Motor and article

Abstract

MOTOR CAPABLE OF ROTATING ROTOR IN NON-CONTACT MANNER WITH SIMPLER STRUCTURE SOLUTION: The first portion includes a base portion and a plurality of permanent magnets provided on an outer peripheral portion of the base portion, the second portion includes a housing and a plurality of coils provided on an inner peripheral portion of the housing at positions facing the plurality of permanent magnets, and the plurality of permanent magnets include a first permanent magnet group magnetized in a first magnetization direction along a rotation direction and a second permanent magnet group magnetized in a second magnetization direction intersecting the first magnetization direction.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a motor and an article that includes a rotor and a stator, the rotor rotating in a non-contact manner around the axis of the rotor. [Background technology]

[0002] Rotating devices that rotate a rotor in a non-contact manner by magnetic action include, for example, magnetically levitated rotary motors, high-speed rotating machines, high-speed spindles for machine tools, and further applications such as vacuum pumps.

[0003] As a magnetic levitation method, there is a method in which the axial position and rotation of a rotor are controlled along the axial direction of the rotor (see Patent Document 1). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2012-251486 Summary of the Invention [Problem to be solved by the invention]

[0005] However, the method described in Patent Document 1 has the problem that the entire motor becomes large because multiple coils are arranged, including a coil for the radial bearing at the top, a motor that generates rotational force, and an axial bearing at the bottom. [Means for solving the problem]

[0006] A motor according to the present invention is a motor having a first part and a second part that rotate relative to one another, wherein the first part has a base part and a plurality of permanent magnets provided on the outer periphery of the base part, and the second part has a housing and a plurality of coils on the inner periphery of the housing at positions facing the plurality of permanent magnets, and the plurality of permanent magnets include a first group of permanent magnets magnetized in a first magnetization direction along the direction of rotation and a second group of permanent magnets magnetized in a second magnetization direction that intersects the first magnetization direction.

[0007] Alternatively, the motor of the present invention is a motor having a first part and a second part that rotate relative to one another, wherein the first part has a base part and a plurality of coils provided on the outer periphery of the base part, and the second part has a housing and a plurality of permanent magnets on the inner periphery of the housing at positions facing the plurality of coils, and the plurality of permanent magnets include a first group of permanent magnets magnetized in a first magnetization direction along the rotation direction, and a second group of permanent magnets magnetized in a second magnetization direction that intersects the first magnetization direction.

[0008] An article according to the present invention is characterized by having the motor described above. [Effects of the Invention]

[0009] According to the present invention, the rotor can be rotated without contact using a simpler structure. [Brief explanation of the drawings]

[0010] [Figure 1] 1A and 1B are schematic diagrams showing a first embodiment of the present invention; [Figure 2] (A) A schematic diagram showing a first embodiment of the present invention, (B) A schematic diagram showing a first embodiment of the present invention, (C) A schematic diagram showing a first embodiment of the present invention, and (D) A schematic diagram showing a first embodiment of the present invention. [Figure 3] 1 is a schematic diagram showing a first embodiment of the present invention. [Figure 4] 1 is a schematic diagram showing a first embodiment of the present invention. [Figure 5] 1 is a schematic diagram showing a first embodiment of the present invention. [Figure 6] 1 is a schematic diagram showing a first embodiment of the present invention. [Figure 7] 1 is a schematic diagram showing a first embodiment of the present invention. [Figure 8] FIG. 10 is a schematic diagram showing a third embodiment of the present invention. [Figure 9] FIG. 10 is a schematic diagram showing a modified example of the third embodiment of the present invention. [Figure 10] FIG. 10 is a schematic diagram showing a fourth embodiment of the present invention. [Figure 11] 10A and 10B are schematic diagrams showing a fifth embodiment of the present invention; [Figure 12] 10A and 10B are schematic diagrams showing a sixth embodiment of the present invention; [Figure 13] FIG. 10 is a schematic diagram showing a seventh embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0011] [First embodiment] Hereinafter, a first embodiment of a motor according to the present invention will be described with reference to the drawings, using FIGS. 1A to 7. FIG.

