is configured to have a larger radial direction and to be a hollow shaft so that wiring to the rotating electrical machine 1 passes through the hollow portion of the rotating shaft 300 .

[0035] The rotor 3 includes a rotor fixing portion 31 fixed to a rotating shaft 300, a rotor frame 32 extending radially from the rotor fixing portion 31 and having a disc shape, and a magnet 100 as a permanent magnet supported by the rotor frame 32. The magnet 100 is arranged in the circumferential direction C near the end of the radial direction R of the rotor frame 32. The details of the rotor 3 will be described later.

[0036] The stator 5 is arranged with a gap in the upper direction A2 of the rotor frame 32. The stator 5 has a circular top shell 51, a plurality of stator cores 52, a coil 53 arranged in each stator core 52, and a back yoke 54 connecting the plurality of stator cores 52. The stator core 52 and the back yoke 54 are arranged in the lower direction A1 of the top shell 51, and the back yoke 54 is fixed to the top shell 51.

[0037] The top shell 51 is made of non-magnetic materials such as austenitic stainless steel. In addition, it can also be made of various magnetic materials such as a laminate of electromagnetic steel plates and a pressed body of magnetic powder. Among the magnetic materials, it can also be made of soft magnetic materials. In addition, the top shell 51 can also be made of a collection of multiple parts.

[0038] As described above, the stator 5 has a plurality of stator cores 52 and a back yoke 54. The back yoke 54 is a member in the shape of an annulus along the circumferential direction C. The stator core 52 protrudes from the back yoke 54 in the downward direction A1. In addition, the stator core 52 is opposed to the magnet 100 with a predetermined gap along the circumferential direction C and is arranged at equal intervals. Each stator core 52 and the back yoke 54 are composed of various magnetic materials such as a laminate of electromagnetic steel plates and a powder compact of magnetic powder, and are particularly composed of soft magnetic materials among the magnetic materials.

[0039] The back yoke 54 may be fixed to the top case 51 by, for example, melting, adhesive, welding, etc., or may be engaged with the top case 51 using various engagement structures.

[0040] The coil 53 is wound around the outer periphery of the stator core 52. Then, the stator core 52 and the coil 53 constitute an electromagnet. The coil 53 may be a conductive wire wound around the stator core 52, or may be a conductive wire preliminarily wound into a bobbin shape and then embedded in the outer periphery of the stator core 52.

[0041] The rotating electric machine 1 has an energizing circuit (not shown). Each coil 53 is connected to the energizing circuit. Power is supplied to each coil 53 in a predetermined cycle or a predetermined pattern. For example, when a three-phase alternating current is applied to each coil 53, a magnetic flux is generated from the electromagnet and a magnetic force acts on the opposing magnet 100. By periodically repeating this state, the rotor 3 rotates around the rotating shaft 300.

[0042] The housing 4 is configured to sandwich the rotor 3 in the same manner as the stator 5. In addition, the housing 4 includes a bottom housing 41 that is annularly opposed to the top housing 51. The housing 4 does not include an electromagnet that the stator 5 has. The housing 4 includes a center housing 42 that connects the bottom housing 41 and the top housing 51. The center housing 42 is located outside the rotor 3 and is cylindrical. In addition, the housing 4 may be entirely composed of a resin member.

[0043] The bottom case 41 of the housing 4 is connected to the rotor fixing portion 31 of the rotor 3 via the ball bearing 350. In addition, the top case 51 of the stator 5 is also connected to the rotor fixing portion 31 of the rotor 3 via the ball bearing 350. Since the operation of the ball bearing 350 is the same, the operation of the ball bearing 350 in the lower direction A1 will be described as a representative.

[0044] The ball bearing 350 includes an inner ring 351, an outer ring 352, and rolling elements 353. The bottom case 41 is connected to the outer ring 352, and the rotor fixing portion 31 is connected to the inner ring 351. The inner ring 351 and the outer ring 352 rotate with each other via the rolling elements 353. Thus, the rotor 3 is supported to be rotatable relative to the stator 5 and the housing 4. In addition, the ball bearing 350 can also be replaced with other types of bearings.

[0045] Figure 2 It is a perspective view showing the structure of the magnet 100 . Figure 3 This is a partial cross-sectional view of the rotor 3 cut along a plane perpendicular to the radial direction R. Figure 3 The arrows shown on the first magnet 6 schematically indicate the orientation of the magnetic poles of the first magnet 6. Figure 3 The arrows shown on the second magnet 7 schematically indicate the directions of the magnetic flux lines of the second magnet 7 .

[0046] like Figure 2 , Figure 3 As shown, the magnet 100 has: a first magnet 6 having anisotropy; and a second magnet 7 having isotropy. Figure 1The direction of the coil 53 shown is defined as the first direction. In the present embodiment, the first direction corresponds to the upward direction A2. The second magnet 7 is disposed on the positive end surface of the first magnet 6 in the first direction (upward direction A2).

[0047] In addition, in the present embodiment, the positive side corresponds to the coil 53 side. In addition, the second magnet 7 disposed on the positive end surface of the first magnet 6 in the first direction (upward direction A2) includes a case where the first magnet 6 and the second magnet 7 are bonded and a case where they are not bonded. In the present embodiment, the first magnet 6 and the second magnet 7 are bonded and fixed.

[0048] The first magnet 6 includes a main pole magnet 61 and an auxiliary pole magnet 62. The first magnet 6 is formed into a ring shape by combining the main pole magnet 61 and the auxiliary pole magnet 62 adjacent to the main pole magnet 61. Specifically, the main pole magnet 61 and the auxiliary pole magnet 62 of the first magnet 6 are alternately arranged at a predetermined pitch along the circumferential direction C. The main pole magnet 61 and the auxiliary pole magnet 62 are arranged in a so-called Halbach array.

[0049] The first magnet 6 (main pole magnet 61 and auxiliary pole magnet 62) of the present embodiment is a Nd-Fe-B sintered magnet, and has anisotropy by compressing and molding a powdered magnetic material while applying a magnetic field. In addition, the first magnet 6 of the present embodiment has parallel anisotropy. The second magnet 7 of the present embodiment is a ferrite sintered magnet. The second magnet 7 has isotropy by compressing and molding a powdered magnetic material without applying a magnetic field.

[0050] An anisotropic magnet is a magnet that is magnetized in only one direction, and in addition to a parallel anisotropic magnet, a radial anisotropic magnet that is magnetized in the radial direction may be used. In this embodiment, a parallel anisotropic magnet is used.

[0051] The array of the first magnets 6 according to the present embodiment will be described in detail.