[0012] Figure 1 is a conceptual diagram showing a motor, where Figure 1(A) shows a conceptual vertical cross-sectional view, and Figure 1(B) shows a conceptual cross-sectional view taken along line AA' in Figure 1(A).

[0013] In FIGS. 1A and 1B, 101 denotes a rotor and 201 denotes a stator. The rotor 101 rotates while floating (non-contacting) relative to the stator 201. The rotor 101 includes a base portion 105 and multiple permanent magnets 102. The base portion 105 includes a first surface 105a, a second surface 105b, and an outer circumferential portion 105c having an outer circumferential surface connecting the first surface 105a and the second surface 105b. The multiple permanent magnets 102 are attached to the outer circumferential portion 105c of the base portion 105. The permanent magnets may be attached between the outer circumferential portion of the base portion and the permanent magnets via a separate member such as a yoke. The stator 201 includes a housing 206 and multiple coils 204 attached to an inner circumferential portion 206a, which is the inner circumferential surface of the housing 206, in positions facing the permanent magnets 102 of the rotor 101. The coil may be attached via a separate member between the inner periphery of the housing and the coil.

[0014] 1(A) and 1(B), 101 is the rotor and 201 is the stator, but 101 may be the stator and 201 may be the rotor. In other words, housing 206 may be connectable to a fixed part such as a stand, or base portion 105 may be connectable to a fixed part such as a stand.

[0015] In other words, when 101 is the first portion and 201 is the second portion, the first portion 101 may rotate relative to the second portion 201, or the second portion 201 may rotate relative to the first portion 101. Also, although an example is shown in which a plurality of permanent magnets are attached to the rotor (first portion) 101 and a coil is attached to the stator (second portion) 201, a coil may be attached to the rotor (first portion) 101 and a permanent magnet (ferromagnetic material) may be attached to the stator (second portion) 201.

[0016] Here, we will define the coordinate axes, directions, etc. used in the following description. The axis about which rotor 101 rotates is the Z axis, and the direction along the Z axis is the Z axis direction. In other words, the Z axis direction is parallel to the rotation axis. The X axis is taken in a direction perpendicular to the Z axis, and the direction along the X axis is taken as the X axis direction. The Y axis is taken in a direction perpendicular to the X axis and Z axis directions, and the direction perpendicular to the X axis and Z axis directions is taken as the Y axis. Rotation around the Z axis is taken as Wz, rotation around the X axis is taken as Wx, and rotation around the Y axis is taken as Wy. The positive direction of rotation is the direction of a right-handed screw with respect to the direction in which each axis extends in the positive direction from the origin Os of stator 201.

[0017] Also, the R axis is taken as the radial direction (the direction in which the radius increases).

[0018] The symbol "j (=1 to 6)" is used as an index of the coils in the coil group described later.

[0019] In this embodiment, unless there is a particular need to distinguish between them, the coils are simply referred to as "coils 204." When it is necessary to identify each coil 204 individually, each coil 204 is individually identified by being referred to as "coil 204-1," "coil 204-2," ... "coil 204-6."

[0020] Similarly, the permanent magnets will be simply referred to as "permanent magnet 102." When it is necessary to individually identify each permanent magnet 102, they will be individually identified by, for example, "permanent magnet 102-1," "permanent magnet 102-2," ... "permanent magnet 102-9."

[0021] The magnitude of the rotation angle Wz of the rotor 101 is set to θ.

[0022] The reference Oc for rotation Wz around the Z axis on the stator 201 side is the center of the coil 204-1.

[0023] The reference Or of Wz on the rotor 101 side is set midway between the permanent magnets 102-1 and 102-9.

[0024] The angle θ is the angle from the reference Oc on the stator 201 side to the reference Or on the rotor 101 side.

[0025] As shown in FIG. 2 (described later), permanent magnet groups 102-1 to 102-9 are attached to the outer periphery 105c of the base portion 105 of the rotor 101. The permanent magnet groups include first permanent magnet groups 102-1, 102-3, 102-4, 102-6, 102-7, and 102-9 that are alternately magnetized along the first magnetization direction. The permanent magnet groups also include second permanent magnet groups 102-2, 102-5, and 102-8 that are magnetized in a second magnetization direction that intersects with the first magnetization direction. A yoke plate (not shown) may be attached to the back side of the permanent magnets 102 (the side opposite the surface facing the stator) to increase magnetic force. A cover (not shown) may also be attached to cover the multiple permanent magnets 102.