[0052] like Figure 3 As shown, the main pole magnet 61 uses magnets magnetized in two directions, the up-down direction (axial direction A). The main pole magnet 61 includes a first main pole magnet 611 magnetized in the downward direction A1 and a second main pole magnet 612 magnetized in the upward direction A2. The auxiliary pole magnet 62 uses magnets magnetized in two directions in the circumferential direction C. The auxiliary pole magnet 62 includes a first auxiliary pole magnet 621 magnetized to the right side in the circumferential direction C and a second auxiliary pole magnet 622 magnetized to the left side in the circumferential direction C.

[0053] Specifically, if Figure 3As shown, the first main magnetic pole magnet 611 (the first main magnetic pole magnet 611a) located on the leftmost side in the paper has an N pole in the upper direction A2 and an S pole in the lower direction A1. The second main magnetic pole magnet 612 (the second main magnetic pole magnet 612a) sandwiching the first secondary magnetic pole magnet 621 (the first secondary magnetic pole magnet 621a) to the right from the first main magnetic pole magnet 611a has an N pole in the lower direction A1 and an S pole in the upper direction A2. The first secondary magnetic pole magnet 621a is arranged between the first main magnetic pole magnet 611a on the left and the second main magnetic pole magnet 612a on the right, and is magnetized in a manner from the first main magnetic pole magnet 611a toward the second main magnetic pole magnet 612a.

[0054] Next, the first main pole magnet 611 (as the first main pole magnet 611b) is arranged again from the second main pole magnet 612a to the right, sandwiching the second secondary pole magnet 622 (as the second secondary pole magnet 622a). The second secondary pole magnet 622 (the second secondary pole magnet 622a) is arranged between the second main pole magnet 612a on the left and the first main pole magnet 611b on the right, and is magnetized from the first main pole magnet 611b toward the second main pole magnet 612a. In the present embodiment, the main pole magnet 61 and the secondary pole magnet 62 are repeatedly arranged in the above arrangement. Figure 3 In the figure, on the right side of the first main pole magnet 611b, the first secondary pole magnet 621b, the second main pole magnet 612b, and the second secondary pole magnet 622b are arranged in sequence.

[0055] like Figure 3 As shown, from the leftmost side in the paper, the magnetic flux flows in the order of the first main pole magnet 611a, the first secondary pole magnet 621a, and the second main pole magnet 612a. In the next arrangement, the magnetic flux flows in the order of the first main pole magnet 611b, the second secondary pole magnet 622a, and the second main pole magnet 612a. This flow of magnetic flux is repeated.

[0056] In the present embodiment, the second magnet 7 is arranged opposite to the upper surface of the first magnet 6. As described above, the second magnet 7 is formed integrally in an annular shape. In addition, the lower surface of the second magnet 7 and the upper surface of the first magnet 6 (the main magnetic pole magnet 61 and the auxiliary magnetic pole magnet 62) are adhered and fixed by adhesive material or the like. The main magnetic pole magnet 61 and the auxiliary magnetic pole magnet 62 are also adhered and fixed to each other by adhesive material or the like. Furthermore, the first magnet 6 and the rotor frame 32 located at the lower side are also adhered and fixed to each other by adhesive material or the like.

[0057] In this embodiment, if Figure 3As shown, the second magnet 7 is magnetized to the N pole on the upper part of the first main pole magnet 611 and to the S pole on the upper part of the second main pole magnet 612. As described above, the second magnet 7 is repeatedly magnetized to the N pole and the S pole.

[0058] Therefore, the magnetic flux flows from the N pole of the second magnet 7 from the leftmost side in the paper through the first main magnetic pole magnet 611a, the first secondary magnetic pole magnet 621a, and the second main magnetic pole magnet 612a of the first magnet 6 below, and flows from the S pole of the second magnet 7 to the space between the gap and the coil in the upper direction. In addition, the magnetic flux from the N pole of the second magnet 7 also flows to the S pole of the second magnet 7 on the right.

[0059] In the next arrangement, the magnetic flux flows from the N pole of the second magnet 7 located above the first main magnetic pole magnet 611b, through the first main magnetic pole magnet 611b, the second secondary magnetic pole magnet 622a, and the second main magnetic pole magnet 612a in sequence, and flows from the S pole of the second magnet 7 to the space between the coils in the upper direction. In addition, the magnetic flux from the N pole of the second magnet 7 also flows to the S pole of the left second magnet 7. This flow of magnetic flux is repeated.

[0060] In detail, starting from the N pole of the second magnet 7 on the leftmost side in the paper, the first main magnetic pole magnet 611a below it also flows in the same manner, but the magnetic flux flows in separate directions to the left and right. The magnetic flux from the N pole of the second magnet 7 on the leftmost side in the paper flows in separate directions to the S pole on the left side and the S pole on the right side of the second magnet 7. The magnetic flux flowing in the first main magnetic pole magnet 611a flows in separate directions to the second secondary magnetic pole magnet (not shown) on the left side and the first secondary magnetic pole magnet 621a on the right side.

[0061] In addition, the magnetic flux flowing from the left and right first secondary magnetic pole magnets 621a and the second secondary magnetic pole magnets 622a is collected at the second main magnetic pole magnet 612a and flows to the S pole of the second magnet 7 located at the top. In addition, the magnetic flux flowing from the left and right second magnets 7 is collected at the S pole of the second magnet 7 and flows to the space between the gap and the coil in the upper direction.

[0062] According to the configuration of the main pole magnet 61 and the secondary pole magnet 62 based on the first magnet 6, the magnetic flux density distribution is not smooth at the boundary where the main pole magnet 61 and the secondary pole magnet 62 are connected, and the magnetic flux density distribution is easy to deviate from the sine wave. However, in the present embodiment, the second magnet 7 is arranged on the end surface of the positive side in the first direction (upward direction A2) of the first magnet 6. In addition, the N pole and the S pole of the second magnet 7 correspond to the magnetic poles of the first main pole magnet 611 and the second main pole magnet 612. As a result, the magnetic flux density distribution at the boundary between the main pole magnet 61 and the secondary pole magnet 62 of the first magnet 6 can be smoothed, and the magnetic flux density distribution can be close to a sine wave. As a result, the generation of cogging torque can be suppressed. In addition, by making the magnetic flux density distribution close to a sine wave by the isotropic second magnet 7, the following effect can be achieved: the suppression of the cogging effect and the improvement of the magnetic flux density by the multiple anisotropic first magnets 6 can be achieved.

[0063] Figure 4 This is a flowchart for explaining a method for manufacturing the rotating electrical machine 1 .

[0064] Below, refer to Figure 4 A method for manufacturing the rotating electrical machine 1 will be described.