[0026] A plurality of coils 204, each made of a conducting wire wound around an iron core or an air core, are attached to an inner peripheral portion 206a of a cover 206 of the stator 201 in positions facing the permanent magnets of the rotor 101 along the circumferential direction of the stator 201. When a current is passed through the coils, electromagnetic forces act between the coils and the permanent magnets, causing the rotor 101 to rotate around the Z axis relative to the stator 201.

[0027] The coils 204 may be provided with a cover (not shown) to cover them.

[0028] An X sensor 213 and a Y sensor 214 are attached to the stator 201. The X sensor 213 can detect the distance between the rotor 101 and the X sensor 213 in the X-axis direction. Furthermore, the Y sensor 214 can detect the distance between the rotor 101 and the Y sensor 214 in the Y-axis direction.

[0029] Furthermore, a Wz sensor 211 is attached to the stator 201. A scale 212 is attached to the surface of the rotor 101 that faces the Wz sensor 211. The Wz sensor 211 can detect the rotation angle of the rotor 101 by reading the pattern on the scale 212 of the rotor 101.

[0030] Z sensors 210a to 210c are attached to three locations on stator 201. These Z sensors 210 can detect the distance of the gap (air gap) to rotor 101 in the Z-axis direction.

[0031] Here, a method for calculating the displacement of rotor 101 in the Z-axis, WX-axis, and WY-axis directions from three Z sensors 210a-210c will be described with reference to Figure 3. A plane ABC is defined based on the detection values ​​of each of the three Z sensors (210a, 210b, 210c). The displacement (Z, Wx, Wy) of plane ABC, i.e., rotor 101 relative to the stator, i.e., the inclination, can be calculated from the inclination of the normal vector of plane ABC and the distance from origin Os to plane ABC.

[0032] FIG. 2(A) is a diagram showing a schematic arrangement of permanent magnets 102 of rotor 101, and shows a diagram showing a schematic development of outer circumferential portion 105c of base portion 105. FIG.

[0033] The permanent magnet 102 is magnetized in the direction of the surface facing the coil, for example, as shown in the figure. Specifically, for example, the surfaces of permanent magnets 102-1, 102-4, and 102-7 facing the coil are magnetized to the north pole, and permanent magnets 102-3, 102-6, and 102-9 are magnetized to the south pole. Permanent magnets 102-2, 102-5, and 102-8 are divided into two in the Z-axis direction, and each is magnetized to the north pole and the south pole. The circumferential arrangement of permanent magnets 102-1 to 102-9 constitutes a permanent magnet group. This permanent magnet group includes the second permanent magnet group, which is made up of permanent magnets 102-2, 102-5, and 102-8 divided into two in the Z-axis direction and magnetized.

[0034] FIG. 2B is a diagram showing a schematic layout of the coils 204, and shows a schematic view of the inner circumferential portion 201a of the cover of the stator 201 in an expanded state.

[0035] In this example, the coil 204 is made up of a total of six coils.

[0036] Figures 2(C) and 2(D) are diagrams that schematically show the magnitude of the torque on the q-axis, d-axis, and Z-axis generated per unit current in coil 204 when rotor 101 is at angle θ1, i.e., the thrust constants (Eq, Ed, Ez).

[0037] The q-axis and d-axis shown here represent the q-axis and d-axis in motor vector control theory, and FIG. 1(B) shows the directions of the q-axis and d-axis relative to coil 204-3 as a representative example. The q axis is the circumferential direction, and the d axis is the radial direction.

[0038] The magnitude of each thrust constant (Eq, Ed, EZ) varies depending on the rotation angle θ of the rotor 101 and the coil index j. The first argument of each thrust constant (Eq, Ed, EZ) represents the coil 204 index (j, 1 to 6), and the second argument represents the rotor 101 angle θ.

[0039] In FIG. 2A (θ=θ1), the coil 204-4 is positioned approximately midway between the permanent magnet 102-3 with an S pole and the permanent magnet 102-4 with an N pole, both of which face each other.

[0040] In this case, for example, if a unit current is applied to coil 204-4 so that an N pole appears on the side facing permanent magnet 204, an attractive force acts between coil 204-4 and permanent magnet 102-3, and a repulsive force acts between coil 204-4 and permanent magnet 102-4. Therefore, a thrust force (Eq(4,θ1)) is applied to coil 204-4 in the q-axis direction. On the other hand, the thrust force (Ed(4,θ1)) in the d-axis direction and the thrust force (EZ(4,θ1)) in the Z-axis direction are relatively small.

[0041] Similarly, when a unit current is applied to coil 204-5 so that a north pole appears on the side opposite permanent magnet 204, a thrust force (EZ(5,θ1)) acts on coil 204-5 in the Z-axis direction, since permanent magnet 102-5 is divided into a north pole and a south pole in the Z-axis direction.

[0042] Furthermore, a relatively small thrust (Eq(5, θ1)) acts on the q axis due to the forces of the permanent magnets 102-4 and 102-6. Similarly, the thrust (Ed(5, θ1)) on the d axis is small.

[0043] The force acting on coil 204 can be treated as equivalent to the reaction force acting on rotor 101, so for example, when the coil generates a thrust in the positive direction of the q axis, rotor 101 generates a thrust in the negative direction of the q axis.

[0044] The current control system will be described with reference to FIG.

[0045] Each of the coils 204 is individually connected to a current controller 313 .

[0046] A current sensor 312 is connected to the current controller 313 and can detect the current value of each of the coils 204 .

[0047] The current controller 313 is connected to the motor controller 301 and can apply a predetermined current to each coil 204 independently in accordance with a current command value from the motor controller 301 while detecting the current amount with the current sensor 312 .

[0048] A Z sensor 210, a Wz sensor 211, an X sensor 213, and a Y sensor 214 are connected to the motor controller 301, and the displacements (X, Y, Z, Wx, Wy, Wz) of the rotor 101 can be detected.

[0049] The motor controller 301 also has a built-in control program and clock oscillator, and is able to calculate a current value according to the displacement of the motor and apply a current to each coil 204 .

[0050] A method for controlling the attitude of the rotor 101 by the motor controller 301 will be described with reference to Fig. 5. Fig. 5 is a schematic diagram showing a control loop for calculating the magnitude of the force applied to the rotor 101.

[0051] ref is the target value of the displacement of the rotor 101, and pos is the displacement of the rotor 101 obtained from the group of sensors (Z sensor 210, Wz sensor 211, X sensor 213, Y sensor 214). The attitude controller 501 calculates the torque T to be applied to the rotor 101 to drive the rotor to the target attitude position from the difference err between the target value ref and the displacement pos.

[0052] The current calculator 502 determines the current I to be applied to the coil 204 from the torque T and the displacement pos.

[0053] As a result, an electromagnetic force F is generated between the coil 204 and the rotor 101 and acts on the rotor 101, the attitude (tilt) of the rotor is controlled, and the displacement pos is detected again, and this process is repeated.

[0054] The attitude controller 501 may be, for example, a PID controller, and the attitude of the rotor 101 can be stabilized by inserting an appropriate filter according to the characteristics of the rotor 101 .

[0055] Furthermore, the torque vector Tq applied to the rotor 101 is expressed by the following equation (1). Note that Tx, Ty, and Tz are the magnitudes of the force in the X-axis direction, the Y-axis direction, and the Z-axis direction, respectively. Furthermore, Twx, Twy, and Twz are the magnitudes of the moment forces around the X-axis, the Y-axis, and the Z-axis, respectively.

[0056] The control system 1 according to this embodiment controls these torque vectors Tq (Tx, Ty, Tz, Twx, Twy, Twz) to rotate the rotor 101 while controlling the attitude (X, Y, Z, Wx, Wy) of the rotor 101. Tq=(Tx,Ty,Tz,Twx,Twy,Twz)...Formula (1)

[0057] The current vector Is is defined as the current applied to the coil 204 . Is=(I1,I2,I3,I4,I5,I6) ...Formula (2)

[0058] 6(A) and 6(B) are schematic diagrams showing the thrust (E) acting on rotor 101 when a unit current is applied to each coil in the state of θ=θ1 in FIG.