[0065] First, an anisotropic magnet configuration process (step S100) is performed. Specifically, an unmagnetized anisotropic magnet (unmagnetized first magnet 6) is configured and fixed to the rotor frame 32. When the direction from the anisotropic magnet toward the coil 53 is set as the first direction, an isotropic magnet configuration process (step S101) is then performed. Specifically, an unmagnetized isotropic magnet (unmagnetized second magnet 7) is configured and fixed to the end face of the anisotropic magnet on the positive side in the first direction. These two processes are to configure the unmagnetized first magnet 6 and to configure the unmagnetized second magnet 7 on its upper end face. Since they are not magnetized, the first magnet 6 and the second magnet 7 generate almost no magnetic force, so the first magnets 6 and the second magnets 7 do not attract each other, and the configuration operation is easy.

[0066] Next, a magnetization process is performed (step S102). Specifically, a magnetization yoke (not shown) that generates a magnetic field is drawn around the unmagnetized isotropic magnet (unmagnetized second magnet 7) and the unmagnetized anisotropic magnet (unmagnetized first magnet 6) in consideration of the magnetic pole directions of the magnetization. Then, a current is passed through the magnetization yoke. In this embodiment, the unmagnetized isotropic magnet (unmagnetized second magnet 7) and the unmagnetized anisotropic magnet (unmagnetized first magnet 6) are magnetized at the same time.

[0067] Specifically, a magnetic field is applied to the main pole magnet 61 of the first magnet 6 and the region of the second magnet 7 located above it in the vertical direction (axial direction A). Thus, the main pole magnet 61 and the region of the second magnet 7 located above it are magnetized, and the following is obtained: Figure 3 As shown in the figure, the main pole magnet 61 having magnetic poles and the area of ​​the second magnet 7 located above it. Therefore, the area of ​​the second magnet 7 located above the main pole magnet 61 is magnetized in the first direction, in this case, in the vertical direction. At the same time as the magnetic field is applied in the vertical direction, a magnetic field is applied to the secondary pole magnet 62 of the first magnet 6 and the area of ​​the second magnet 7 located above it in the lateral direction different from the vertical direction. As a result, the area located at the secondary pole magnet 62 and the area of ​​the second magnet 7 located above it is magnetized, and the secondary pole magnet 62 having magnetic poles oriented parallel to the circumferential direction C and the area of ​​the second magnet 7 located above it are obtained. In this way, the magnetization efficiency is achieved by magnetizing the unmagnetized isotropic magnet (unmagnetized second magnet 7) and the unmagnetized anisotropic magnet (unmagnetized first magnet 6) at the same time. In addition, the magnetic field applied in the vertical direction and the magnetic field applied in the lateral direction may also be a linear or curved magnetic field. In addition, in the above-mentioned magnetization step, in order to make the magnetization more efficient, the vertical magnetic field and the lateral magnetic field are applied simultaneously, but this may be divided into a plurality of times.

[0068] Next, the stator arrangement step (step S103) is performed. Specifically, the stator 5 is arranged in the first direction (upward direction A2) with respect to the rotor frame 32 (rotor 3) on which the magnetized anisotropic magnets (first magnets 6) and isotropic magnets (second magnets 7) are arranged. In addition, the stator 5 is provided with a stator core 52 equipped with a coil 53.

[0069] According to the above flowchart, the rotating electrical machine 1 is manufactured.

[0070] According to this embodiment, the following effects can be obtained.

[0071] The rotary electric machine 1 of the present embodiment includes a stator 5 and a rotor 3 that rotates around a rotary shaft 300, and the rotor 3 includes a rotor frame 32 connected to the rotary shaft 300 and a magnet 100 disposed on the rotor frame 32. Here, when the direction from the magnet 100 toward the coil 53 is set as the first direction (upward direction A2), the magnet 100 includes: a plurality of first magnets 6 that have anisotropy and are magnetized at least in the first direction; and second magnets 7 that have isotropy and are disposed on the end surface of the first magnet 6 on the positive side in the first direction.

[0072] According to this structure, the magnetic flux density can be improved by the plurality of first magnets 6 having anisotropy and being magnetized at least in the first direction. Furthermore, the magnetic flux density distribution at the boundary between the first magnets 6 can be smoothed by the second magnets 7 having isotropy and arranged on the end surface of the first magnet 6 on the positive side in the first direction, and the magnetic flux density distribution can be made close to a sine wave, so that the generation of cogging torque can be suppressed.

[0073] In the rotating electrical machine 1 of the present embodiment, the first magnet 6 includes the main pole magnets 61 and the auxiliary pole magnets 62 , which are arranged in a Halbach array.

[0074] According to this structure, the magnetic characteristics (torque, etc.) can be improved compared with the NS array.

[0075] In the rotating electrical machine 1 of the present embodiment, the second magnet 7 is configured in a ring shape.

[0076] According to this configuration, the surface accuracy of the second magnet 7 can be improved, and the gap between the second magnet 7 and the first magnet 6 can be reduced. As a result, the magnetic flux density distribution can be made close to a sine wave.

[0077] In the rotary electric machine 1 of the present embodiment, the region of the second magnet 7 located above the main pole magnet 61 is magnetized in the first direction.

[0078] According to this configuration, since magnetic fluxes flow in opposite directions in the region of the second magnet 7 located above the main pole magnet 61, it is possible to suppress magnetic flux intersection, thereby suppressing a decrease in magnetic flux density.

[0079] The manufacturing method of the rotating electrical machine 1 of the present embodiment includes an anisotropic magnet arrangement step, an isotropic magnet arrangement step, a magnetization step, and a stator arrangement step. Then, in the magnetization step, the unmagnetized isotropic magnet (unmagnetized second magnet 7) and the unmagnetized anisotropic magnet (unmagnetized first magnet 6) are magnetized at the same time. Thus, the magnetization can be made more efficient. In addition, when manufacturing the rotating electrical machine 1, by executing each step, the arrangement and magnetization can be performed efficiently.

[0080] 2. Second Implementation

[0081] Figure 5 It is a cross-sectional view showing the structure of a magnet 100A of a rotating electrical machine 1A according to the second embodiment.

[0082] A magnet 100A in a rotating electrical machine 1A of this embodiment is composed of the first magnet 6 of the first embodiment and a second magnet 7A having a different form from that of the first embodiment. Other structures are the same as those of the first embodiment. The same reference numerals are used for the same structures.

[0083] In detail, the first magnets 6 of this embodiment are arranged in the same array as in the first embodiment. The difference is that the second magnets 7A of this embodiment are composed of arc-shaped magnets 71 divided into a plurality of parts. In addition, the second magnets 7A are provided with end faces divided into arc shapes in the region located above the first main magnetic pole magnets 611 of the first magnets 6.

[0084] exist Figure 5 In the figure, the arc-shaped magnet 71 as the second magnet 7A divided into a plurality of parts is set to the first arc-shaped magnet 711, the second arc-shaped magnet 712, and the third arc-shaped magnet 713 from the leftmost side of the paper. In addition, the number of divisions of the second magnet 7A is determined by balancing the number of the first main magnetic pole magnets 611. In addition, as Figure 5 As shown, the end surfaces of the divided first arc-shaped magnet 711, the second arc-shaped magnet 712, and the third arc-shaped magnet 713 are magnetized along the first direction.

[0085] The flow of magnetic flux in the arc-shaped magnets 71 (the first arc-shaped magnet 711 , the second arc-shaped magnet 712 , and the third arc-shaped magnet 713 ) of the divided second magnet 7A is the same as the flow of magnetic flux in the first embodiment.

[0086] According to this embodiment, the following effects can be obtained.

[0087] In the rotating electrical machine 1A of the present embodiment, the second magnet 7A is composed of a plurality of divided arc-shaped magnets 71 (a first arc-shaped magnet 711 , a second arc-shaped magnet 712 , a third arc-shaped magnet 713 , etc.).

[0088] According to this configuration, compared with the case where the second magnet 7 of the first embodiment is integrally configured in an annular shape, the second magnet 7 can be configured as a plurality of divided arc-shaped magnets 71 , so that the second magnet 7A can be manufactured easily.

[0089] In the rotating electrical machine 1A of this embodiment, the end faces of the arcuate magnets 71 (first arcuate magnet 711, second arcuate magnet 712, third arcuate magnet 713, etc.) divided into a plurality of parts are located above the main pole magnet 61 (first main pole magnet 611) and are magnetized in the first direction.

[0090] According to this structure, magnetic flux flows in opposite directions to each other at the end faces of the arc-shaped magnets 71 (the first arc-shaped magnet 711, the second arc-shaped magnet 712, the third arc-shaped magnet 713, etc.) located above the main magnetic pole magnet 61 (the first main magnetic pole magnet 611). Therefore, even if the second magnet 7A is composed of the arc-shaped magnets 71 divided into a plurality of parts, it is possible to suppress the magnetic flux from crossing, thereby suppressing the reduction in the magnetic flux density.

[0091] 3. Third Implementation

[0092] Figure 6 It is a cross-sectional view showing the structure of a magnet 100B of a rotating electrical machine 1B according to the third embodiment.

[0093] The magnet 100B in the rotating electrical machine 1B of this embodiment is composed of a first magnet 6B having a different form from that of the first embodiment and a second magnet 7 that is the same as that of the first embodiment. The other structures are the same as those of the first embodiment. The same reference numerals are used for the same structures.

[0094] In detail, Figure 6 As shown, the first magnet 6B of this embodiment is arranged in an array of main pole magnets 61 and auxiliary pole magnets 62B in the same manner as in the first embodiment. The difference is that the auxiliary pole magnets 62B of this embodiment are configured so that the height of the upper part is lower than the height of the adjacent main pole magnets 61. Therefore, a space is formed between the auxiliary pole magnets 62B of the first magnet 6B and the second magnet 7 to separate them. In addition, the main pole magnets 61 of the first magnet 6B can be brought into contact with the second magnet 7 and fixed tightly.

[0095] According to this embodiment, the following effects can be obtained.

[0096] In the rotating electrical machine 1B of the present embodiment, the main pole magnet 61 of the first magnet 6B is in contact with the second magnet 7 , and the auxiliary pole magnet 62B of the first magnet 6B is separated from the second magnet 7 .

[0097] This structure makes it easier for the main pole magnet 61 to come into close contact with the second magnet 7. That is, since the gap is narrowed, the magnetic resistance caused by the gap can be reduced. Then, the magnetic flux can easily flow from the second magnet 7 to the main pole magnet 61, and the magnetic flux density can be increased.

[0098] 4. Fourth Implementation

[0099] Figure 7 It is a cross-sectional view showing the structure of a magnet 100C of a rotating electrical machine 1C according to the fourth embodiment.

[0100] The magnet 100C in the rotating electrical machine 1C of the present embodiment is configured similarly to the magnet 100B of the third embodiment. The present embodiment is different in that a soft magnetic portion 65 is disposed in a space separated from the secondary magnetic pole magnet 62C of the first magnet 6C and the second magnet 7 .

[0101] As the soft magnetic portion 65 , for example, a soft magnetic material such as electromagnetic pure iron, ferrosilicon, permalloy, or electromagnetic stainless steel is used.

[0102] With such a configuration, the magnetic flux density distribution at the boundary between the first magnets 6C can be smoothed and the magnetic flux density distribution can be made close to a sine wave, so that the generation of cogging torque can be suppressed.

[0103] 5. Fifth Implementation

[0104] Figure 8 It is a cross-sectional view showing the structure of a magnet 100D of a rotating electrical machine 1D according to the fifth embodiment.

[0105] The magnet 100D in the rotating electrical machine 1D of this embodiment is composed of the first magnet 6 (first magnet 6D in this embodiment) and the second magnet 7, similarly to the magnet 100 of the first embodiment. The first magnet 6D is composed of the main pole magnet 61 and the auxiliary pole magnet 62, similarly to the first embodiment.

[0106] The structure that is different from the first embodiment is that the auxiliary magnetic pole magnet 62 is arranged at a position one step lower than the main magnetic pole magnet 61 in the vertical direction of the main magnetic pole magnet 61. Therefore, the auxiliary magnetic pole magnet 62 is arranged and fixed on the fixing surface 321 of the rotor frame 32D, which is one step lower than the position where the main magnetic pole magnet 61 is arranged. According to this structure, the gap G1 is formed between the auxiliary magnetic pole magnet 62 and the second magnet 7, and they are separated.

[0107] By arranging the secondary magnetic pole magnet 62 at a position lower than the main magnetic pole magnet 61 by one step, the region where the adjacent main magnetic pole magnet 61 and the secondary magnetic pole magnet 62 are connected can be set to different poles. As a result, the action of weakening the magnetic force due to the same poles facing each other can be suppressed. In other words, demagnetization can be suppressed. Therefore, even when the ambient temperature of use rises, demagnetization is difficult to occur, and the rotary electric machine 1D can be made strong in high temperature resistance.

[0108] 6. Sixth Implementation

[0109] Fig. 9 It is a cross-sectional view showing the structure of a magnet 100E of a rotating electrical machine 1E according to the sixth embodiment.