[0059] Coils 204-1, 204-3, and 204-5 are primarily subjected to a force in the Z-axis direction due to interaction with the permanent magnets on the rotor side, and similarly, coils 204-2, 204-6, and 204-8 are primarily subjected to a force in the q-axis direction. Figure 6(A) is a perspective view, and Figure 6(B) is a view of the rotor rotation from above the Z-axis.

[0060] From this diagram, we can see that the forces of E2, E4, and E6 act within the XY plane. By setting the current values ​​of the coils corresponding to E2, E4, and E6, we can generate forces and moment forces (Tx, Ty, Twz) within the XY plane.

[0061] Similarly, by setting the current values ​​of the coils corresponding to E1, E3, and E5, it is possible to generate forces and moment forces (Tz, Twx, Twy) in the Z-axis, Wx-axis, and Wy-axis directions.

[0062] Figures 6(A) and 6(B) correspond to θ=θ1 in Figure 2. Using Figure 7, it will be explained that torque vector Tq can be applied to rotor 101 at any rotation angle (Wz) of rotor 101 by moving the magnetic field generated in coil 204 in accordance with the rotation of rotor 101.

[0063] First, organize the symbols. j: coil index (j=1 to 6) Ij: Current value applied to the jth coil Is=column vector of (I1,I2,I3,I4,I5,I6) Φj: angle of the jth coil in the WZ axis direction r: radius of permanent magnet 204 Eq(j,θ): Force per unit current in the q-axis direction acting between the j-th coil and the rotor 101 (angle θ) Ed(j,θ): Force per unit current in the d-axis direction acting between the jth coil and the rotor 101 (angle θ) Σ: Sum when index j is changed from 1 to 6 Let's say. The elements of the torque vector Tq = (Tx, Ty, Tz, Twx, Twy, Twz) are Tx=Σ{(-Eq(j,θ)*Sinφj+Ed(j,θ)*Cosφj)*Ij}…Equation (3-1) Ty=Σ{(Eq(j,θ)*Cosφj+Ed(j,θ)*Sinφj)*Ij}…Equation (3-2) Tz = Σ(EZ(j,θ)*Ij)...Equation (3-3) Twx=Σ(Ed(j,θ)*r*Sinφj*Ij)...Equation (3-4) Twy=Σ(-Eq(j,θ)*r*Cosφj*Ij)…Equation (3-5) Twz=Σ(Eq(j,θ)*r*Ij)...Equation (3-6) is given by

[0064] To apply a desired torque vector Tq, currents Ij that satisfy the above equations (3-1) to (3-6) should be applied to the corresponding coils.

[0065] A method for calculating the current Ij that satisfies the formulas (3-1) to (3-6) will be described.

[0066] Here we use some more notation. i: Torque index (1 to 6, 1: X axis, 2: Y axis, 3: Z axis, 4: Wx axis, 5: Wy axis, 6: Wz axis) Ki: Elements of vector K with 6 elements M: a matrix with 6 rows and j columns M(i, j): Element in row i and column j of matrix M Inv: Inverse matrix Tr: Transposed matrix *: Multiplication of row and scalar elements Then, using each unit vector, the following matrix elements M(1,j)=-Eq(j,θ)*Sinφj+Ed(j,θ)*Cosφj…Equation (4-1) M(2,j)=(Eq(j,θ)*Cosφj+Ed(j,θ)*Sinφj)…Equation (4-2) M(3,j)=EZ(j,θ)…Equation (4-3) M(4,j)=Ed(j,θ)*r*Sinφj…Equation (4-4) M(5,j)=Eq(j,θ)*r*Cosφj…Equation (4-5) M(6,j)=Eq(j,θ)…Equation (4-6) If we define a matrix M with Equations (3-1) to (3-6) can be obtained by using equations (4-1) to (4-6) Tq=M*Is…Formula (5-1) It can be expressed as follows.

[0067] Now, since the number of coils (j) is 6, the matrix M is a square matrix with 6 rows and 6 columns. Therefore, by transforming equation (5-1), Inv(M)*T=Inv(M)*M*Is=Is…Formula (5-2) Then, the current vector Is can be uniquely determined.

[0068] In this way, even when the rotor 101 is at an arbitrary angle θ, a six-axis torque vector Tq can be applied, so the rotation speed and attitude of the rotor 101 in three-dimensional directions can be controlled.

[0069] By performing the above-described control, it becomes possible to dynamically control the attitude in real time while rotating the rotor at any speed, including stationary, in a levitated state relative to the stator.

[0070] [Second embodiment] Next, a second embodiment will be described.

[0071] In the first embodiment, an example is shown in which the number of coils in the coil 204 is six. However, the number of coils may be seven or more when it is desired to output torque more smoothly or due to restrictions on the shape of the coils or the like.

[0072] If the number of coils (j) is seven or more, there will be an infinite number of coil current vectors Is that satisfy the formula (5-1) described in the first embodiment. In that case, a method for constantly deriving the coil current Is is required.

[0073] Here, the j-th column elements (M(1,j), M(2,j), M(3,j), M(4,j), M(5,j), M(6,j)) of matrix M indicate the magnitude of the contribution to the torque of each axis when a unit current is applied to the j-th coil 204-j. The torque of each axis is (Tx, Ty, Tz, Twx, Twy, Twz).

[0074] So, using a vector K with six column elements, Tr(M)*K=Is…Equation (5-3) Then, the formula (5-1) explained in the first embodiment is Tq = M * Is = M * Tr(M) * K ... Equation (5-4) It can be transformed as follows.

[0075] Due to the properties of the product of symmetric matrices, M*Tr(M) is a square matrix with 6 rows and 6 columns, and the rank of a matrix is ​​always 6, so it always has an inverse matrix. Therefore, equation (5-4) becomes Inv(M*Tra(M))*Tq=K...Equation (5-5) Therefore, K can be calculated uniquely.

[0076] in the end, Tra(M)*Inv(M*Tr(M))*T=Is…Formula (5-6) Therefore, the current vector Is can be uniquely determined.

[0077] In this way, six-axis torque Tq can be applied to rotor 101, so that the rotation speed and three-dimensional attitude of rotor 101 can be controlled.

[0078] [Third embodiment] Next, a third embodiment will be described. In this embodiment, an example in which the shape of the permanent magnet is different from that of the first embodiment is shown. Furthermore, the same reference numerals are used for components having the same functions as those in the first embodiment, and the description thereof will be omitted.

[0079] FIG. 8 is a diagram showing a schematic arrangement of permanent magnets 802 in the third embodiment, and shows a schematic expanded view of the outer periphery 105c of the base portion.

[0080] Compared with the permanent magnet 102 of the first embodiment, the permanent magnet 802 of the third embodiment has a trapezoidal shape, which allows the number of permanent magnets to be reduced, thereby simplifying the manufacturing process.

[0081] Even when such an arrangement is adopted, as explained in the first or second embodiment, if the thrust constants (Eq, Ed, EZ) of each coil corresponding to the rotation angle θ of the rotor 101 are obtained in advance, the rotor 101 can be rotated while stabilizing its attitude using a similar control method.

[0082] In FIG. 8, a line 801 passing through the center of gravity of each of the permanent magnets 802 has an angle (η) of a certain value or more with respect to the direction of rotation.

[0083] Similarly, as a modification of the third embodiment, a force in the Z-axis direction can also be applied by using permanent magnets 902 arranged as shown in Fig. 9. This is useful when a simpler configuration than that of the first embodiment is desired.

[0084] FIG. 9 is a diagram schematically showing the arrangement of permanent magnets 902 of rotor 101 in a modified example of the third embodiment, and shows a diagram showing a schematic development of outer periphery 105c of the base portion.