[0110] The magnet 100E in the rotating electrical machine 1E of this embodiment is constituted by the first magnet 6D (first magnet 6E in this embodiment) and the second magnet 7 similarly to the magnet 100D of the fifth embodiment. Also, the first magnet 6E is constituted by the main pole magnet 61 and the auxiliary pole magnet 62 similarly to the fifth embodiment.

[0111] Furthermore, the present embodiment is different from the fifth embodiment in that, in the rotor frame 32E, the auxiliary magnetic pole magnet 62 is arranged on the fixed surface 322 , and the main magnetic pole magnet 61 is arranged at a position raised one level via a soft magnetic portion 66 .

[0112] According to this structure, the regions where the adjacent main pole magnets 61 and auxiliary pole magnets 62 are connected can be set to different poles, and the magnetic flux can flow more easily than in the fifth embodiment by arranging the soft magnetic portion 66 corresponding to the height difference under the main pole magnet 61. This can further suppress demagnetization.

[0113] 7. Seventh Implementation Method

[0114] Fig.10 It is a cross-sectional view showing the structure of a magnet 200 of a rotating electrical machine 2 according to the seventh embodiment.

[0115] The rotating electrical machine 2 of this embodiment is substantially the same as the rotating electrical machine 1 of the first embodiment. The difference lies in the structure of the magnet 200. Fig.10 As shown, the magnet 200 is composed of a first magnet 8 and a second magnet 7. The first magnet 8 is composed of a parallel anisotropic magnet, and is arranged in a so-called NS array in which a plurality of magnets 81 and 82 with opposite polarities are alternately arranged, similarly to the main magnetic pole magnet 61 of the first embodiment. The second magnet 7 is arranged on the positive end surface of the first magnet 8 in the first direction (upward direction A2) similarly to the first embodiment. The second magnet 7 is formed into a circular ring shape by an isotropic magnet similarly to the first embodiment.

[0116] The rotor frame 33 of this embodiment corresponding to the rotor frame 32 of the first embodiment is configured as an auxiliary yoke, specifically, is made of a soft magnetic material. By configuring the rotor frame 33 as an auxiliary yoke, the magnet 200 and the rotor frame 33 form a magnetic circuit, thereby allowing magnetic flux to flow.

[0117] According to this embodiment, the following effects can be obtained.

[0118] In the rotating electric machine 2 of the present embodiment, the magnet 200 includes: a plurality of first magnets 8 having anisotropy and being magnetized at least in a first direction (upward direction A2); and second magnets 7 having isotropy and being arranged on the end surface of the first magnet 8 on the positive side in the first direction. Then, the first magnets 8 constituting the magnet 200 are arranged in a so-called NS array in which a plurality of magnets 81 and 82 are alternately arranged.

[0119] According to this structure, the plurality of first magnets 8 having anisotropy and arranged in an NS array can achieve an improvement in magnetic flux density, although it is not as good as the magnet 100 based on the Halbach array of the first embodiment. In addition, the second magnet 7 having isotropy and arranged on the end surface of the first magnet 8 on the positive side in the first direction can make the magnetic flux density distribution at the boundary between the first magnets 8 smooth and make the magnetic flux density distribution close to a sine wave, so that the generation of cogging torque can be suppressed.

[0120] 8. Eighth Implementation

[0121] Fig.11 It is a cross-sectional view showing the structure of a magnet 200A of a rotating electrical machine 2A according to the eighth embodiment.

[0122] The rotating electrical machine 2A of this embodiment is configured substantially the same as the rotating electrical machine 2 of the seventh embodiment. The difference lies in the arrangement method of the magnet 200A. The other configurations are the same as those of the seventh embodiment. The same reference numerals are used for the same configurations.

[0123] The magnet 200A of the present embodiment has a different arrangement of the first magnets 8A. Specifically, the first magnets 8A are arranged so that a gap G2 is provided between adjacent magnets 81 and 82.

[0124] According to this configuration, the adjacent magnets 81 and 82 are separated, and the magnetic flux density distribution at the boundary between the first magnets 8A can be made smoother, and the magnetic flux density distribution can be made close to a sine wave, so that the cogging torque can be suppressed.

[0125] In addition, in the rotating motor 2 of the seventh embodiment, when the effect of suppressing the cogging torque is small, the cogging torque can be suppressed without reducing the magnetic characteristics (torque, etc.) by providing a gap G2 between adjacent magnets 81 and 82, as in the rotating motor 2A of the present embodiment. In addition, by using a rotor frame 33 as an auxiliary magnetic yoke, etc.

[0126] 9. Ninth Implementation Method

[0127] Fig.12 It is a cross-sectional view showing the structure of a magnet 200B of a rotating electrical machine 2B according to the ninth embodiment.

[0128] The rotating electrical machine 2B of this embodiment is configured substantially the same as the rotating electrical machine 2A of the eighth embodiment. This embodiment differs from the eighth embodiment in that an auxiliary yoke 85 made of a soft magnetic material is disposed in a region corresponding to the gap G2 of the eighth embodiment.

[0129] In the rotating electrical machine 2B of the present embodiment, an auxiliary yoke 85 is formed between the magnets 81 and 82 (corresponding to the gap G2 ), so that a magnetic circuit is formed by the magnet 200B, the auxiliary yoke 85 , and the rotor frame 33 , thereby facilitating the flow of magnetic flux and improving magnetic properties (torque, etc.).

[0130] The rotating electrical machines 1, 1A to 1E, 2, 2A, and 2B in the first to ninth embodiments described above apply the structures of the magnets 100, 100A to 100E, 200, 200A, and 200B to axial gap electrical machines, but are not limited thereto and may be applied to radial gap electrical machines, for example.

[0131] Hereinafter, an embodiment of the rotating electrical machine 10 applied to a radial gap motor will be described.

[0132] 10. Tenth Implementation Method

[0133] Fig.13 1 is a schematic perspective view showing the structure of the rotary electric machine 10 according to the tenth embodiment. Fig.13 In FIG. 1 , the rotor frame 38 is omitted from illustration. Fig.14 It is a schematic plan view showing the structure of the rotating electrical machine 10 .

[0134] The rotating electrical machine 10 of the present embodiment is configured as a radial gap motor. The radial gap motor is a motor having a gap between a magnet 150 and a coil (not shown) in a radial direction R of a rotating shaft 310 described later.

[0135] like Fig.13 , Fig.14 As shown, the rotating electric machine 10 is configured to include a cylindrical rotor frame 38 that rotates around a rotating shaft 310, and a magnet 150 is provided on the inner side of the radial direction R of the rotor frame 38. The rotating electric machine 10 has a so-called outer rotor structure. In addition, in the case of this embodiment, the coil is a structure that is arranged on a stator (not shown) with a predetermined gap inside the magnet 150.