[0085] The permanent magnet 902 is magnetized in the direction of the surface facing the coil as shown in the figure. Specifically, as in the first embodiment, the surfaces of the permanent magnets 902-1, 902-4, and 902-7 facing the coil are magnetized to the north pole, and the surfaces of the permanent magnets 902-3, 902-6, and 902-9 are magnetized to the south pole. However, in the first embodiment, the permanent magnets 102-2, 102-5, and 102-8 are divided into two in the Z-axis direction, and each is magnetized to the north pole and the south pole. However, in this modified example, the permanent magnets 902-2, 902-5, and 902-8 are arranged so that only the north pole has a center of gravity that is biased downward. In this modified example, the north pole is used, but of course the south pole may also be used.

[0086] This makes it possible to apply a force in the Z-axis direction with a simpler configuration than the first embodiment.

[0087] [Fourth embodiment] Next, a fourth embodiment will be described. Components having the same functions as those in the first embodiment will be given the same reference numerals and descriptions thereof will be omitted.

[0088] In each of the first to third embodiments, as shown in Fig. 1, an example is shown in which the rotor 101 has the permanent magnet 102 and the coil 204 is on the stator 201 side. In this embodiment, as shown in Fig. 10, an example is shown in which the coil 204' is arranged on the rotor 101 side and the permanent magnet 102' is arranged on the stator 201 side. Even with this arrangement, a magnetic levitation motor can be provided, as in the first to third embodiments.

[0089] 10, the permanent magnet 102' is fixed to the stator 201. The coil 204' is fixed to the rotor 101 side. The Wz sensor 211' is on the rotor 101 side, and the scale 212' is on the stator 201 side. The Z sensor 210', the X sensor 213', and the Y sensor 214' (not shown) are also fixed to the rotor 101 side.

[0090] The motor controller 301 is located on the rotor 101 side and is configured to be able to communicate with the wireless unit 1002. The motor controller 301 is equipped with a battery (not shown) and can rotate for a certain period of time. If the wireless unit 1002 is given a power transmission function, the rotor 101 can be rotated without the need for charging.

[0091] [Fifth embodiment] The fifth embodiment will be described with reference to Figures 11(A) and 11(B). The same reference numerals are used to designate components having the same functions as those in the first embodiment, and the description thereof will be omitted.

[0092] While the first to fourth embodiments have been described with respect to motors, the present embodiment will describe an article having the motor described in the first to fourth embodiments. In the present embodiment, an example in which the article having the motor described in the first to fourth embodiments is applied to a pump will be described.

[0093] Fig. 11 is a conceptual diagram showing a pump, Fig. 11(A) is a conceptual longitudinal cross-sectional view, and Fig. 11(B) is a conceptual cross-sectional view taken along line AA' in Fig. 1(A).

[0094] Fins 103 are formed on a base portion 105 of the rotor 101 .

[0095] The stator 201 is provided with a housing 2061 that covers the mover 101. The housing 2061 has a side wall 2061c with a coil attached to its inner periphery, and a first wall 2061a and a second wall 2061b that are connected to the side wall 2061c. A hole is formed in a part of the first wall 2061a as an intake port 202, and a hole is formed in the second wall 2061b as an exhaust port 203. As a result, when the rotor 101 rotates in a predetermined direction in a fluid, the fluid flows in through the intake port 202 and is exhausted through the exhaust port 203, thereby functioning as a pump.

[0096] As a modification of the article, it is also possible to attach, for example, a tire to the rotor 101 (or 201 may be the rotor as described above). In this case, the motor of the present invention can function as a component of a vehicle such as an automobile, or an aircraft such as a drone.

[0097] [Sixth embodiment] The fifth embodiment will be described with reference to Figures 12(A) and 12(B). The same reference numerals are used to designate components having the same functions as those in the first embodiment, and the description thereof will be omitted.

[0098] In the first embodiment, an example in which the rotor 101 is located inside the stator 201 is shown, but in this embodiment, an example in which the stator 201 is located inside the rotor 101 is shown.

[0099] Fig. 12 is a conceptual diagram showing the sixth embodiment, Fig. 11(A) shows a conceptual vertical cross-sectional view, and Fig. 12(B) shows a conceptual cross-sectional view taken along line AA' in Fig. 1(A).

[0100] 12 differs from FIG. 1 in that the stator 201 is located inside the rotor 101.

[0101] Also, while Z sensor 210 used in the first embodiment was a sensor that measured the gap distance between the rotor and stator in the Z-axis direction, Z sensor 222 in this embodiment is different in that it uses a sensor that measures the gap distance between the outer periphery of the stator and the inner periphery of the rotor. Z scale 223 is attached to the side surface (inner periphery) of rotor 101 facing Z sensor 222. Z sensor 222 can read the pattern of Z scale 223 and detect the displacement of rotor 101 in the Z-axis direction relative to Z sensor 222.

[0102] Z sensor 222 can detect the displacement (Z, Wx, Wy) of rotor 101 from the side (outer periphery) of stator 101. In other words, since there are no interfering members in the Z-axis direction, it is also possible to move rotor 101 in the Z-axis direction and remove it.

[0103] In this configuration, the stator 201 can be made small, and the fins 103 can be formed with various specifications.

[0104] In addition, although the present embodiment shows an example of a pump in which the fins 13 are formed on the outer periphery of the mover, the present invention can also be applied to vehicles such as automobiles by attaching tires or the like instead of the fins 103.

[0105] In the fifth embodiment, one of the wall portions 205 of the stator 201 can be attached and fixed to a stand or the like (not shown) for use.

[0106] [Seventh embodiment] The seventh embodiment will be described with reference to Fig. 13. Components having the same functions as those in the first embodiment will be given the same reference numerals and descriptions thereof will be omitted.

[0107] FIG. 13 differs from FIG. 12 in that the distance between rotor 101 and stator 201 is wider.

[0108] In this configuration, rotor 101 can be rotated even when intentionally tilted significantly, so the rotation axis of rotor 101 can be tilted from the Z axis without changing the angle of stator 201. If such a configuration is adopted and applied to an aircraft such as a drone or an aircraft capable of vertical takeoff and landing, the direction in which air is discharged can be freely changed, allowing for greater freedom in operation. [Explanation of symbols]

[0109] 101 Rotor 102 Permanent Magnet 201 Stator 204 Coil

Claims

1. a motor having a first portion and a second portion that rotate relative to one another, the first portion has a base portion and a plurality of permanent magnets provided on an outer periphery of the base portion; the second portion includes a housing and a plurality of coils at positions on an inner periphery of the housing facing the plurality of permanent magnets, the plurality of permanent magnets include a first group of permanent magnets magnetized in a first magnetization direction along the rotation direction, and a second group of permanent magnets magnetized in a second magnetization direction intersecting the first magnetization direction.

2. a motor having a first portion and a second portion that rotate relative to one another, the first portion has a base portion and a plurality of coils provided on an outer periphery of the base portion; the second portion includes a housing and a plurality of permanent magnets at positions on an inner periphery of the housing facing the plurality of coils, the plurality of permanent magnets include a first group of permanent magnets magnetized in a first magnetization direction along the rotation direction, and a second group of permanent magnets magnetized in a second magnetization direction intersecting the first magnetization direction.

3. 3. The motor according to claim 1, wherein the first portion is a rotor and the second portion is a stator.

4. 4. The motor according to claim 3, wherein the first portion rotates in a floating state relative to the second portion.

5. 5. The motor according to claim 1, wherein the rotational speed and the attitude in three dimensions of the mover relative to the fixed part are controlled by electromagnetic forces acting between the first permanent magnet group, the second permanent magnet group and the coil.

6. 6. The motor according to claim 5, wherein the attitude in the three-dimensional directions includes positions in a Z-axis direction parallel to the rotation axis of the rotor, an X-axis direction perpendicular to the Z-axis direction, and a Y-axis direction perpendicular to the X-axis direction and the Z-axis direction, and a rotation angle.

7. 7. The motor according to claim 1, wherein the housing is connectable to a fixed part.

8. 7. The motor according to claim 1, wherein the base part is connectable to a fixing part.

9. An article comprising a motor according to any one of claims 1 to 8.

10. 10. The article of claim 9, wherein the motor is formed with fins.

11. 10. The article of claim 9, wherein the motor has a tire attached thereto.

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