[0136] The magnet 150 includes a first magnet 9 having anisotropy and a second magnet 75 having isotropy. Here, when the direction from the magnet 150 toward the coil is set as the first direction, the first direction corresponds to the direction toward the central axis AX1 (rotation axis 310) in the radial direction R. The second magnet 75 is arranged on the end surface of the positive side in the first direction (the direction toward the central axis AX1) of the first magnet 9. In addition, in the present embodiment, the positive side corresponds to the coil side.

[0137] The first magnet 9 is integrally formed as a ring-shaped magnet. The second magnet 75 is also integrally formed as a ring-shaped magnet. The first magnet 9 and the second magnet 75 are molded by a mold.

[0138] The first magnet 9 includes a main pole magnet 91 and an auxiliary pole magnet 92. The first magnet 9 is formed into a ring shape by combining the main pole magnet 91 and the auxiliary pole magnet 92 adjacent to the main pole magnet 91. Specifically, the main pole magnet 91 and the auxiliary pole magnet 92 of the first magnet 9 are alternately arranged at a predetermined pitch along the circumferential direction C. The main pole magnet 91 and the auxiliary pole magnet 92 are arranged in a so-called Halbach array.

[0139] The first magnet 9 (main pole magnet 91 and auxiliary pole magnet 92) of this embodiment is a Nd-Fe-B sintered magnet and has anisotropy. The second magnet 75 of this embodiment is a ferrite sintered magnet and has isotropy.

[0140] like Fig.13 , Fig.14 As shown, the main pole magnet 91 uses a magnet magnetized in two directions, the direction toward the center axis AX1 and the radial direction R. The main pole magnet 91 has a first main pole magnet 911 magnetized in the radial direction R and a second main pole magnet 912 magnetized in the direction toward the center axis AX1. The auxiliary pole magnet 92 uses a magnet magnetized in two directions in the circumferential direction C. The auxiliary pole magnet 92 has a first auxiliary pole magnet 921 magnetized to the right side of the circumferential direction C and a second auxiliary pole magnet 922 magnetized to the left side of the circumferential direction C. In addition, the flow of magnetic flux based on the magnet 150 and the coil is substantially the same as that of the first embodiment, so the description is omitted.

[0141] According to this embodiment, the following effects can be obtained.

[0142] The rotating electric machine 10 of this embodiment is a radial gap electric machine, and the magnet 150 includes: a plurality of first magnets 9 having anisotropy and being magnetized at least in a first direction (direction toward the center axis AX1); and second magnets 75 having isotropy and being arranged on the end surface of the first magnet 9 on the positive side in the first direction (direction toward the center axis AX1). In addition, the rotating electric machine 10 has an outer rotor structure.

[0143] According to this structure, the magnetic flux density can be improved by the plurality of first magnets 9 having anisotropy and being magnetized at least in the first direction. Furthermore, the magnetic flux density distribution at the boundary between the first magnets 9 can be smoothed by the second magnets 75 having isotropy and arranged on the end surface of the positive side in the first direction of the first magnets 9, and the magnetic flux density distribution can be made close to a sine wave, so that the generation of cogging torque can be suppressed.

[0144] In addition, since the rotating electrical machine 10 is an outer rotor structure, the rotor frame 38 can support the magnet 150 against the centrifugal force when rotating. In addition, since the diameter of the rotating electrical machine 10 of the outer rotor is larger than the diameter of the rotating electrical machine of the inner rotor, the amount of the magnet occupies a larger amount and a magnetic force can be generated. In addition, since the diameter is larger, a corresponding torque can be generated.

[0145] 11. Eleventh Implementation Method

[0146] Fig.15 1 is a schematic plan view showing the structure of a rotary electric machine 10A according to the eleventh embodiment. Fig.15 In the figure, the main part is shown in an enlarged manner.

[0147] The present embodiment is different from the tenth embodiment in the shape of the first magnet 9A. The magnet 150A of the present embodiment is composed of the first magnet 9A and the second magnet 75A. The first magnet 9A is composed of the main magnetic pole magnet 91A and the auxiliary magnetic pole magnet 92A.

[0148] In this embodiment, if Fig.15 As shown, the main pole magnet 91A and the auxiliary pole magnet 92A constituting the first magnet 9A are arranged along the central axis AX1 (refer to Fig.13 , Fig.14 ) in a top view in the direction of the rotor frame 38A. In addition, the inner surface of the rotor frame 38A includes a receiving surface 381 for receiving the surface of the first magnet 9A having a trapezoidal shape. In addition, the outer surface of the second magnet 75A also includes a receiving surface 751 for receiving the surface of the first magnet 9A having a trapezoidal shape, similarly to the receiving surface 381 of the rotor frame 38A.

[0149] According to the rotary electric machine 10A of the present embodiment, the main pole magnet 91A and the auxiliary pole magnet 92A as the anisotropic first magnet 9A have a trapezoidal cross-section shape. This allows the main pole magnet 91A and the auxiliary pole magnet 92A to be formed of flat plates, thereby achieving efficient manufacturing.

[0150] 12. Twelfth Implementation

[0151] Fig.16 1 is a schematic plan view showing the structure of a rotary electric machine 10B according to the twelfth embodiment. Fig.16 In the figure, the main part is shown in an enlarged manner.

[0152] The present embodiment is different from the eleventh embodiment in the shape of the first magnet 9B. The magnet 150B of the present embodiment is composed of the first magnet 9B and the second magnet 75B. The first magnet 9B is composed of the main magnetic pole magnet 91B and the auxiliary magnetic pole magnet 92B.

[0153] In this embodiment, if Fig.16 As shown, the main pole magnet 91B and the auxiliary pole magnet 92B constituting the first magnet 9B are arranged along the central axis AX1 (refer to Fig.13 , Fig.14 ) in a plan view from the direction of the rotor frame 38B. In addition, the inner surface of the rotor frame 38B includes a receiving surface 382 for receiving the surface of the first magnet 9B in a rectangular shape. In addition, the outer surface of the second magnet 75B also includes a receiving surface 752 for receiving the surface of the first magnet 9B in a rectangular shape, similarly to the receiving surface 382 of the rotor frame 38B.

[0154] The second magnet 75B of this embodiment is formed by injection molding. As a method of injection molding, in this embodiment, the rotor frame 38B with the anisotropic rectangular first magnet 9B arranged thereon is set in an injection molding machine, and then the material to become the second magnet 75B is injection molded.

[0155] In this embodiment, a plastic magnet, i.e., a so-called plastic magnet, is used as the material of the second magnet 75B. The plastic magnet is formed by mixing metal powder (ferrite, neodymium, samarium cobalt, samarium cobalt iron nitrogen, etc.) as a raw material of a magnet with a plastic material. The second magnet 75B is molded by injection molding using this material. In this case, the molded second magnet 75B has isotropy.

[0156] In this embodiment, since the rectangular first magnet 9B is used, a gap is formed at the boundary between the adjacent main pole magnet 91B and the secondary pole magnet 92B. However, during injection molding, the gap is also filled with rubber magnet to form a magnet 755 similar to the second magnet 75B.

[0157] According to the rotary electric machine 10B of the present embodiment, the main pole magnet 91B and the auxiliary pole magnet 92B of the anisotropic first magnet 9B are formed into a rectangular cross-sectional shape. As a result, the main pole magnet 91B and the auxiliary pole magnet 92B can be formed of flat plates, thereby achieving efficient manufacturing. Furthermore, since the second magnet 75B is formed by injection molding, it can be manufactured more easily, and in addition, the gap generated by the rectangular shape of the first magnet 9B can also be filled with a plastic magnet by injection molding.

[0158] 13. Thirteenth Implementation Method

[0159] Fig.17 It is a perspective view showing the structure of a robot 1000 according to the thirteenth embodiment. Fig.18 This is a diagram simply showing the structure of the robot 1000 .

[0160] Below, refer to Fig.17 as well as Fig.18 , the structure of the robot 1000 is described.

[0161] like Fig.17 As shown, the robot 1000 is used for various operations such as conveying, assembling, and inspecting various workpieces (objects). The robot 1000 includes a base 1001 , a robot arm 1100 , and driving units 1501 , 1502 , 1503 , 1504 , 1505 , and 1506 .

[0162] The base 1001 is placed on a horizontal floor 2000. In addition, the base 1001 may be placed on a wall, a ceiling, a stand, or the like instead of on the floor 2000.

[0163] The robot arm 1100 includes a first arm 1010, a second arm 1020, a third arm 1030, a fourth arm 1040, a fifth arm 1050, and a sixth arm 1060. An end effector (not shown) is detachably mounted on the tip of the sixth arm 1060, and a workpiece or the like can be gripped by the end effector.

[0164] The end effector is not particularly limited, and examples thereof include a hand that holds a workpiece, an adsorption head that adsorbs a workpiece, etc. The workpiece held by the end effector is not particularly limited, and examples thereof include electronic components, electronic devices, etc. In addition, in the present embodiment, the side of the base 1001 when the sixth arm 1060 is used as a reference is referred to as the "base end side" or "root side", and the side of the sixth arm 1060 when the base 1001 is used as a reference is referred to as the "top end side".

[0165] The robot 1000 is a single-arm six-axis vertical multi-joint robot in which a base 1001 , a first arm 1010 , a second arm 1020 , a third arm 1030 , a fourth arm 1040 , a fifth arm 1050 , and a sixth arm 1060 are sequentially connected from the base end side to the tip end side.

[0166] The lengths of the first arm 1010 to the sixth arm 1060 are not particularly limited and can be set appropriately. In addition, the number of arms of the robot arm 1100 can also be 1 to 5 or more than 7. In addition, the robot 1000 can also be a horizontal multi-joint robot or a dual-arm robot having two or more robot arms 1100.

[0167] like Fig.18As shown, the base 1001 and the first arm 1010 are connected via a joint 1011. The first arm 1010 can rotate relative to the base 1001 with a first rotation axis O1 parallel to the vertical axis as the rotation center. The first arm 1010 is rotated by the drive unit 1501 having a motor 1501M and a reducer (not shown). The motor 1501M generates a thrust to rotate the first arm 1010.

[0168] The first arm 1010 and the second arm 1020 are connected via a joint 1021. The second arm 1020 can rotate relative to the first arm 1010 with a second rotation axis O2 parallel to the horizontal plane as the rotation center. The second arm 1020 is driven by a motor 1502M and a driving unit 1502 having a speed reducer (not shown) to rotate. The motor 1502M generates a thrust to rotate the second arm 1020.

[0169] The second arm 1020 and the third arm 1030 are connected via a joint 1031. The third arm 1030 can rotate relative to the second arm 1020 with a third rotation axis O3 parallel to the horizontal plane as the rotation center. The third arm 1030 is driven by a motor 1503M and a driving unit 1503 having a speed reducer (not shown) to rotate. The motor 1503M generates a thrust to rotate the third arm 1030.

[0170] The third arm 1030 and the fourth arm 1040 are connected via a joint 1041. The fourth arm 1040 can rotate relative to the third arm 1030 with a fourth rotation axis O4 parallel to the central axis of the third arm 1030 as the rotation center. The fourth arm 1040 is rotated by the drive of the motor 1504M and the drive unit 1504 having a speed reducer (not shown). The motor 1504M generates a thrust to rotate the fourth arm 1040.

[0171] The fourth arm 1040 and the fifth arm 1050 are connected via a joint 1051. The fifth arm 1050 can rotate relative to the fourth arm 1040 with a fifth rotation axis O5 orthogonal to the central axis of the fourth arm 1040 as the rotation center. The fifth arm 1050 is rotated by the drive of the motor 1505M and the drive unit 1505 having a speed reducer (not shown). The motor 1505M generates a thrust to rotate the fifth arm 1050.

[0172] The fifth arm 1050 and the sixth arm 1060 are connected via a joint 1061. The sixth arm 1060 can rotate relative to the fifth arm 1050 with a sixth rotation axis O6 parallel to the central axis of the top end of the fifth arm 1050 as the rotation center. The sixth arm 1060 is driven by a motor 1506M and a driving unit 1506 having a speed reducer (not shown) to rotate. The motor 1506M generates a thrust to rotate the sixth arm 1060.

[0173] At least one of these motors 1501M to 1506M uses the rotating motors 1, 1A to 1E in which the axial gap motors of the above-described embodiment form a Halbach array, and the rotating motors 2, 2A, 2B in which the axial gap motors form an NS array.

[0174] Angle sensors (not shown) are provided in the drive units 1501 to 1506. Examples of these angle sensors include various encoders such as rotary encoders. The angle sensors detect the rotation angle of the output shafts of the motors 1501M to 1506M or the speed reducers of the drive units 1501 to 1506.

[0175] The driving units 1501 to 1506 and the angle sensors are electrically connected to a robot control device (not shown). The robot control device independently controls the operations of the driving units 1501 to 1506.

[0176] According to this embodiment, the following effects can be obtained.

[0177] The robot 1000 of this embodiment includes the rotating electrical machines 1, 1A to 1E, 2, 2A, and 2B according to the above-mentioned embodiments, and includes a robot arm 1100 corresponding to a driven member driven by the rotating electrical machines 1, 1A to 1E, 2, 2A, and 2B.

[0178] In such a robot 1000 , by driving the driven member using the rotating electrical machines 1 , 1A to 1E, 2 , 2A, 2B that suppress the generation of cogging torque, the robot arm 1100 can be smoothly moved, and the robot 1000 can be easily miniaturized and the degree of freedom in design can be improved.

[0179] In the robot 1000 of the present embodiment, for example, when the rotary motor 1 is used, since it is an axial gap motor, the rotary shaft 300 can be formed hollow, and the wiring can be passed through the rotary shaft 300 by utilizing the hollow. In particular, when the driven member is the first arm 1010 that becomes the arm on the base end side (or the arm on the root side) of the robot arm 1100, since the number of wiring roots on the root side is large, the wiring efficiency can be improved. In addition, by using the rotary motor 1 together, the output of the robot 1000 can be increased compared with the past.

[0180] 14. Modification 1

[0181] In the first embodiment, an adhesive such as epoxy resin is used as a connecting material for the magnet 100. However, this is not limited to this, and for example, powder of a soft magnetic material such as black iron oxide may be mixed in an adhesive such as epoxy resin to be used as a filler of the soft magnetic material. This is also the same in other embodiments.

[0182] 15. Modification 2

[0183] In the first embodiment, the unmagnetized isotropic magnet (unmagnetized second magnet 7) and the unmagnetized anisotropic magnet (unmagnetized first magnet 6) are magnetized at the same time. However, the present invention is not limited thereto, and the unmagnetized isotropic magnet (unmagnetized second magnet 7) and the unmagnetized anisotropic magnet (unmagnetized first magnet 6) may be magnetized in different steps.

[0184] 16. Modification 3

[0185] In the rotating electric machine 10 of the tenth embodiment, an example of applying the magnet 150 based on the Halbach array to the radial gap motor is described. However, it is not limited to this. As a rotating electric machine, a magnet based on the NS array can also be applied to the radial gap motor. In this case, the rotor frame needs to have the function of a yoke. In addition, in the case where a gap is generated between adjacent magnets, the gap can be filled with a resin mold, filled with a magnet mold, filled with a soft magnetic material, etc. in an empty state.

[0186] 17. Modification 4

[0187] In the rotating electrical machine 10 of the tenth embodiment, an outer rotor structure is used. However, the present invention is not limited to this, and an inner rotor structure may be used as the rotating electrical machine. In the inner rotor structure, the coil is arranged outside the magnet 150 .

[0188] 18. Modification 5

[0189] The rotating electrical machines 10, 10A, 10B of the tenth to twelfth embodiments use parallel anisotropic magnets magnetized in only one direction as the first magnets 9, 9A, 9B. However, the present invention is not limited thereto, and radial anisotropic magnets magnetized in the radial direction (for example, the radial direction R) may be used.

[0190] 19. Modification 6

[0191] In the rotary electric machine 10B of the twelfth embodiment, the second magnet 75B is formed by injection molding. However, this is not limited to this, and a second magnet formed integrally as a ring-shaped magnet can be used. In this case, a gap is generated at the boundary between the adjacent main pole magnet 91B and the auxiliary pole magnet 92B. However, the gap can be filled with a filler of a soft magnetic material.

[0192] 20. Modification 7

[0193] The rotating electrical machines 1, 1A to 1E, 2, 2A, and 2B of the first to ninth embodiments are electrical machines that adopt a so-called 1-rotor 1-stator structure, but are not limited thereto and can be applied to any structure such as a 2-stator 1-rotor structure or a 2-rotor 1-stator structure.

Claims

1. A rotating electrical machine, characterized in that: have: a stator having a coil; and The rotor is arranged separately from the stator and rotates around the rotation axis. The rotor includes: a rotor frame connected to the rotating shaft; and a magnet disposed on the rotor frame. When a direction from the magnet toward the coil is defined as a first direction, the magnet has: A plurality of first magnets having anisotropy and being magnetized at least along the first direction; as well as a second magnet having isotropy and arranged on an end surface of the first magnet on the positive side in the first direction, The first magnet has a main pole magnet and a secondary pole magnet, which are arranged in a Halbach array. The main magnetic pole magnet includes a first main magnetic pole magnet magnetized in a direction opposite to the first direction and a second main magnetic pole magnet magnetized in the first direction. The second magnet is magnetized to an N pole on the upper part of the first main pole magnet and to an S pole on the upper part of the second main pole magnet, and the N pole and S pole of the second magnet correspond to the poles of the first main pole magnet and the second main pole magnet.

2. The rotating electrical machine according to claim 1, characterized in that: The main magnetic pole magnet of the first magnet is in contact with the second magnet, The secondary magnetic pole magnet of the first magnet is separated from the second magnet.

3. The rotating electrical machine according to claim 1, characterized in that: The second magnet is configured in a ring shape.

4. The rotating electrical machine according to claim 1 or 2, characterized in that: The second magnet is configured in a ring shape.

5. The rotating electrical machine according to claim 4, characterized in that: The second magnet is composed of a plurality of arc-shaped magnets divided into two or more.

6. The rotating electrical machine according to claim 4, characterized in that A region of the second magnet located above the main pole magnet is magnetized in the first direction.

7. The rotating electrical machine according to claim 5, characterized in that The end surface of the arc-shaped magnet divided into a plurality of parts is located on the upper portion of the main magnetic pole magnet and is magnetized in the first direction.

8. A robot, characterized in that: have: The rotating electrical machine according to any one of claims 1 to 7; and The driven member is driven by the rotating electric machine.

9. The robot according to claim 8, characterized in that: The rotating electric machine is an axial gap electric machine, The driven member is a root side arm.

10. A method for manufacturing a rotating electrical machine, characterized in that: The rotating electric machine comprises: a stator having a coil; a rotor rotating around a rotating shaft; a rotor frame connected to the rotating shaft; and a magnet comprising an anisotropic magnet and an isotropic magnet. The manufacturing method of the rotating electrical machine comprises: an anisotropic magnet arranging step, arranging the unmagnetized anisotropic magnet on the rotor frame; an isotropic magnet arranging step of arranging the unmagnetized isotropic magnet on the positive end surface of the anisotropic magnet in the first direction, when a direction from the anisotropic magnet toward the coil is set as a first direction; A magnetization step of magnetizing the anisotropic magnet and the isotropic magnet which are not magnetized by applying a vertical magnetic field and a horizontal magnetic field simultaneously to the configured anisotropic magnet and the isotropic magnet; as well as The stator arranging step is to arrange the stator in the first direction with respect to the rotor on which the magnetized anisotropic magnet and the isotropic magnet are arranged.

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